KR102113414B1 - Path generation device - Google Patents

Abstract

It is possible to autonomously drive and work within the pavement (H) so that a path is set up around the obstacle location so that a path is not created, and the path set in the working region avoids the obstacle region to work efficiently. The control unit 30 of the autonomous driving work vehicle 1 that becomes a path generation device capable of generating a path, or the control unit 130 of the remote control device 112 that can communicate with the control unit 30 includes the packaging ( Around the first area in which the work path Ra for performing work in H) is generated, and the first area in which the work path Ra is not generated but a travel path Rb for driving can be generated. The second area to be set, the third area to which driving is prohibited as in the pavement H, and the third area to which the working route Ra is not generated but the driving route Rb for driving can be generated Set around Makes it possible to set the fourth area.

Description

Path generation device

The present invention relates to an apparatus for generating a traveling / working path when an obstacle exists in a working area where work is performed by a working vehicle.

Conventionally, there is a known technique for setting a working path of a pavement by performing a so-called teaching run, in which a tractor is provided with a position detecting means and an orientation detecting means to drive in a pavement to detect the position of a corner. (For example, see Patent Document 1).

Japanese Patent Application Publication No. Hei 10-66405

In the above technique, obstacles such as telegraph poles, rocks and trees existing in the pavement are not considered. Therefore, when the work path is set to avoid the obstacle, there is a fear that a large unworked portion occurs around the obstacle, or that the unmanned work vehicle and the manned work vehicle travel along a long path unnecessarily.

The present invention has been made in view of the above situation, and an obstacle region is set around a location where an obstacle is located, so that a path is not generated, and a path set in the working region avoids an obstacle region and can work efficiently. It is intended to provide a device for generating a route that is set to be.

The problems to be solved of the present invention are as described above, and the means for solving the problems will be described next.

That is, the present invention is a path generation device having a control unit capable of generating a path capable of autonomous driving and working in the pavement, wherein the control unit includes a first region in which a working path for performing work on the pavement is generated, Although a work path is not generated, a second area set around the first area that allows a travel route for driving to be generated, a third area for which travel is prohibited as the pavement, and a work route are not generated. The driving route for driving is to enable the fourth area to be set around the third area to be generated.

The present invention is to enable the control unit to set a fifth area in the first area in which a work path connecting the fourth area and the second area is not generated.

The present invention, the control unit, in the first area, it is possible to generate a work path in the remaining areas except for the third area, the fourth area, the fifth area.

In the present invention, the control unit forms the fifth region in parallel with a work path generated in the first region.

In the present invention, when the third region is set in the first region, the control unit is configured such that at least one side constituting the third region is set substantially parallel to a specific side constituting the first region.

The present invention is a path generation device having a control unit capable of generating an autonomous driving and workable path in a pavement, wherein the control unit includes a first area in which a work path for performing work on the pavement is generated, and a work path Is not generated, but a second area is set around the first area that allows the generation of a travel route for driving, a third area for which travel is prohibited as the pavement, and a work route is not generated but travels The driving route for the user can set the fourth area set around the third area that can be generated, and, when the second area and the fourth area overlap, include the fourth area in the second area. It is possible to set.

The present invention is a path generation device having a control unit capable of generating an autonomous driving and workable path in a pavement, wherein the control unit includes a first area in which a work path for performing work on the pavement is generated, and a work path Is not generated, but a second area is set around the first area that allows the generation of a travel route for driving, a third area for which travel is prohibited as the pavement, and a work route is not generated but travels The driving route for the case where the fourth area that is set around the third area that can be generated can be set, and the second area and the fourth area are opposite with a sixth area that is less than a predetermined width therebetween. Therefore, the fourth area and the sixth area can be included in the second area to be set.

In the present invention, in the case where a plurality of third and fourth areas are present in the package, the control unit may include a seventh area when the fourth areas are opposite each other with a seventh area less than a predetermined width. It can be set by including in one of the fourth areas.

By using the above-described means, even in the case where an obstacle forbidding driving is present in the pavement, a route can be established to efficiently work.

1 is a schematic side view of an autonomous driving work vehicle and a driving work vehicle.
2 is a control block diagram.
3 is a view showing an initial screen.
4 is a view showing a packaging setting.
5 is a view showing an area of packaging.
6 is a view showing the shape of the packaging.
7 is a view showing a state of recognizing the shape of the pavement (圃 場 端).
8 is a view showing correction of the packaging shape.
9 is a view showing the position and direction of the environment recognition means for acquiring surrounding information.
10 is a diagram illustrating a state in which a boundary feature point is selected on a display device.
11 is a view showing a state in which a pavement is recognized by a distance sensor that acquires surrounding information.
12 is a view showing an area when an obstacle exists in the pavement.
13 is a view showing the positioning of obstacles.
FIG. 14 is a diagram showing a path when the pavement in which obstacles are present is sequentially operated in two steps.
15 is a view showing a path when working separately with two pavements in which obstacles are present.
16 is a view showing a pavement where an obstacle region overlaps with a dog's canine.
Fig. 17 is a view showing a pavement where an obstacle area is separated from a dog's nest by a predetermined distance.
18 is a view showing a pavement with a plurality of obstacle areas and a predetermined distance.
Fig. 19 is a diagram showing the setting of the width of the canis.
Fig. 20 is a view showing the setting of the width of the canine when the canine is inclined with respect to the longitudinal direction.
It is a figure which shows the setting of the width of the side margin paper when it turns and turns two times.

An autonomous driving work vehicle capable of autonomous driving by an unmanned vehicle (hereinafter sometimes referred to as an unmanned vehicle) (1), and a manned driving work vehicle operated by an operator (user) steering in cooperation with the autonomous driving work vehicle (1) ( Hereinafter, an embodiment in which the vehicle is referred to as a manned vehicle) 100 is a tractor, and the autonomous traveling work vehicle 1 and the traveling work vehicle 100 are each equipped with a rotary tilling device as a work machine will be described. However, the work vehicle is not limited to the tractor, and may be a combine, etc., and the work machine is not limited to a rotary tilling device, and may be a sliver, mower, lake, planter, fertilizer, or the like.

In the present specification, "autonomous driving" means that the tractor is driven along a predetermined path by controlling the configuration of the tractor provided by the control unit (ECU) provided by the tractor.

In some cases, performing agricultural work in a single pavement with an unmanned vehicle and a manned vehicle may be referred to as cooperative work of a agricultural work, following work, or accompanying work. In addition, as a cooperative work of farming work, in addition to "performing farming work in a single pavement with unmanned vehicles and manned vehicles", "farming work in different pavements such as adjacent pavement at the same time" Execution with unmanned vehicle and manned vehicle ”may be included.

1 is a side view showing a schematic configuration of an autonomous traveling work vehicle and a traveling work vehicle, and FIG. 2 is a control block diagram showing these control configurations. In FIG. 1 and FIG. 2, the whole structure of the tractor which becomes the autonomous traveling work vehicle 1 is demonstrated. The body part of the tractor is provided with an engine 3 in the bonnet 2, a dashboard 14 is formed in the cabin 11 at the rear of the bonnet 2, and steering operation is performed on the dashboard 14 A steering handle 4 serving as a means is formed. The direction of the front wheels 9 · 9 is rotated through the steering device by the rotation of the steering handle 4. The steering actuator 40 for operating the steering device is connected to the steering controller 301 constituting the control unit 30. The steering direction of the autonomous traveling work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 is made of an angle sensor such as a rotary encoder, and is disposed on the rotating base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited, and the steering direction may be recognized, and the rotation of the steering handle 4 may be detected or the operation amount of the power steering may be detected. The detection value obtained by the steering sensor 20 is input to the steering controller 301 of the control unit 30.

