KR102144244B1 - Route generating device - Google Patents

Abstract

An obstacle area is set around an obstacle to prevent the path from being created, and the path set in the work area avoids the obstacle area and enables efficient work, allowing autonomous driving and work within the pavement (H). The control unit 30 of the autonomous driving work vehicle 1 serving as a route generating device capable of generating a route, or the control unit 130 of the remote control unit 112 capable of communicating with the control unit 30, includes the packaging ( H) around the first area in which the work path Ra for performing work is created, and the first area where the work path Ra is not created but the travel path Rb for traveling can be created. The second area to be set, the third area in which driving is prohibited as the pavement (H), and the third area that enables the generation of a travel path (Rb) for driving while the work path (Ra) is not generated. It is possible to set a fourth area to be set around.

Description

Route generation device {ROUTE GENERATING DEVICE}

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

Conventionally, a technique for setting the work path of the pavement by performing a so-called teaching run, in which a tractor is equipped with a position detection means and a direction detection means, and detects the position of a corner by making it travel inside the pavement, is known. (For example, see Patent Document 1).

Japanese Patent Laid-Open Publication No. Hei 10-66405

In the above technique, obstacles such as telephone poles, rocks, trees, etc. existing in the pavement were not considered. Therefore, when the work path is set to avoid the obstacle, there is a concern that a large unworked area portion occurs around the obstacle, or the unmanned work vehicle and the manned work vehicle travel on an unnecessarily long path around the obstacle.

The present invention has been made in consideration of the above situation, and the obstacle area is set around the obstacle so that the path is not generated, and the path set in the work area avoids the obstacle area, so that the work can be efficiently performed. It is intended to provide a path generation device that is configured to be enabled.

The problem to be solved of the present invention is as described above, and a means for solving this problem will be described next.

That is, the present invention is a route generating apparatus including a control unit capable of generating a route capable of autonomous driving and work in a pavement, wherein the control unit includes: a first area in which a work route for performing work on the pavement is generated; Although a work path is not created, a second area set around the first area that enables generation of a travel path for travel, a third area within the pavement where driving is prohibited, and a work path are not generated. The driving route for traveling is to enable a fourth area to be set around the third area to be generated.

The present invention allows 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.

In the present invention, the control unit is capable of generating a work path in the remaining areas except for the third area, the fourth area, and the fifth area in the first area.

In the present invention, the control unit forms the fifth region parallel to the work path created in the first region.

In the present invention, when the control unit sets the third area in the first area, at least one side constituting the third area is set substantially parallel to the specific side constituting the first area.

The present invention is a route generating device including a control unit capable of generating a route capable of autonomous driving and work in a pavement, the control unit comprising: a first area in which a work path for performing work on the pavement is generated, and a work path Is not created, but a second area that is set around the first area that allows the generation of a travel path for driving, a third area within the pavement where driving is prohibited, and a work path is not created but In addition, when the second area and the fourth area overlap, the fourth area is included in the second area when the fourth area is set around the third area to be generated. To be able to set it.

The present invention is a route generating device including a control unit capable of generating a route capable of autonomous driving and work in a pavement, the control unit comprising: a first area in which a work path for performing work on the pavement is generated, and a work path Is not created, but a second area that is set around the first area that allows the generation of a travel path for driving, a third area within the pavement where driving is prohibited, and a work path is not created but When the second area and the fourth area are opposed to each other with a sixth area less than a predetermined width interposed therebetween, while allowing a fourth area to be set around the third area to be generated. For example, 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 regions are present in the package, the control unit is configured to provide a seventh region when the fourth regions face each other with a seventh region less than a predetermined width interposed therebetween. Is included in one of the fourth areas and can be set.

By using the above-described means, even if an obstacle forbidden to travel exists in the pavement, a route is established and the work can be performed efficiently.

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 diagram showing an initial screen.
4 is a diagram showing a packaging setting.
5 is a diagram showing a packaging area.
6 is a diagram showing the shape of a package.
Fig. 7 is a diagram showing a state in which the shape of a pavement end is recognized.
8 is a diagram showing correction of a package shape.
9 is a diagram showing the position and direction of environment recognition means for acquiring surrounding information.
10 is a diagram illustrating a mode of selecting a boundary feature point on a display device.
11 is a diagram showing a state in which a pavement end is recognized by a distance sensor that acquires surrounding information.
12 is a diagram showing an area when an obstacle exists in the pavement.
13 is a diagram showing a position setting around an obstacle.
14 is a diagram showing a path in the case of working in order of two pavements in which an obstacle exists.
15 is a diagram showing a path when two pavements with obstacles are separately operated.
16 is a diagram illustrating a pavement in which an obstacle area overlaps with a dog seat.
17 is a view showing a pavement in which an obstacle area is separated by a predetermined distance from a dog seat.
18 is a diagram illustrating a pavement having a plurality of obstacle areas and a predetermined distance away from each other.
19 is a diagram showing the setting of the width of the dog seat.
[Fig. 20] Fig. 20 is a diagram showing setting of the width of the canine when the canine is inclined with respect to the longitudinal direction.
Fig. 21 is a diagram showing the setting of the width of the side clearance paper when turning by switching the direction twice.