The control unit 30 includes a steering controller 301, an engine controller 302, a shift 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 having a CPU (central arithmetic processing unit) or a storage device such as RAM or ROM, an interface, and the like, programs and data for operation are stored in the storage device, and each information is obtained through CAN communication. B, it is possible to communicate so that data can be transmitted and received.

The driver's seat 5 is arranged behind the steering handle 4, and the mission case 6 is arranged under the driver's seat 5. Rear axle cases 8 · 8 are successively formed on both right and left sides of the mission case 6, and the rear axle cases 8 · 8 are supported by rear wheels 10 · 10 through an axle. The power from the engine 3 is shifted by a transmission device (main transmission device or sub transmission device) in the mission case 6, so that the rear wheels 10 · 10 can be driven. The transmission device is constituted by, for example, a hydraulic continuously variable transmission device, so that the movable swash plate of the hydraulic pump of variable displacement type is operated by a transmission means 44 such as a motor to allow transmission. The transmission means 44 is connected to the shift control controller 303 of the control unit 30. The rotation speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and is input to the shift control controller 303 as a travel speed. However, the detection method of the vehicle speed and the arrangement position of the vehicle speed sensor 27 are not limited.

The PTO clutch or the PTO transmission is housed in the mission case 6, the PTO clutch is turned on and off by the PTO on-off means 45, and the PTO on-off means 45 is controlled by the control means 49 via the display means 49. It is connected to the autonomous travel control controller 307 of 30), so that it is possible to control the disconnection of power to the PTO shaft. In addition, when a seeding machine, a paddy field coater, or the like is attached as a work machine, a work machine controller 308 is provided to enable independent control of the work machine, and the work machine controller 308 is an information communication wiring (so-called ISOBUS) ) And is connected to the job control controller 305.

The front axle case 7 is supported on the front frame 13 supporting the engine 3, and the front wheels 9 · 9 are supported on both sides of the front axle case 7, so that the mission case 6 is provided. It is configured so that the power from can be transmitted to the front wheel (9 · 9). The front wheels 9 · 9 are steering wheels, which can be rotated by the rotation operation of the steering handle 4, and are operated by a steering actuator 40 made of a power steering cylinder that serves as a driving means for the steering device. The front wheel (9 · 9) is capable of turning left and right. The steering actuator 40 is connected to and controlled by the steering controller 301 of the control unit 30.

An engine speed sensor 61, a water temperature sensor, a hydraulic sensor, and the like are connected to the engine controller 302 serving as the engine rotation control means, so that the state of the engine can be detected. The engine controller 302 detects the load from the set rotational speed and the actual rotational speed, controls the engine to prevent overload, and transmits the state of the engine 3 to the remote control device 112 described later to display the device 113 ).

In addition, a level sensor 29 that detects the liquid level of the fuel is disposed in the fuel tank 15 arranged below the step, and is connected to the display means 49, and the display means 49 is an autonomous vehicle. It is formed on the dashboard and displays the remaining fuel. Then, the remaining amount of fuel is calculated by the autonomous driving control controller 307, a workable time, information is transmitted to the remote control device 112 via the communication device 110, and the display device of the remote control device 112 ( 113), the remaining fuel amount and the working time can be displayed. Further, the rotating means, the fuel gauge, the hydraulic pressure, the display means for displaying an abnormality, and the display means for displaying the current position may be of a different configuration.

On the dashboard 14, a display means 49 for displaying a monitor or setting value indicating an abnormality such as a rotational system, a fuel system, an oil pressure, or the like of the engine is disposed. The display means 49 is a touch panel type like the remote control device 112, and enables data input and selection, switch operation, button operation, and the like.

Moreover, the rotary tilling device 24 is mounted as a work machine so that it can be lifted via a work machine mounting device 23 at a rear portion of the vehicle body portion of the tractor. An elevating cylinder 26 is formed on the mission case 6, and by extending and lowering the elevating cylinder 26, the elevating arm constituting the work machine mounting device 23 is rotated to elevate the rotary tilling device 24. To make it possible. 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. Incidentally, an inclined cylinder is formed on the lift links on the left and right sides of the work machine mounting device 23, and the inclined actuator 47 for operating the inclined cylinder is connected to the horizontal control controller 304.

A mobile GPS antenna (location antenna) 34 and a data receiving antenna 38 for enabling position information to be detected are connected to the positioning control unit 306, which is a position detection unit, and the mobile GPS antenna 34 and data reception The antenna 38 is formed on the cabin 11. The positioning control unit 306 is provided with a position calculating means to calculate latitude and longitude, so that the current position can be displayed by the display means 49 or the display device 113 of the remote control device 112. In addition to the GPS (USA), high-precision positioning is possible by using a satellite positioning system (GNSS) such as a quasi-ceiling satellite (Japan) or a Gronas satellite (Russia), but this embodiment will be described using GPS. .

The autonomous driving work vehicle 1 is provided with a gyro sensor 31 to obtain attitude change information of the body portion, and an azimuth angle detection unit 32 to detect a traveling direction, and is connected to the control unit 30. However, since the traveling direction can be calculated from the GPS position measurement, the azimuth angle detection unit 32 can be omitted.

The gyro sensor 31 detects the angular velocity of the inclination (pitch) in the front-rear direction of the vehicle body portion of the autonomous traveling work vehicle 1, the angular velocity of the inclination (roll) in the left-right direction of the vehicle body portion, and the angular velocity of the turning (yaw). By integrating the three angular speeds, it is possible to find the inclination angle and the turning angle in the front-rear direction and the left-right direction of the vehicle body part of the autonomous traveling work vehicle 1. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid type gyro sensor, and a vibration type gyro sensor. The gyro sensor 31 is connected to the control unit 30 and inputs information related to the three angular speeds to the control unit 30.

The azimuth detection unit 32 detects the direction (progression direction) of the autonomous traveling work vehicle 1. As a specific example of the azimuth detection unit 32, a self-orientation sensor or the like can be exemplified. The azimuth angle detection unit 32 inputs information to the autonomous driving control controller 307 through CAN communication means.

In this way, the autonomous driving control controller 307 calculates the signals obtained from the gyro sensor 31 and the azimuth angle detection unit 32 using the posture / orientation calculation means, and the posture (direction, vehicle body) of the autonomous traveling work vehicle 1 The direction of the front-rear direction and the inclination in the left-right direction of the vehicle body part and the turning direction) are determined.

Next, the position information of the autonomous driving work vehicle 1 is acquired using GPS (global positioning system), which is one of the satellite positioning systems.

As a positioning method using GPS, there are various methods such as single 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 precision is adopted.

The RTK-GPS positioning simultaneously performs GPS observation from a reference station that knows its location and a mobile station that wants to locate it, and transmits the data observed by the reference station to the mobile station in real time, such as by radio, to the reference station. It is a method to obtain the location of a mobile station in real time based on the location performance of.

In the present 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 driving work vehicle 1, and a fixed communication device 35 serving as a reference station And a fixed GPS antenna 36 and a data transmission antenna 39 are arranged in a predetermined position. The RTK-GPS positioning of this embodiment performs phase measurement (relative positioning) on both the reference station and the mobile station, and receives data for the side station stationary communication device 35 from the data transmission antenna 39. It transmits to the antenna 38.

The mobile GPS antenna 34 disposed in the autonomous driving work vehicle 1 receives signals from GPS satellites 37 · 37…. This signal is transmitted to the positioning control unit 306 and positioned. Then, the signals from the GPS satellites (37 · 37…) are simultaneously received by the fixed GPS antenna (36) serving as a reference station, and the signals are transmitted to the positioning control unit (306) by positioning with the fixed communication unit (35), and the observed data. To analyze the location of the mobile station.

In this way, the autonomous driving control controller 307 is provided as an autonomous driving means for autonomously driving the autonomous driving work vehicle 1. In other words, by the various information acquisition units connected to the autonomous driving control controller 307, the driving state of the autonomous driving work vehicle 1 is acquired as various information, and to the various control units connected to the autonomous driving control controller 307. Thereby, autonomous driving of the autonomous traveling work vehicle 1 is controlled. Specifically, the radio wave transmitted from the GPS satellites 37 · 37… is received, and the position control unit 306 obtains the position information of the vehicle body part at set time intervals, and the gyro sensor 31 and the azimuth angle detection part 32 Steering actuator 40, shift, so as to obtain displacement information and azimuth information of the vehicle body part, and travel along a predetermined path (driving path and work path) R based on these position information, displacement information, and azimuth information The means 44, the lift actuator 25, the PTO on-off means 45, the engine controller 302, etc. are controlled to autonomously drive and work automatically.

In addition, an obstacle sensor 41 is disposed on the autonomous traveling work vehicle 1 and is connected to the control unit 30 so as not to collide with the obstacle. For example, the obstacle sensor 41 is composed of a laser sensor, an ultrasonic sensor, or a camera, and is disposed on the front, side, or rear of the vehicle body part to connect with the control unit 30, and the control unit 30 can be used to control the front or side of the vehicle body part. It detects whether there is an obstacle in the rear, and controls to stop driving when the obstacle approaches the set distance.

In addition, the autonomous driving work vehicle 1 is equipped with a camera 42F for photographing the front, a work machine at the rear, or a camera 42R for photographing the packaging state after work, and is connected to the control unit 30. In this embodiment, the cameras 42F and 42R are arranged on the front and rear of the loop of the cabin 11, but the arrangement position is not limited, and the front and rear of the cabin 11 or one camera 42 are placed. It may be arranged around the vehicle body portion and rotated around a vertical axis to photograph the surroundings, or may be configured such that a plurality of cameras 42 are disposed at four corners of the vehicle body portion and photographed around the vehicle body portion. Moreover, when the emblem of the manufacturer of the autonomous traveling work vehicle 1 is attached to the cabin 11 or the bonnet 2, the cameras 42F and 42R may be arranged on the rear side of the emblem. In this case, a through hole or a predetermined gap is set in the emblem, and photography is not disturbed by the lens of the camera 42F · 42R corresponding to the position of the through hole or gap. The image captured by the cameras 42F · 42R is 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 path R to be described later of the autonomous driving work vehicle 1, remotely operates the autonomous driving work vehicle 1, or a driving state or work machine of the autonomous driving work vehicle 1 It monitors the operation status of, or stores work data, and includes a control unit (CPU or memory) 130, a communication device 111, a display device 113, a storage device 114, and the like.

The driving work vehicle 100 that becomes a manned driving vehicle is operated by an operator riding, and the remote operation device 112 is mounted on the driving work vehicle 100 to enable the autonomous driving work vehicle 1 to be operated. have. Since the basic configuration of the driving work vehicle 100 is almost the same as that of the autonomous driving work vehicle 1, a detailed description is omitted. Moreover, it is also possible to set it as the structure provided with the control unit for GPS in the traveling work vehicle 100 (or the remote operation apparatus 112).

The remote control device 112 includes a mounting portion (for example, a remote control device 112 not shown) formed on a dashboard of the traveling work vehicle 100 and the autonomous driving work vehicle 1, a filler of the cabin 11, or the like. Attachable and detachable arm member). The remote control device 112 is operated while being attached to the mounting portion of the traveling work vehicle 100, or is carried out and carried out of the traveling work vehicle 100 for carrying, and is mounted on the mounting portion of the autonomous traveling work vehicle 1 It is also possible to operate with one. The remote control device 112 can be configured with, for example, a wireless communication terminal such as a notebook-type or tablet-type personal computer. In the present embodiment, a tablet-type computer is used.

In addition, the remote control device 112 and the autonomous driving work vehicle 1 are configured to communicate with each other wirelessly, and a communication device 110 for communicating with the autonomous travel work vehicle 1 and the remote control device 112 is provided. 111) are formed respectively. The communication device 111 is integrally configured with the remote operation device 112. The communication means is configured to be able to communicate with each other through a wireless LAN such as WiFi. The remote control device 112 forms a display device 113, which is a touch panel type operation screen that can be operated by touching the screen, on the surface of the casing, and the communication device 111, the control unit 130, or the storage device 114 in the casing. ) Or batteries.

Next, the procedure for setting the path R by the remote operation device 112 serving as a path generating apparatus will be described. 3 shows an initial screen displayed on the display device 113 of the remote control device 112. However, it is also possible to set the path R by the control unit 30 provided in the autonomous driving work vehicle 1.

The display device 113 of the remote control device 112 is of a touch panel type, and an initial screen is displayed when the remote control device 112 is activated by turning on the power. In the initial screen, as shown in FIG. 3, the tractor setting button 201, pavement setting button 202, route creation setting button 203, data transfer button 204, job start button 205, end button ( 206) is displayed.

First, the tractor setting will be described.

When the tractor setting button 201 is touched, when the tractor is operated by the remote control device 112 in the past, that is, when the tractor set in the past exists, the tractor name (model) is displayed. do. If a tractor name to be used is selected by touching the displayed tractor name from the displayed plurality of tractor names, it is possible to proceed to the packaging setting described later, or to return to the initial screen.

When the tractor is newly set, the model of the tractor is specified. In this case, enter the model name directly. Alternatively, a plurality of tractor models are displayed on the display device 113 in a list so that a desired model can be selected.

When the model of the tractor is set, a screen for setting the size, shape, and position of the work machine mounted on the tractor appears. The position of the work machine is selected, for example, whether it is all, between the front wheel and the rear wheel, rear or offset.

When the setting of the work machine is finished, the setting screen of the vehicle speed during work, the engine speed during work, the vehicle speed during turning, and the engine speed during turning appears. It is also possible to set the vehicle speed during operation to a different vehicle speed from the royal road and the return road.

When the setting of the vehicle speed and the engine speed is finished, it is possible to proceed to the packaging setting described later, or to return to the initial screen.

Next, the packaging setting will be described. 4 shows a state of outsourcing performed by a user on a self-driving vehicle when boarding. 5 shows an area set in the packaging, such as a work area or a dog's area.

When the pavement setting button 202 is touched, when the tractor is operated by this remote control device 112 in the past, that is, when the pavement set in the past exists, the name of the set pavement is displayed. do. If the package name to perform the operation is selected from the displayed plurality of package names by touching, it is possible to proceed to the path generation setting described later, or to return to the initial screen. In addition, it is also possible to edit or set the set packaging.

If there is no registered packaging, the new packaging is set. When a new pavement setting is selected, as shown in Fig. 4, the tractor (autonomous driving work vehicle 1) is positioned at one of the four corners (A) in the pavement (H), and Touch the button. Thereafter, the tractor is driven along the outer periphery of the pavement H to register the pavement shape. Next, an operator registers a corner position (A, B, C, D) or an inflection point from the registered pavement shape to specify the pavement shape.

When the packaging H is specified, as shown in FIG. 5, the work start position S, the work start direction F, and the work end position G are set. When an obstacle is present in the pavement (H), the tractor is moved to the position of the obstacle, and the "obstacle setting" button is touched to travel around the obstacle to set the obstacle. In addition, it is possible to display a map image of the pavement on the display device 113, and when the specified pavement shape is superimposed and displayed on the map image, the obstacle is set by designating the periphery of the obstacle on the display device 113 You may be able to carry out.