An autonomous driving work vehicle capable of autonomously driving unattended (hereinafter, sometimes referred to as an unmanned vehicle) (1), and a manned driving work vehicle operated by an operator (user) in cooperation with the autonomous driving work vehicle (1) ( Hereinafter, it may be referred to as a manned vehicle) An embodiment in which (100) is a tractor, and a rotary cultivation device is mounted as a work machine to the autonomous driving work vehicle 1 and the traveling work vehicle 100 will be described. However, the work vehicle is not limited to a tractor, and may be a combine or the like, and the work machine is not limited to a rotary tiller, and may be a plowing machine, a mowing machine, a rake, a seeding machine, a fertilizing machine, or the like.

In the present specification, "autonomous driving" means that a configuration related to travel provided by the tractor is controlled by a control unit (ECU) provided in the tractor, and the tractor travels along a predetermined path.

Execution of agricultural work in a single pavement by an unmanned vehicle or a manned vehicle is sometimes referred to as a cooperative work, a follow-up work, an accompanying work, and the like of farm work. In addition, as a cooperative work for agricultural work, in addition to ``performing farm work in a single pavement with an unmanned vehicle and a manned vehicle'', farm work in different pavements such as adjacent pavements is carried out at the same time. It may also include “run by unmanned vehicles and manned vehicles”.

Fig. 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 Figs. 1 and 2, the overall configuration of a tractor serving as an autonomous driving work vehicle 1 will be described. The body part of the tractor is installed in the engine 3 in the bonnet 2, the dashboard 14 is formed in the cabin 11 at the rear of the bonnet 2, and steering operation on the dashboard 14 A steering handle 4 serving as a means is provided. The direction of the front wheels 9 and 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 driving 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 at a rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited, as long as the steering direction is recognized, the rotation of the steering handle 4 may be detected, or the operation amount of power steering may be detected. The detection value obtained by the steering sensor 20 is input to the steering controller 301 of the control part 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 processing unit), a memory device such as RAM or ROM, an interface, etc., and a program or data to be operated is stored in the memory device, and each information is provided by CAN communication. Communication is enabled so that data can be transmitted and received.

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

In the transmission case 6, a PTO clutch or a PTO transmission device is housed, the PTO clutch is turned on and off by the PTO on-off means 45, and the PTO on-off means 45 is via the display means 49, and the control unit ( It is connected with the autonomous driving control controller 307 of 30), and it is possible to control the disconnection of the power to the PTO axis. In addition, when a seed drill or a field coater is mounted 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 provided with information communication wiring (so-called ISOBUS ) Through the operation control controller 305.

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

An engine speed sensor 61, a water temperature sensor, a hydraulic pressure 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 rotation speed and the actual rotation speed, controls so as not to be overloaded, and transmits the status of the engine 3 to the remote control device 112 to be described later, and displays the display device 113. ) Can be displayed.

Further, in the fuel tank 15 arranged below the step, a level sensor 29 for detecting the liquid level of the fuel is arranged to be connected to the display means 49, and the display means 49 is of the autonomous driving work vehicle 1 It is formed on the dashboard and displays the remaining amount of fuel. Then, the remaining amount of fuel is calculated by the autonomous driving control controller 307 for 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 workable time can be displayed. Further, the display means for displaying the rotational meter, the fuel gauge, the hydraulic pressure, and the abnormality, and the display means capable of displaying the current position and the like may have different configurations.

On the dashboard 14, a display means 49 for displaying a rotational meter, fuel gauge, oil pressure, etc. of an engine, a monitor indicating an abnormality, a set value, or the like is disposed. Like the remote control device 112, the display means 49 has a touch panel type, and enables data input and selection, switch operation, button operation, and the like.

In addition, the rotary tilling device 24 is mounted and formed as a work machine to be elevating and descending through the work machine mounting device 23 at the rear of the vehicle body portion of the tractor. An elevating cylinder 26 is formed on the transmission case 6, and the elevating cylinder 26 is extended and contracted to rotate the elevating arm constituting the work machine mounting device 23 to elevate the rotary cultivation device 24. To be able to. The lifting cylinder 26 expands and contracts 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, inclined cylinders are formed in 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 (positioning antenna) 34 and a data receiving antenna 38 for enabling position information to be detected are connected to the positioning control unit 306 serving as a position detection unit, and the mobile GPS antenna 34 and data receiving An 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, and the current position can be displayed by the display means 49 or the display device 113 of the remote control device 112. In addition, positioning with high precision is possible by using a satellite positioning system (GNSS) such as a quasi-ceiling satellite (Japan) or a Gronas satellite (Russia) in addition to GPS (USA), but in this embodiment, GPS is used. .