When the above operation is finished, or when a package registered in the past is selected, a confirmation screen is displayed, and an OK button and an "Edit / Add" button are displayed. If there is a change in the packaging registered in the past, touch the "Edit / Add" button.

When the OK button is touched in the packaging setting, the route generation setting is performed. The route generation setting can also be made by touching the route generation setting button 203 on the initial screen.

In the route generation setting, a screen for selecting a position at which the traveling work vehicle 100 travels with respect to the autonomous traveling work vehicle 1 is displayed. That is, the positional relationship between the autonomous driving work vehicle 1 and the driving work vehicle 100 is set. Specifically, (1) the traveling work vehicle 100 is located on the left rear of the autonomous traveling work vehicle 1. (2) The traveling work vehicle 100 is located on the right rear of the autonomous driving work vehicle 1. (3) The driving work vehicle 100 is located immediately after the autonomous driving work vehicle 1. (4) The running work vehicle 100 is not involved (work is performed only with the autonomous running work vehicle 1). Four kinds of are displayed and can be selected by touching.

Next, the width of the work machine of the traveling work vehicle 100 is set. In short, enter the width of the machine as a number.

Next, the number of skips is set. That is, when the autonomous driving work vehicle 1 reaches the pavement outer circumferential end (opening) and moves from the first path to the second path, it sets how many paths to skip. Specifically, (1) is not skipped. (2) 1 row skip. (3) 2 rows skipped. Choose one.

Next, overlap setting is performed. That is, the overlapping amount of the working width in the working path adjacent to the working path is set. Specifically, (1) it does not overlap. (2) overlap. Choose In addition, when "overlap" is selected, the numerical input screen is displayed, and if the numerical value is not inputted, it cannot proceed to the next.

Next, outsourcing is set. That is, as shown in FIG. 5, the area outside the work area HA where work is performed by the autonomous traveling work vehicle 1 and the traveling work vehicle 100 or by the autonomous traveling work vehicle 1 Is set. In other words, there is an open side (HB) which turns into a non-working state at the pavement stage, and a side free space (HC) that serves as a non-working area that abuts the outer circumference of the packaging on both left and right sides between the opening (HB) and the opening (HB). Is set. Therefore, it becomes packaging (H) = work area (HA) + dog seat (HB) + dog seat (HB) + side margin (HC) + side margin (HC). Normally, the width Wb of the canine HB and the width Wc of the side clearance sheet HC are lengths equal to or less than twice the width of the work machine attached to the traveling work vehicle 100, so that autonomous driving work is performed. After the work carried out by the vehicle 1 and the traveling work vehicle 100 is finished, the worker gets on the traveling work vehicle 100 and changes the outer circumference by 2 by manual operation, so that it can be finished. However, when the shape of the outer periphery of the packaging is not complicated, it is also possible to work the outer periphery with the autonomous traveling work vehicle 1. In addition, in the outer circumference setting, the width Wb of the dog seat HB and the width Wc of the side allowance sheet HC are automatically calculated to a predetermined width according to the width of the work machine, but the calculated dog dog HB The width Wb of the side and the width Wc of the side clearance sheet HC can be changed to an arbitrary width, so that the user changes to a desired width, and then changes the width Wb and the width Wc after each change. It can be set as the width of the dog seat HB and the width of the side margin paper HC. However, if it can be changed to any width, it cannot be set below the minimum set width calculated in consideration of driving, work, and safety in the pavement. For example, when the autonomous traveling work vehicle 1 travels or turns in the dog seat HB or the side clearance sheet HC, the width to ensure that the work machine does not stick out of the package is calculated as the minimum set width. .

When input of the above-mentioned various settings is finished, a confirmation screen appears, and when you touch OK, a path R is automatically generated. The path R is composed of a working path Ra and a traveling path Rb, and the working path Ra is a path generated in the working area HA, and is a path traveling while performing work, and is a straight path. Becomes. However, when the work area HA is not rectangular, it may be projected out of the area outside the work area HA (canine (HB) and side margin (side margin) (HC)). The traveling path Rb is a path generated in an area outside the working area HA, and is a path traveling without performing work, and is a path combining straight lines and curves. Mainly, it is a turning run in the dog seat HB.

In the path R, a path R of the autonomous driving work vehicle 1 and the driving work vehicle 100 is generated.

If you want to see the work path after creating the work path, a simulation image is displayed and can be confirmed by touching the path creation setting button 203. Also, the path R is generated even if the path creation setting button 203 is not touched. When each item of the route generation setting is set, the route generation setting is displayed, and a "path setting button", "data transfer", and "return to home" are displayed below it.

When transmitting information on a path (route R) generated by the path creation setting, it can be transmitted by touching the data transfer button 204 formed on the initial screen. Since this transmission is performed by the remote operation device 112, it is necessary to transmit these set information to the control device of the autonomous traveling work vehicle 1. The transmission includes (1) a method of transmitting using a terminal, and (2) a method of transmitting wirelessly. In the present embodiment, in the case of using a terminal, a remote control device 112 using a USB cable is used. And the control device of the autonomous driving work vehicle 1 is directly connected, or once stored in a USB memory, and then connected to the USB terminal of the autonomous driving work vehicle 1 for transmission. In addition, when transmitting wirelessly, transmission is performed using WiFi (wireless LAN).

Hereinafter, the packaging setting for registering the packaging shape will be described in more detail.

Conventionally, it has been practiced to set the working path based on the information of the pavement section and the reference travel direction obtained by the learning travel data obtained by manual driving (teaching travel) of the pavement periphery, but the end of the actual pavement, that is, The border between pavement, paddy field, and road is not necessarily a straight line depending on the characteristics of the land, so it is difficult to faithfully run along the boundary in teaching driving. In addition, since there is no information on obstacles such as telephone poles, water intake valves, walls, etc., which are locally projected inside the pavement in the positioning data obtained by teaching travel, autonomous driving work vehicles can be used for finishing work of dogs and side margins. It could not be done autonomously. Thus, various types of information on the travel area are acquired, and the shape of the travel area on which the work vehicle 100 travels can be specified based on the information.

Fig. 6 shows a pavement having a complex shape change locally due to the presence of an obstacle at the border portion of the pavement, and in this embodiment, protrudes inside the pavement to the side DA of the pavement H It shows an example where a telephone pole exists. Fig. 7 shows a state of recognizing the shape of the pavement as surrounding information, and here shows a state of recognizing a telephone pole. Fig. 8 shows the shape of the pavement registered after correcting the driving trajectory based on the surrounding information, and here, the shape of registering the outer shape of the pavement taking into account the telegraph pole protruding into the inside of the pavement (H).

When the packaging setting button 202 is touched on the display device 113 of the remote control device 112 to perform new packaging settings, or when editing the existing packaging and setting the packaging again, the measurement starts. After touching the button, the autonomous driving work vehicle 1 is driven. In this embodiment, the autonomous driving work vehicle 1 is positioned at one of the four corners A of the pavement H, and the "measurement start" button is touched to pack the autonomous driving work vehicle 1 ( The case of driving along the outer periphery of H) will be described. At this time, in the positioning control unit 306, the radio wave transmitted from the GPS satellites 37 · 37… is received, and the position information of the vehicle body portion is obtained, and at the same time, by the gyro sensor 31 and the azimuth angle detection portion 32, Displacement information and azimuth information of the vehicle body portion are obtained. The driving trajectory information based on the position information, displacement information, and orientation information of the vehicle body portion thus obtained is obtained.