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

The gyro sensor 31 detects the angular velocity of the inclination (pitch) in the front and rear direction of the vehicle body portion of the autonomous driving 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 turning (yaw). By integrally calculating the three angular velocities, it is possible to obtain the inclination angles in the front and rear directions and the left and right directions of the body portion of the autonomous driving work vehicle 1, and the turning angle. As a specific example of the gyro sensor 31, a mechanical gyro sensor, an optical gyro sensor, a fluid type gyro sensor, a vibration type gyro sensor, etc. are mentioned. The gyro sensor 31 is connected to the control unit 30 and inputs information related to the three angular velocities to the control unit 30.

The azimuth detection unit 32 detects the direction (advancing direction) of the autonomous traveling work vehicle 1. As a specific example of the azimuth detection part 32, a magnetic orientation sensor etc. are mentioned. The azimuth detection unit 32 inputs information to the autonomous driving control controller 307 via CAN communication means.

In this way, the autonomous driving control controller 307 calculates the signals acquired from the gyro sensor 31 and the azimuth detection unit 32 by the attitude/azimuth calculating means, and the attitude (direction, vehicle body) of the autonomous driving work vehicle 1 Calculate the negative front-rear direction and the inclination of the body part left and right direction, and the turning direction).

Next, 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 accuracy is employed.

For RTK-GPS positioning, GPS observations are performed at the same time at the reference station that knows the location and the mobile station that wants to find the location, and the data observed by the reference station is transmitted to the mobile station in real time by a method such as wireless, etc. This is a method of obtaining the location of the 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 disposed in the autonomous driving work vehicle 1, and a fixed communication unit 35 serving as a reference station And a fixed GPS antenna 36 and a data transmission antenna 39 are arranged and formed at predetermined positions. In the RTK-GPS positioning of the present embodiment, phase measurement (relative positioning) is performed at both the reference station and the mobile station, and data for measurement by the fixed communication unit 35 of the reference station is received from the data transmission antenna 39. It transmits to the antenna 38.

The mobile GPS antenna 34 arranged in the autonomous driving work 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, a signal from the GPS satellites (37.37...) is received by the fixed GPS antenna 36 serving as the reference station, and is positioned by the fixed communication unit 35 and transmitted to the positioning control unit 306, and the observed data Is interpreted to determine the location of the mobile station.

In this way, the autonomous driving control controller 307 is provided as autonomous driving means for autonomously driving the autonomous driving work vehicle 1. In short, 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 types of information, and the autonomous driving control controller 307 is connected to various control units. Thereby, autonomous driving of the autonomous driving work vehicle 1 is controlled. Specifically, by receiving radio waves transmitted from GPS satellites (37.37...), the positioning control unit 306 obtains positional information of the vehicle body at set time intervals, and from the gyro sensor 31 and the azimuth detection unit 32 The steering actuator 40, shifting so that the vehicle body part displacement information and azimuth information are obtained, and based on these position information, displacement information and azimuth information, the vehicle body part travels along a preset path (travel path and work path) R The means 44, the lifting actuator 25, the PTO on/off means 45, the engine controller 302, and the like are controlled to allow autonomous driving and automatic work.

In addition, an obstacle sensor 41 is disposed in the autonomous driving 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, is disposed on the front, side, or rear of the vehicle body to connect to the control unit 30, and the control unit 30 allows the It detects whether there is an obstacle in the rear, and controls to stop the driving when the obstacle approaches within a set distance.

In addition, the self-driving work vehicle 1 is equipped with a camera 42F for photographing the front, a work machine in the rear, and a camera 42R for photographing the paved state after work, and is connected to the control unit 30. The cameras 42F and 42R are arranged on the front and rear portions of the roof of the cabin 11 in this embodiment, but the arrangement position is not limited, and the front and rear portions of the cabin 11 or one camera 42 are arranged. It may be arranged in the center of the vehicle body and rotated around a vertical axis to photograph the surroundings, or a configuration in which a plurality of cameras 42 are arranged at four corners of the vehicle body to photograph the surroundings of the vehicle body may be employed. Moreover, when the emblem of the manufacturer of the autonomous driving work vehicle 1 is attached to the cabin 11 or the bonnet 2, etc., the cameras 42F and 42R may be disposed on the rear side of the emblem. In that case, a through hole or a predetermined gap is set in the emblem, and the lens of the cameras 42F and 42R corresponds to the position of the through hole or gap, so that photographing is not disturbed. The image captured by the cameras 42F and 42R is displayed on the display device 113 of the remote operation 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 operates a driving state or work machine of the autonomous driving work vehicle 1 For monitoring the operating state of the device or storing work data, a control unit (CPU or memory) 130, a communication device 111, a display device 113, a storage device 114, and the like are provided.