Obstacle sensor 41 and / or camera 42F · 42R arranged to recognize the surrounding environment of autonomous vehicle 1 when driving autonomous vehicle 1 along the outer periphery of pavement H By this, the surrounding information (environmental information) of the autonomous traveling work vehicle 1 is also acquired. The "peripheral information" means, for example, images of all and side parts of the vehicle body obtained by the obstacle sensor 41 configured as an imaging means such as a camera, images obtained by the camera 42F, or laser sensors or ultrasonic sensors. It is information about the border outside the pavement, such as a pavement end and a paddy field, by the obstacle sensor 41 configured as a distance sensor. In the present embodiment, the video by the front camera 42F is acquired as surrounding information and displayed on the display device 113.

The driving trajectory information is corrected based on the surrounding information thus obtained. Specifically, based on an image or the like obtained as surrounding information, the actual outer circumferential end of the pavement H is grasped, and the travel trajectory information is corrected by correcting the travel trajectory outward or inward so as to match it, thereby making the outer circumferential shape of the pavement H To register. Then, the travel path of the outer periphery of the pavement H is set based on the outer periphery shape. That is, when traveling on the outer periphery of the pavement H, it runs while properly avoiding the obstacle, but according to the nature of the obstacle, it is necessary to register the outer periphery of the pavement inside or outside the route avoided at this time. It is also possible to set an appropriate amount of avoidance according to the obstacle by using the shape of the obstacle, the size pushed up into the air, etc. from the image or the like acquired as surrounding information as described above, and to use it for setting the travel path in the path generation setting.

Further, in the present embodiment, it is assumed that the driving trajectory information is corrected based on the driving trajectory information and the surrounding information (environmental information), but the driving trajectory information may not be corrected, or it is selected whether to correct the corrected trajectory information. It may be possible. When the correction trajectory information is not corrected, for example, an external factor affecting the driving trajectory information in the surrounding information (for example, when an obstacle exists in the vicinity of the pavement or when the pavement is curved) Case) can be considered. In this case, the presence or absence of an external factor is determined based on the surrounding information, and if there is an external factor, the driving trajectory information is corrected, and if there is no external factor, the driving trajectory information is not corrected.

In addition, when it is possible to select whether or not to correct the travel trajectory information, for example, when the travel trajectory information is acquired, an image for selecting whether or not to correct it based on the surrounding information is displayed, and the user performs correction. When execution is selected, correction is performed, and when non-execution of correction is selected, correction is not performed. Alternatively, it is possible to selectively set whether or not correction based on the surrounding information is set in a setting menu (not shown) or the like, and automatically corrects the driving trajectory information when the correction is "Yes", and when the correction is "No" The information may not be corrected.

As described above, by obtaining the surrounding information and correcting the driving trajectory information, the pavement end can be accurately identified and registered, and when the outer periphery of the pavement H is curved, or an obstacle protrudes inside the pavement H Even in the case where the outer circumferential shape of the packaging H is complicated, for example, a more accurate packaging region can be registered as the packaging region.

9 shows a position and a direction of the environment recognition means for acquiring surrounding information. In the case of correcting the driving trajectory information, in order to more accurately recognize the pavement, the obstacle sensor 41 for acquiring surrounding information and the arrangement of the camera 42F · 42R to the mobile GPS antenna 34 (driving trajectory information is Considering the relative position with respect to the acquired position), after clearing the relationship between the travel trajectory at any position on the travel trajectory, the obstacle sensor 41, the camera 42F and 42R, and the recognized pavement stage, Correction is performed based on these position information and direction. Specifically, by using the height information of the mounting position of the sensor or camera, the positional information about the horizontal position, the relative positional relationship between them and the mobile GPS antenna 34, and information about the shooting direction of the camera or the detection direction of the sensor, With respect to the detected value detected by the image or sensor acquired by the camera, the distance between the travel trajectory and the pavement or obstacle is calculated by taking into account information on the position and direction, and the position of the pavement is accurately determined.

As described above, by making the surrounding information have a relative positional relationship with the travel trajectory information, it is possible to more accurately use the information on the pavement recognized by the environmental recognition means, and to automatically perform the recognition processing of the pavement. It becomes possible.

As described above, correction of the driving trajectory information may be performed automatically, but may be performed in accordance with the user's operation. For example, a map image of a pavement is displayed on the display device 113, and a line shape indicating a pavement specified based on the travel trajectory information on the map image or a travel trajectory information corrected based on the surrounding information. When the line shape indicating the pavement specified on the basis of the overlap is displayed, the user can designate the correct pavement by touching the display device 113, and may correct the travel trajectory information according to the user's operation. In that case, the environmental information acquisition means (collectively referred to as the above-described obstacle sensor 41 and camera 42F · 42R) may be used to display the map image of the package on the display device 113. In the case of designating the pavement, it is sufficient to be able to correct for a part of the line shape, for example, by adding a control point to the line shape and operating the control point. In addition, the user may designate one or a plurality of boundary feature points in a line shape and automatically correct the travel trajectory information based on the boundary feature points. The boundary feature points will be described below.

10 shows a state in which a border feature point of a packaging end is selected on a display device and a packaging shape is registered. In this example, recognition of the outer circumferential edge of the pavement based on the surrounding information is a display device 113 of the remote control device 112 for an image acquired by the obstacle sensor 41 or the camera 42F · 42R configured as a camera It is made to display on the screen, and it is implemented by touching the position registered as an outer peripheral edge on the display device 113. That is, the operator himself determines the feature point (that is, the boundary feature point) of the boundary between the packaging and the outside in the image displayed on the display device 113, and designates it on the display device 113. In this case, the display device 113 of the remote control device 112 functions as a display unit that displays the position information, the driving trajectory information, and the surrounding information of the vehicle body, and operates to designate a boundary feature point for the surrounding information It also functions as a control unit. Then, the travel trajectory information is corrected based on the boundary feature point designated by the user, and the line shape after the change is registered as the pavement shape. Correction of the travel trajectory information may also be performed based on the boundary feature point and the related feature point. The related feature points are feature points having the same or similar characteristics to the boundary feature points, and for example, on a map image (image data), the color, saturation, and brightness of the specified boundary feature points are the same or similar (the difference between each element is predetermined. Within the threshold value) It is possible to specify a feature point as a related feature point.

In the above, it is assumed that the driving trajectory information is corrected at the time of registration of the pavement, but the driving trajectory information and the surrounding information are stored in the remote control device 112 in association with each other, and then the operation of changing the positional information of the pavement is post-exemplified. For example, it is also possible to perform it as a change of packaging settings.

As a method of recognizing the outer periphery of the pavement based on the surrounding information, as described above, the color difference on the image data acquired by the camera, for example, is performed in addition to the visual recognition by the operator on the image acquired by the camera. Alternatively, it is possible to automatically determine a displacement point on the image data as a boundary feature point, such as a difference in brightness. In the case of using a distance sensor such as a laser sensor or an ultrasonic sensor, the step existing at the border between the pavement end and the paddy field is detected as a change in distance, and the lower end of the step is used as a boundary feature point to automatically set the outer peripheral end of the pavement. It can also be recognized as (see Fig. 11).

In this specification, it is assumed that the remote control device 112 is used when setting the path R of the autonomous traveling work vehicle 1. In addition, various settings (the tractor setting, pavement setting, and path generation setting) required for setting the path R are assumed to be set by appropriately operating the display device 113 of the remote control device 112, but the path R The control unit 30 (for example, the autonomous driving control controller 307) performs the setting of, and various settings necessary for the setting of the path R may be set by the user operating the display means 49 appropriately. In other words, in the system for registering the shape of the package, the remote control device 112 may not be included, and the remote control device 112 is included, but the remote control device 112 is used in setting the path R. You don't have to be.