The traveling work vehicle 100, which is a manned traveling vehicle, is equipped with a remote control device 112 on the traveling work vehicle 100 while an operator boards and operates the driving operation, thereby enabling the autonomous traveling work vehicle 1 to be operated. have. Since the basic configuration of the traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed descriptions are omitted. In addition, it is also possible to make a structure including a GPS control unit in the traveling work vehicle 100 (or the remote control device 112).

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

In addition, the remote operation 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 driving work vehicle 1 and the remote operation device 112 111) is formed respectively. The communication device 111 is integrally configured with the remote operation device 112. The communication means are configured to communicate with each other through a wireless LAN such as WiFi. The remote control device 112 forms a display device 113 as a touch panel-type operation screen operable by touching the screen on the casing surface, and the communication device 111, the control unit 130, and the storage device 114 in the casing. ) Or batteries.

Next, the procedure of setting the path R by the remote operation device 112 serving as the path generating device 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 when the power is turned on and the remote control device 112 is activated, an initial screen is displayed. In the initial screen, as shown in Fig. 3, the tractor setting button 201, the pavement setting button 202, the route creation setting button 203, the data transfer button 204, the job start button 205, the end button ( 206) is displayed.

First, the tractor setting will be described.

When the tractor setting button 201 is touched, when work has been performed using a tractor by this remote control device 112 in the past, that is, when there is a tractor set in the past, the tractor name (model) is displayed. do. If the tractor name to be used this time is selected by touching it from the displayed plurality of tractor names, it is possible to proceed to the pavement setting described later, or to return to the initial screen.

In the case of new tractor setting, the model of the tractor is specified. In this case, directly input the model name. Alternatively, the models of a plurality of tractors are displayed in a list on the display device 113 so that a desired model can be selected.

When the model of the tractor is set, a screen for setting the size and shape of the work machine mounted on the tractor and the location of the work machine appears. For example, the position of the work machine selects whether it is the front, between the front and rear wheels, the rear, or the offset.

When the setting of the work machine is completed, a screen for setting the vehicle speed during operation, the engine speed during operation, the vehicle speed during turning, and the engine speed during turning appears. It is also possible to set the vehicle speed during work to different vehicle speeds on the outbound and return routes.

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

Next, the packaging setting will be described. 4 shows a state of outer circumferential driving performed by a user on board an autonomous driving work vehicle at the time of pavement setting. 5 shows an area set in the packaging, such as a work area and a dog seat area.

When the pavement setting button 202 is touched, when a work has been performed using a tractor by this remote control device 112 in the past, that is, when a pavement set in the past exists, the name of the pavement that has been set is displayed. do. If a package name to be operated at this time is selected by touching it from the plurality of displayed package names, 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 a new package set.

If there is no registered packaging, a new packaging setting is made. When the new pavement setting is selected, as shown in FIG. 4, the tractor (autonomous driving work vehicle 1) is positioned at one corner A of the four corners in the pavement H, and the ``measurement start'' is performed. Touch the button. After that, the tractor is made to run along the outer periphery of the pavement H to register the pavement shape. Next, from the registered pavement shape, the operator registers the corner position (A·B·C·D) and the inflection point 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 exists in this pavement (H), the tractor is moved to the position of the obstacle, touches the "obstacle setting" button, and travels 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 on the map image, by designating the perimeter of the obstacle on the display device 113, obstacle setting You may perform.

When the above operation is completed or a package registered in the past is selected, a confirmation screen is displayed, and an OK (confirm) 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 creation setting is performed. The path generation setting can be performed by touching the path generation setting button 203 on the initial screen.

In the route creation setting, a selection screen of the position at which the traveling work vehicle 100 will travel with respect to the autonomous traveling work vehicle 1 is displayed. In short, 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 left rear 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 immediately behind the autonomous traveling work vehicle 1. (4) The traveling work vehicle 100 does not accompany (work is performed only with the autonomous traveling work vehicle 1). 4 types of are displayed and can be selected by touching them.

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

Next, set the number of skips. In short, when the autonomous running work vehicle 1 reaches the outer peripheral end (dog seat) of the pavement and moves from the first route to the second route, how many routes are to be skipped is set. Specifically, (1) it is not skipped. (2) Skip 1 row. (3) Skip 2 rows. Choose either.

Next, the overlap is set. In short, the amount of overlapping of the working width in the work path and the adjacent work 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 entered, it cannot proceed to the next step.

Next, outsourced setting is performed. In short, as shown in FIG. 5, an area outside the work area HA that performs work by the autonomous running work vehicle 1 and the running work vehicle 100 or by the autonomous running work vehicle 1 Is set. In other words, there is a side margin (HC) as a non-working area in contact with the outer circumference of the pavement on the left and right between the dog seat (HB) and the left and right sides between the dog seat (HB) and the dog seat (HB). Is set. Therefore, it becomes the pavement (H) = work area (HA) + dog seat (HB) + dog seat (HB) + side clearance (HC) + side clearance (HC). Typically, the width (Wb) of the dog seat (HB) and the width (Wc) of the side clearance area (HC) are not more than twice the width of the work machine equipped with the traveling work vehicle 100, and autonomous driving work After the accompanying work by the vehicle 1 and the traveling work vehicle 100 is finished, an operator gets on the traveling work vehicle 100 and changes the outer periphery by two by manual operation, so that it can finish. However, when the shape of the outer periphery of the pavement is not complicated, it is also possible to work the outer periphery with the autonomous driving work vehicle 1. In addition, in the outer periphery setting, the width Wb of the dog seat HB and the width Wc of the side clearance sheet HC are automatically calculated to be a predetermined width according to the width of the work machine, but the calculated dog seat HB The width (Wb) of and the width (Wc) of the side margin (HC) can be changed to an arbitrary width, and the user changes the desired width, and then changes the width (Wb) and width (Wc) after the change, respectively. It can be set as the width of the dog seat HB and the width of the side margin HC. However, if it can be changed to an arbitrary width, it cannot be set below the minimum set width calculated in consideration of driving, work, and safety in the pavement. For example, in the case where the self-driving work vehicle 1 runs or turns in the dog seat HB or the side clearance area HC, the width that ensures that the work machine does not protrude out of the pavement is calculated as the minimum set width. .

When the input of the above various settings is finished, a confirmation screen appears, and when the confirmation is touched, a path R is automatically generated. The path R consists of a work path Ra and a travel path Rb, and the work path Ra is a path created within the work area HA, which is a path that travels while performing work, and is a straight path Becomes. However, when the working area HA is not a square, it may protrude to an area outside the working area HA (dog seat HB and side margin (side margin) HC). The travel path Rb is a path generated in an area outside the work area HA, is a path that travels without performing work, and becomes a path obtained by combining a straight line and a curve. Mainly, it is a turning run in the dog seat HB.

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

When the work path is desired to be viewed after the work path is generated, a simulation image is displayed and can be confirmed by touching the path generation setting button 203. Further, the path R is generated even if the path generation setting button 203 is not touched. When each item of the route generation setting is set, the route generation setting is displayed, and below it is displayed so that “route setting button” “transfer data” and “return to home” can be selected.

When transmitting information about a route (route R) generated by the route 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 driving work vehicle 1. This transmission includes (1) a method of transmitting using a terminal and (2) a method of transmitting wirelessly. In this embodiment, in the case of using a terminal, the remote control device 112 using a USB cable And the control device of the autonomous driving work vehicle 1 are directly connected to each other, or once stored in a USB memory, and then connected to the USB terminal of the autonomous driving work vehicle 1 and transmitted. In the case of wireless transmission, the 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 work path based on the information of the pavement section or the reference travel direction obtained by the learning travel data obtained by performing manual driving (teaching travel) of the pavement periphery, but the end of the actual pavement, in short, The boundary between the pavement, the ridge, and the road is not necessarily a straight line depending on the characteristics of the land, and it is difficult to faithfully travel along the boundary in teaching driving. In addition, since the positioning data obtained by teaching travel does not contain information on obstacles such as telephone poles, water intake valves, walls, etc. that protrude locally into the pavement, the self-driving work vehicle can perform dog seating work and finishing of side margins. It couldn't be done autonomously. Thus, various types of information on the travel area are acquired, and the shape of the travel area in which the work vehicle 100 travels can be specified based on these information.

6 shows a pavement having a locally complicated shape change due to the presence of an obstacle at the boundary of the pavement end, etc., and in this embodiment, the pavement protruding inward from the side DA of the pavement H An example of the existence of a telephone pole is shown. Fig. 7 shows a mode of recognizing the shape of a pavement end as surrounding information, and here shows a mode of recognizing a telephone pole. Fig. 8 shows the shape of the pavement registered after correcting the travel trajectory based on the surrounding information, and here shows a state in which the shape of the outer circumference of the pavement taking into account the electric pole protruding from the inside of the pavement H is registered.