Further, in this specification, the correction of the travel trajectory information is supposed to be performed to specify and register the shape of the pavement, but in addition to or instead of the shape of the pavement, other areas (autonomous driving work vehicle (1 ) It may be used to specify and register the shape of the predetermined area (driving area) on which it travels. For example, it may be used to specify and register the shape of the work area described above. Furthermore, it may be used to specify and register the shape of a predetermined area (non-driving area) in which driving of the autonomous driving work vehicle is prohibited. For example, it may be used to specify and register the shape of the obstacle described above. Even if the target of the specific registration is a driving area or a non-driving area, there is no difference in the point of correcting the driving trajectory information based on the surrounding information, but in general, the driving for obtaining the driving trajectory information in the driving area is While traveling inside the end portion of the travel region, traveling for acquiring travel trajectory information in the non-travel region often travels outside the end portion of the travel region. In this case, the correction of the travel trajectory information in the travel region is performed in a direction of expanding the area of the closed line shape specified by the travel trajectory information, while the correction of the travel trajectory information in the non-travel region is described above. It is carried out in the direction of reducing the area of the closed line shape.

In consideration of the invention based on the present specification described above, the present invention is a system for registering the shape of a traveling area (implemented by, for example, packaging) in which a work vehicle travels, a satellite positioning system (this specification) In the example, position information obtaining means (implemented by the positioning control unit 306, for example) and a traveling work vehicle (for example, realized by GNSS) for obtaining the position information of the traveling work vehicle 100 100) is specified based on environmental information acquisition means for acquiring environmental information of the surroundings (implemented by, for example, an environmental recognition sensor in this specification) and position information of the traveling work vehicle 100 acquired by a satellite positioning system Travel trajectory information acquiring means for acquiring travel trajectory information indicating the travel trajectory of the driving work vehicle 100 to be used (for example, in this specification, Wireless communication terminal capable of wireless communication with the control unit 30 or the driving work vehicle 100 of the air travel work vehicle 100 (implemented by the control unit 130 provided by the remote operation device 112), and travel trajectory information A specific area specified by correcting the driving trajectory information based on the driving trajectory information acquired by the acquiring means and the environmental information acquired by the environment recognition means (a region obtained by correcting, for example, a driving area in this specification) Registered means (registered in the present specification, for example, a control unit 30 of the traveling work vehicle 100 or a control unit provided by a wireless communication terminal capable of wireless communication with the traveling work vehicle 100) (130).

Further, in the present invention, the correction of the travel trajectory information by the registration means is performed based on the direction of acquiring the location information and the environment information of the environment recognition means. In addition, in the present invention, display means capable of displaying the shape of the travel region registered by the registration means (that is, the shape of the travel region after correction) (in this specification, for example, wireless communication capable of wireless communication with a work vehicle or a work vehicle) An image display unit provided by the terminal (implemented by the display means 49 or the display device 113), and operation means capable of changing the shape of the travel area displayed on the display means (operating means, for example, in this specification, for example) And the registration means, the shape of the driving area displayed on the display means is changed according to the operation to the operation means (in this specification, for example, by adding control points or designating boundary feature points). The changed area is registered as the shape of the driving area. It goes without saying that it may be possible to change before registration by the registration means (i.e., the shape of the travel area before correction) depending on the operation of the operation means.

In this way, the shape of the traveling region in which the traveling work vehicle 100 travels can be more accurately specified, and the specified traveling region can be registered.

In the above-described pavement setting, a case where an obstacle 400 such as a soft paper or a rock in which the vehicle body part is prohibited from traveling is present in the pavement H.

As shown in FIG. 12, when the obstacle 400 is present in the pavement H, when setting the pavement, the operator rides the autonomous traveling work vehicle 1 and moves to the position near the obstacle 400 and sets the obstacle By selecting, the outer periphery of the obstacle 400 is driven. At this time, the fourth area (point) (401, 402, 403, 404), which becomes the vertex of the rectangle, is designated, and the third area (hereinafter, no entry area K) is registered. The side of the rectangle forming the outer periphery of the entry prohibition area K becomes almost parallel to the side of the outer periphery of the pavement H. However, it is also possible to register using only the map displayed on the remote control device 112. For example, it is a case where it is impossible to check the appearance, but it is intended to prohibit entry, and if you actually drive around in a soft area, there is a place where you can not escape to the depths or a place where a large stone is buried. The obstacle makes it possible to register as an entry prohibited area K without driving.

When the shape of the obstacle 400 has a circular or pointed shape, if it is registered as a square, the margin portion (the operation is possible, but the entry is prohibited) may increase. In such a case, as shown in Fig. 13, it is also possible to increase the number of points to be specified (401 to 405) to make the polygonal entry prohibited area K. However, the number of points is not limited. In addition, the position of the designated point is allowed to be moved or changed on the display device 113. In short, since the vertices are set automatically automatically, there are cases where you want to make it wider or narrower, or if you want to be inclined, or if you want to shift the position, or if you want to set it as a polygon. It is possible to move or change the point. In addition, when the entry prohibition area K is a polygon, at least one specific side is set so as to be substantially parallel to the side of the first area (work area HA) in the pavement H, and is unknown when the path is generated. Make sure that the work sheet is as small as possible.

Then, when the entry prohibition area K of the rectangle (or polygon) into which the obstacle 400 enters is set, next, an obstacle opening (JB) that becomes the fourth area outside the predetermined length (width) of the entry prohibition area K ) And the obstacle side clearance sheet JC are set, and the obstacle area J is set in the work area HA. That is, the obstacle area J is an obstacle prohibition area JB which becomes a fourth area in which the driving prohibition entry area K and the working path Ra are not generated but the driving path Rb is generated. ) And the obstacle side clearance (JC). The width of the fourth area of the obstacle opening JB and the obstacle side clearance sheet JC is 2 times or less of the width of the working machine, and the work can be completed by subtracting two perimeters.

In addition, a fifth area (entrance area) in which a path is not established between the second area (canine (HB) and side clearance (HC)) and the fourth area (canine (JB) and obstacle side clearance (JC)) (HD)) is set. In short, after the work of the work area HA is performed in cooperation with the autonomous driving work vehicle 1 and the driving work vehicle 100, the operator can manually open the obstacle opening JB and the obstacle side clearance JC. Since work needs to be carried out, it is necessary to enter the obstacle dog seat (JB) or the obstacle dog seat clearance (JC) from the dog seat (HB) or the side clearance paper (HC). For this reason, by setting the fifth area that is the access road to connect between the second area and the fourth area, after the cooperative work is completed, the obstacle canine (JB) and the obstacle side clearance ( JC) to allow them to work. Therefore, the width of the fifth region is equal to or greater than the width of the work machine (or the vehicle body portion) and twice the width of the work machine. When the width of the fifth area is equal to the width of the working machine, it is not necessary to perform the work in the fifth area when entering the fourth area, but by removing the unexplained area by performing the work in the fifth area when exiting the fourth area Can be. On the other hand, when the width of the fifth area is larger than the width of the work machine, the unexplained can be eliminated by performing the operation when entering the fourth area and exiting the fourth area. By making the width of the fifth area equal to twice the width of the working machine, duplication of work can be prevented even when the operation is performed in the fifth area when entering the fourth area and exiting the fourth area.

The entry area HD (the fifth area) is formed at a position where the distance between the second area and the fourth area is the shortest, so that the working area when entering and exiting the fourth area is made as small as possible. However, if the distance between the side clearance sheet HC and the obstacle side clearance area JC is the shortest, and if the entry area HD is formed to connect between them, the entry area HD is the working area HA In the case of dividing the longitudinal path in the case, work efficiency may be lowered. Therefore, by setting the entry area HD parallel to the path R in the area where the distance between the canine HB and the canine canine JB is short, the work efficiency is not deteriorated and the finish can be finished. have. In addition, since the work of the fourth area is performed after the work of the first area (work area HA) is finished, the travel area can be shortened by setting the entry area HD to the side close to the work end position G. Can improve the working efficiency.