When the packaging setting button 202 is touched on the display device 113 of the remote control device 112 to set a new packaging, or when editing an existing packaging and setting the packaging again, ``Start measurement'' 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 of the pavement H, and the autonomous driving work vehicle 1 is packaged by touching the ``measurement start'' button ( The case of driving along the outer periphery of H) will be described. At this time, the positioning control unit 306 receives the radio wave transmitted from the GPS satellites (37.37...) to acquire the position information of the vehicle body, and at the same time, by the gyro sensor 31 and the azimuth detection unit 32, Displacement information and orientation information of the vehicle body portion are acquired. Travel trajectory information based on position information, displacement information, and orientation information of the vehicle body portion thus obtained is obtained.

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

The traveling trajectory information is corrected based on the surrounding information thus obtained. Specifically, the actual outer periphery of the pavement H is grasped based on the image obtained as the surrounding information, and the travel trajectory information is corrected by correcting the travel trajectory to the outside or inward to match it, and the outer circumferential shape of the pavement H Register. And based on the outer circumferential shape, the traveling route of the outer periphery of the pavement H is set. In short, when traveling on the outer periphery of the pavement (H), it travels so as to properly avoid the obstacle, but depending on the nature of the obstacle, it is necessary to register the outer periphery of the pavement inside or outside the route avoided at that time. As described above, it is also possible to set an appropriate avoidance amount according to the obstacle by using the shape of the obstacle, the size pushed up into the air, etc. from the image acquired as the surrounding information, and use it for setting the travel path in the path generation setting.

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

In addition, when it is possible to select whether or not to correct the driving trajectory information, for example, when the driving trajectory information is acquired, an image that allows you to select whether to correct or not based on the surrounding information is displayed, and the correction is performed by the user. If execution is selected, correction is executed, and if no correction is selected, correction is not executed. Alternatively, it is possible to select and set whether to perform correction based on surrounding information in a setting menu (not shown), and if correction is ``required'', the driving trajectory information is automatically corrected, and if the correction is ``unnecessary'', the driving trajectory It may not be necessary to correct the information.

As described above, by acquiring the surrounding information and correcting the driving trajectory information, the pavement edge can be accurately identified and registered, and when the outer circumference of the pavement (H) is curved, or an obstacle protrudes from the inside of the pavement (H). Even when there is a case where the outer circumferential shape of the package H is complicated, a more accurate package area can be registered as the package area.

9 shows the position and direction of environment recognition means for acquiring surrounding information. In the case of correcting the travel trajectory information, in order to more accurately recognize the pavement, the obstacle sensor 41 that acquires surrounding information and the arrangement of the cameras 42F and 42R on the mobile GPS antenna 34 (travel trajectory information In consideration of the position relative to the location to be acquired), the relationship between the travel trajectory at an arbitrary position on the travel trajectory, the obstacle sensor 41 and the camera 42F/42R, and the recognized pavement end is clarified, Correction is performed based on their positional information and orientation. Specifically, by using the height of the sensor or camera mounting position, position information about the horizontal position, the relative positional relationship between them and the mobile GPS antenna 34, and information about the photographing direction of the camera or the detection direction of the sensor, With respect to the image acquired by the camera or the detected value detected by the sensor, information on the position and direction is considered, the travel trajectory and the distance between the pavement end or obstacle are calculated, and the position of the pavement end is accurately grasped.

As described above, by making the surrounding information have a relative positional relationship with the driving trajectory information, the information on the pavement recognized by the environmental recognition means can be used more accurately, and the recognition processing of the pavement is automatically performed. It becomes possible.

As described above, the correction of the travel trajectory information may be performed automatically, but may be performed according to the user's operation. For example, a map image of a pavement is displayed on the display device 113, and a line shape representing the pavement specified based on travel path information on the map image, or travel path information corrected based on surrounding information When the linear shape indicating the pavement specified on the basis is superimposed and displayed, the user can designate an accurate pavement end by touching the display device 113, and the travel trajectory information may be corrected according to the user's operation. In that case, the environmental information acquisition means (a generic term for the obstacle sensor 41 and the cameras 42F and 42R described above) may be used to display a map image of a package on the display device 113. In the case of designating a pavement end, for example, by adding a control point to the linear shape and manipulating the control point, a part of the linear shape may be corrected. In addition, in the linear shape, the user may designate one or more boundary characteristic points, and the traveling trajectory information may be automatically corrected based on the boundary characteristic points. Hereinafter, the boundary feature points will be described.