As described above, the autonomous driving work vehicle 1 and the autonomous driving work vehicle 1 that enable autonomous driving and work using a satellite positioning system, along the route R set in advance by the control unit 130 In the work system for performing work by the traveling work vehicle 100, which is operated by a worker in cooperation with the operator, a control unit 30 of the autonomous driving work vehicle 1 that becomes a path generating device, or a control unit thereof The control unit 130 of the remote control device 112 that can communicate with the 30 allows the autonomous driving and the workable path R to be generated in the pavement H, and when the pavement is set, the pavement H When there is an obstacle 400 in the inside, the first area in which the work path Ra for performing work in the pavement H (work area HA) is generated, and the work path Ra is not generated, but travels The driving path (Rb) for making it possible to create A second area set around the first first area, a third area where travel is prohibited as the pavement H, and a work path Ra are not generated, but a travel path Rb for driving is generated. Since it is possible to set the fourth area set around the third area, which enables the vehicle to be routed automatically even if an obstacle 400 forbidden to travel is present in the pavement H You will be able to work.

In addition, the control unit 130 (or the control unit 30), in the first area (work area HA), the fourth area (obstacle dog JB) and obstacle side clearance (JC) and Since the second area (canine HB) and the side clearance (HC) is connected, and the fifth area (entrance area HD) in which the work path Ra is not generated can be set, the work area HA ) Is performed in cooperation with the autonomous driving work vehicle 1 and the driving work vehicle 100, and then enters the fourth area without ruining the base work site and performs the work. It is possible to exit while working, so that the fourth area can be efficiently finished.

In addition, when the control unit 130 (or the control unit 30) sets a third area (the entry prohibited area K) in the first area (work area HA), the third area is configured. Since at least one side is set almost parallel to a specific side constituting the first area, it is possible to make the unworked paper at the time of path creation as small as possible.

Further, since the control unit 130 (or the control unit 30) forms the fifth region in parallel with the working path Ra generated in the first region (work region HA), the fourth region is formed. After the work, the finish after exiting by working on the fifth area becomes almost the same as the work done on the other work path Ra, so that the overall finish can be finished.

Thus, when the obstacle region J is set and the operation is performed along the path R, the longitudinal working path Ra in which the obstacle region J is present is divided when viewed as a whole of the pavement H. The work area HA divided in the longitudinal direction is a method of performing the other area after the completion of the work of one area by autonomous driving work vehicle 1 and the driving work vehicle 100, and autonomous driving There is a method in which the work vehicle 1 and the traveling work vehicle 100 work in different areas, respectively. Which one to select is different depending on the terrain or the position of the obstacle region J, and the efficient one is automatically selected. However, it is also possible to select it manually (by the operator).

Specifically, in FIG. 12, when the obstacle area J exists in the work area HA, it is located on the side of the obstacle area J in the work area HA and is adjacent to the side clearance paper HC. The area is set to the left working area (HAL) and the right working area (HAR), and the areas adjacent to the canine (HB) other than the remaining obstacle areas (J) are the starch working area (HAF) and the posterior working area (HAB). It is assumed that the cooperative work is performed by the autonomous traveling work vehicle 1 and the traveling work vehicle 100 from the left working area HAL side.

As shown in FIG. 14, when the left-side working area HAL includes an even-numbered path R, the working area HA divided in the longitudinal direction of the path R is an autonomous traveling work vehicle. (1) The work is carried out by one area according to the two of the driving work vehicle 100 and. That is, when the work of the left working area (HAL) is finished, the work of one starch working area (HAF) (when the left working area (HAL) is a group of 4, for example, HAB → HAR → HAF) is performed. , Next, the work of the right-side work area HAR is performed, and then, the work of the other post-division work area HAB is performed to finish.

In addition, as shown in FIG. 15, when the left-side working area HAL includes an odd numbered path R, the working area HA divided in the longitudinal direction of the path travels with the autonomous traveling work vehicle 1. Two work vehicles 100 perform work in different areas. That is, when the work of the left working area HAL is finished, the work of one starch working area HAF (the working part of the left working area HAB) when the left working area HAL is, for example, 3 sets is driven. The vehicle 100 performs, and the post-division work area HAB is performed by the autonomous traveling work vehicle 1. Next, the right-hand work area HAR is performed by the autonomous traveling work vehicle 1 and the traveling working vehicle 100. In addition, in the case of forming the entry area HD, the group is emptied depending on the number of groups, or a princess is made without work.

As described above, the control unit 130 (or the control unit 30), in the first area, generates a work path Ra in the remaining areas except for the third area, the fourth area, and the fifth area. Since it is possible to work, all work areas HA can be worked in order to improve work efficiency.

In addition, if the fourth area (the obstacle opening (JB) or obstacle side clearance (JC)) and the second area (the opening (HB) or side clearance (HC)) are overlapped, it is set to combine both areas. do. For example, as shown in FIG. 16, when the dog HB and the dog dog JB overlap, the dog dog HB and the dog dog JB are combined. In this state, the control unit 130 may set the path R by considering the obstacle opening JB and the obstacle side clearance JC as the opening HB, so that the obstacle opening JB and the obstacle side clearance Since it is not necessary to distinguish (JC), it is possible to simplify the programming.

As described above, an autonomous driving work vehicle 1 that enables autonomous driving and work using a satellite positioning system and a driving work vehicle 100 that is operated by an operator in cooperation with the autonomous driving work vehicle 1 to perform work In the work system for performing work by), the control unit 30 of the autonomous driving work vehicle 1 that becomes a path generating device capable of autonomous driving and a workable path in the pavement H, or The control unit 130 of the remote control device 112 capable of communicating with the control unit 30 generates a first region in which a working path Ra for performing work in the packaging H is generated, and a working path Ra is generated. Although it is not possible, the driving route Rb for driving is set around the first area that enables generation, the third area is prohibited to travel into the pavement H, and the working route Ra ) Is not created but note The driving path Rb for doing so is capable of setting a fourth area that is set around the third area that can be generated, and a second area (cancer (HB) or side clearance (HC)). If four areas (obstacle opening (JB) or obstacle side clearance (JC)) overlap, the fourth area is included in the second area (integrated) so that it can be set, so the obstacle opening (JB) and obstacle side There is no need to consider the work processing of the clearance sheet JC, path generation is simplified, and post-processing of the dog seat HB, the side clearance sheet HC, and the obstacle area J can also be performed easily.

Also, between the second area (canine HB) and the side allowance (HC) and the fourth area (obstacle canine (JB) or obstacle side allowance (JC)) between the sixth area HE that is less than a predetermined width. In the case where they are placed opposite to each other, the fourth area and the sixth area HE are included in the second area to be set. For example, as shown in FIG. 17, when the obstacle opening JB is spaced apart by the width Wj, and the width Wj is less than the predetermined width T1, the obstacle opening ( The sixth area HE generated in the work area HA between JB) and the dog seat HB is incorporated into the dog dog HB, and the work path Ra is not set so that the autonomous driving work vehicle 1 or The work is set not to be performed by the running work vehicle 100. The width of the sixth area HE between the fourth area and the second area is a distance that, for example, reduces the work efficiency if the work length by the work machine is repeated to the full length of the tractor frequently. .