Fig. 10 shows a state in which a package shape is registered by selecting boundary feature points of a pavement end on a display device. In this example, the recognition of the outer periphery of the packaging based on the surrounding information is performed by displaying the image acquired by the obstacle sensor 41 configured as a camera or the camera 42F/42R on the display device 113 of the remote control device 112. Is displayed on the display device 113 and the position to be registered as the outer circumferential end is touched on the display device 113. In short, the operator himself determines a feature point (that is, a border feature point) of a 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 of the vehicle body, the travel trajectory information, and the surrounding information, and is operated to designate a boundary feature point for the surrounding information. It also functions as an operating part to be used. Then, the travel trajectory information is corrected based on the boundary feature points designated by the user, and the changed line shape is registered as a pavement shape. The correction of the travel trajectory information may also be performed based on the boundary feature points and the associated feature points. A related feature point is a feature point that has the same or similar feature as a border feature point.For example, on a map image (image data), the color, saturation, and brightness are the same or similar to the specified border feature point (a difference between each element is predetermined. It is possible to specify a feature point within the threshold value) as a related feature point.

In the above, it was supposed to correct the travel trajectory information at the time of registration of the pavement, but after the driving trajectory information and the surrounding information are correlated and stored in the remote control device 112, the operation of changing the position information of the pavement end is performed afterwards, for example. For example, it is also possible to implement it as a change of packaging setting.

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

In this specification, the remote control device 112 is supposed to be used when setting the path R of the autonomous driving work vehicle 1. In addition, various settings (the tractor setting, pavement setting, route generation setting) necessary for setting the route R are supposed to be set by appropriately operating the display device 113 of the remote control device 112, but the route R The control unit 30 (for example, the autonomous driving control controller 307) performs the setting of and various settings necessary for setting the route R may be set by the user appropriately operating the display means 49. 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 route R. It may not be possible.

In addition, 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 the shape of the pavement or instead of the shape of the pavement, another area (autonomous driving work vehicle (1) ) May be used to specify and register the shape of a predetermined area (travel area)). For example, it may be used for specifying and registering the shape of the work area described above. Furthermore, it may be used for specifying and registering the shape of a predetermined area (non-driving area) in which running of the autonomous driving work vehicle is prohibited. For example, it may be used for specifying and registering the shape of the obstacle described above. Although there is no difference in the point of correcting the driving trajectory information based on the surrounding information even if the target of identification and registration is a driving area or a non-driving area, in general, driving for acquiring driving trajectory information in the driving area is In contrast to traveling inside the end of the traveling area, in the non-running area, traveling for acquiring traveling trajectory information often runs outside the end of the traveling area. In this case, the correction of the travel trajectory information in the travel area is performed in the direction of expanding the area of the closed linear shape specified by the travel trajectory information, while the correction of the travel trajectory information in the non-driving area is described above. It is carried out in the direction of reducing the area of the closed line shape.

Considering the invention based on the present specification described above, the present invention is a system for registering the shape of a travel area (in this specification realized by, for example, pavement) in which a work vehicle travels, and a satellite positioning system (this specification In, for example, position information acquisition means for acquiring position information of the traveling work vehicle 100 by means of (implemented by GNSS) (in this specification, realized by, for example, positioning control unit 306), and a traveling work vehicle ( 100) Environment information acquisition means for acquiring environmental information around the (in this specification, for example, realized by an environmental recognition sensor), and based on the location information of the traveling working vehicle 100 acquired by the satellite positioning system Travel trace information acquisition means for obtaining travel trace information indicating the travel trace of the traveling work vehicle 100 (in this specification, for example, the control unit 30 of the traveling work vehicle 100 or the driving work vehicle 100) and wireless A wireless communication terminal capable of communication (realized by the control unit 130 included in the remote operation device 112), the travel path information acquired by the travel path information acquisition means, and the environment acquired by the environment recognition means Registration means (in this specification, for example, in this specification, for example, a specific area specified by correcting the driving trajectory information based on the information, realized by an area obtained by correcting the driving area) is registered as the shape of the driving area. It is characterized by comprising a control unit 30 of the traveling work vehicle 100 or a control unit 130 provided in a wireless communication terminal capable of wireless communication with the traveling work vehicle 100).

In addition, in the present invention, the correction of the travel trajectory information by the registration means is performed based on the direction of acquiring the positional information of the environmental recognition means and the environmental information. Further, in the present invention, a display means capable of displaying the shape of the driving area registered by the registration means (that is, the shape of the driving area after correction) (in this specification, for example, a wireless communication capable of wireless communication with a work vehicle or work vehicle An image display unit (realized by the display means 49 or the display device 113) provided in the terminal, and an operation means capable of changing the shape of the driving area displayed on the display means (in this specification, for example, a display means is provided. The shape of the driving area displayed on the display means is changed according to the operation of 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 travel area. In addition, it goes without saying that before being registered by the registration means (that is, the shape of the traveling area before correction), it may be changed according to the operation of the operating means.