As described above, the control unit 130 (or the control unit 30), when the second area and the fourth area are opposite to each other with a sixth area HE less than a predetermined width, the fourth area and the sixth area Since the area HE can be included and set in the second area, the narrow sixth area HE between the second area and the fourth area can be set by the autonomous traveling work vehicle 1 or the traveling work vehicle 100. There is no need to repeatedly work the turning, and work efficiency can be improved. In addition, the area in which the fourth area is integrated into the second area is an obstruction opening (JB) and an obstruction side clearance (JC), so that there is no need to consider it as other tasks, such as an opening (HB) and a side clearance (HC) and an obstacle. The area J can be processed at once.

In addition, in the case where a plurality of third and fourth regions including the obstacle 400 are present in the pavement H, the control unit 130 (or the control unit 30) has a predetermined width between the fourth regions. In the case where the less than seventh area HF is opposed to each other, the seventh area HF can be set by including it in one of the fourth areas. For example, as shown in FIG. 18, the obstacle 400 and the obstacle 401 are separated in the pavement H, and the fourth area (obstacle opening JB or obstacle side clearance (JC)) is assigned. If the width (Wk) between the four areas (the obstacle opening (JB) or the obstacle side clearance (JC)) is less than the predetermined distance (T2), the seventh area (HF) is included in one of the fourth areas to be integrated Is set. In addition, when the width Wk is less than the predetermined width T2, the case in which the fourth area and the fourth area are apart is also included. As described above, by integrating the fourth regions, the obstacle opening JB and the obstacle side clearance sheet JC are integrated, thereby simplifying the path generation and the processing after the operation of the working area HA.

In addition, when a plurality of obstacles 400 are present in the pavement H, and one or more of the fourth areas is shorter than a predetermined width T1 with respect to the second area, they are integrated as above. As shown in FIG. 18, when the recessed area is formed between the 4th area and the 2nd area of the obstacle 401, it can also be integrated so that the recessed area may be eliminated when a predetermined condition is satisfied. As a predetermined condition, for example, the area of the recess is less than the threshold, the width of the recess is less than the threshold (for example, the width of the tractor), and the length of the recess in the longitudinal direction is the threshold (for example, the total of the tractor). Length x 2) or less. In this case, processing after the path generation and the work of the work area HA is simplified.

As described above, in the case where a plurality of third and fourth areas exist in the package H, the control unit 130 opposes the seventh area HF having the fourth areas less than a predetermined width therebetween. In the case of doing this, since it is possible to include and set the seventh area HF in either one of the fourth areas, path generation can be simplified.

Next, the length when the autonomous traveling work vehicle 1 or the traveling work vehicle 100 is turning in the dog seat will be described.

The canine HB is a turning area for the tractor to move to the next work path Ra without carrying out work on the outer periphery of the pavement, and has a predetermined canine width Wb. As shown in Fig. 19, when the package H is rectangular, the canine width Wb is determined by the distance L1 from the pivot center O of the aircraft to the rear end of the working machine and the aircraft center O. The minimum turning radius (set turning radius set for the tractor) (L2), the length of the larger half of the working machine width or the aircraft width (L3), and the safety clearance width (Lsm) are added. That is, the width of the canine (Wb) = L1 + L2 + L3 + Lsm.

In addition, as shown in FIG. 20, when the shape of the package H is a deformed rectangle, and when the dog HB is inclined at an angle θ with respect to the traveling direction, the distance from the center of rotation of the aircraft O to the rear end of the working machine (L1) and the minimum turning radius (L2) in the gas center (O) are in the inclined direction, so the distance from the turning center (O) of the gas in the inclined opening (HB) to the rear end of the working machine (L1 ') ), L1cos (θ-90) = L1sinθ, and the minimum turning radius L2 'at the gas center O in the inclined canine HB becomes L2-L2cosθ. L3 and Lsm have the same length as above. That is, the width of the canine (Wb ') = L1' + L2 '+ L3 + Lsm = L1sinθ + (L2-L2cosθ) + L3 + Lsm.

In addition, when the width Wc of the side margin paper HC is made to be as narrow as possible and the working area HA is increased, the two-way turn turn shown in Fig. 21 is employed. The side clearance width Wc in this two turn turn turns is the distance from the turning center O of the aircraft to the rear end of the working machine at the start side (L1) and the minimum turning radius at the aircraft center (O) It becomes the length which reduced the 3/2 working width W2 from (L2), and the length which added the safety clearance width Lsm. In other words, Wc = L1 + L2-3 / 2W2 + Lsm.

On the end side, the length minus the 3/2 working width (W2) minus the distance (L1) from the turning center (O) of the aircraft to the rear end of the working machine plus the minimum turning radius (L2) at the aircraft center (O), It becomes the length which added the length (L5) from the gas center (O) to the front end of a gas, and the safety clearance width (Lsm). In other words, the side clearance width Wc = L1 + L2-3 / 2W2 + L5 + Lsm.

Since the lengths of the L1, L2, L3, and L5 are acquired in advance in the tractor setting, in the outer circumference setting in path generation, the safety margin width Lsm is input to automatically calculate the length. When the canine width Wb and the side clearance width Wc are manually set by the operator, the input value is compared with the automatically calculated value, and the longer side is employed to safely turn.

Industrial availability

The present invention can be used in a path generating device that enables generation of a running and working path of an agricultural work vehicle that enables autonomous driving and automatic work in a pavement.

1: Autonomous driving work vehicle
30: control unit
110 ㆍ 111: Communication device
112: remote control device
130: control unit
H: packing
R: path
Ra: working path
Rb: Driving route
HA: Working area

Claims (8)

A path generation device having a control unit capable of generating an autonomous driving and workable path in a pavement,
The control unit includes a first region in which a working path for performing work in the packaging is generated, and a second region set around the first region in which a working path is not generated but a driving path for driving is generated. And, it is possible to set a fourth area that is set around the third area in which the driving is prohibited as the pavement and the third area that does not generate a working path but can generate a driving path for driving. Features,
The control unit, in the first area, the path generation device characterized in that it is possible to set a fifth area in which a working path connecting the fourth area and the second area is not generated. According to claim 1,
The control unit, in the first area, the third area, the fourth area, the path generation device characterized in that it is possible to generate a work path in the rest of the area except the fifth area. The method of claim 1 or 2,
The control unit, the path generating device characterized in that to form the fifth region parallel to the work path generated in the first region. According to claim 1,
When the third region is set in the first region, the control unit is characterized in that at least one side constituting the third region is set substantially parallel to a specific side constituting the first region. Path generation device. A path generating device having a control unit capable of generating an autonomous driving and workable path in the pavement,
The control unit includes a first region in which a working path for performing work in the packaging is generated, and a second region set around the first region in which a working path is not generated but a driving path for driving is generated. In addition, the third area in which driving is prohibited as the pavement and the fourth area set around the third area in which a work path is not generated but a driving path for driving can be generated can be set. , When the second area and the fourth area overlap, the path generation device may be configured by including the fourth area in the second area. A path generating device having a control unit capable of generating an autonomous driving and workable path in the pavement,
The control unit includes a first region in which a working path for performing work in the packaging is generated, and a second region set around the first region in which a working path is not generated but a driving path for driving is generated. In addition, the third area in which driving is prohibited as the pavement and the fourth area set around the third area in which a work path is not generated but a driving path for driving can be generated can be set. When the second area and the fourth area are opposite to each other with a sixth area less than a predetermined width, the fourth area and the sixth area may be included in the second area to be set. Path generation device. The method according to claim 5 or 6,
In the case where a plurality of the third area and the fourth area exist in the packaging, the control unit may include the seventh area when the fourth areas face each other with a seventh area less than a predetermined width therebetween. The path generation device, characterized in that it can be set by including in either of the fourth region. delete

Images