In this way, it is possible to more accurately specify the shape of the travel area in which the travel work vehicle 100 travels, and register the specified travel area.

In the above pavement setting, a case where an obstacle 400 such as a soft ground or a rock from which the vehicle body portion is prohibited from traveling is present in the pavement H will be described in detail.

As shown in FIG. 12, when the obstacle 400 exists in the pavement H, at the time of pavement setting, the operator rides the autonomous driving work vehicle 1 and moves to a position near the obstacle 400, and sets the obstacle. By selecting, the outer periphery of the obstacle 400 is driven. At this time, four points (points) (401, 402, 403, and 404) that become the vertices of the square are designated to register a third area (hereinafter, an entry prohibition area (K)). The side of the square forming the outer periphery of this entry prohibition area K becomes substantially 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 the entrance is prohibited, although the appearance cannot be confirmed, and if you actually drive around in a soft area, it is a place where a situation where you cannot escape by falling deep, or a place where a large stone is buried. The obstacle makes it possible to simply register as an entry-prohibited area (K) without running.

When the shape of the obstacle 400 has a circular or pointed shape, if it is registered as a square, a blank portion (a part where work is possible but entry is prohibited) may increase. In such a case, as shown in FIG. 13, the entry prohibition area K can also be made into a polygon by increasing designated points (401 to 405). However, the number of points is not limited. Further, the position of the designated point can be moved or changed on the display device 113. In short, since vertices are normally set automatically, there are actually cases where you want to make it wider, narrow, or 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 points. In addition, when the entry-prohibited area (K) is a polygon, at least one specific side is set to be almost parallel to the side of the first area (work area HA) in the pavement (H), Make the work paper as small as possible.

And, when the entry prohibition area K of the rectangle (or polygon) into which the obstacle 400 enters is set, next, the obstacle dog seat JB that becomes the fourth area outside the predetermined length (width) of the entry prohibition area K ) And the obstacle side clearance JC are set, so that the obstacle area J is set in the working area HA. In short, the obstacle region J is an entry prohibition region K in which travel is prohibited, and a fourth region where the working path Ra is not generated but the travel path Rb can be generated. ) And the obstacle side clearance (JC). The work can be finished by making the width of the 4th area|region of the obstacle dog seat JB and the obstacle-side clearance area JC a length less than twice the width of the work machine and stretching it around 2 times.

In addition, between the second area (dog seat (HB) and side clearance area (HC)) and the fourth area (blockage area (JB) and obstacle side clearance area (JC)), no path is established in the fifth area (entry area (HD)) is set. In short, after carrying out the work of the work area HA as a cooperative work by the autonomous driving work vehicle 1 and the traveling work vehicle 100, the operator manually sets the obstacle dog seat JB and the obstacle side clearance area JC. Since it is necessary to carry out the work, it is necessary to enter the obstacle dog seat (JB) or the obstacle side clearance (JC) from the dog seat (HB) or side clearance (HC). For this reason, a fifth area serving as an access road is set so as to connect between the second area and the fourth area, and after the cooperative work is completed, the obstacle dog seat JB and the obstacle side clearance area ( JC) allows you to work. Therefore, the width of the fifth area is set to be not less than the width of the work machine (or the vehicle body) and not more than twice the width of the work machine. If the width of the 5th area is equal to the width of the work machine, it is not necessary to perform work in the 5th area when entering the 4th area, but by performing the work in the 5th area when exiting the 4th area, uncharted land is eliminated. I can. On the other hand, when the width of the fifth area is larger than the width of the work machine, the uncultivated area can be eliminated by performing work 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 work machine, it is possible to prevent overlapping of work even if the work 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 becomes as small as possible. However, when the distance between the side clearance area HC and the obstacle side clearance area JC is the shortest, when the access area HD is formed to connect the distance between the side clearance area HC and the obstacle side clearance area JC, this access area HD is the working area HA. In some cases, the path in the longitudinal direction is divided, thereby reducing work efficiency. Therefore, by setting the entry area (HD) parallel to the path (R) in the area where the distance between the dog (HB) and the obstacle dog (JB) is short, the work efficiency is not degraded and the finish can be neat. 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 entry area HD is set to the side close to the work end position G to shorten the travel movement distance. Can improve work efficiency.

As described above, along the path R set in advance by the control unit 130, the autonomous driving work vehicle 1 enabling autonomous driving and working using a satellite positioning system, and the autonomous driving work vehicle 1 In a work system that performs work by a traveling work vehicle 100 that is operated by an operator to perform work in cooperation with, the control unit 30 of the autonomous driving work vehicle 1 serving as a route generating device, or the control unit thereof The control unit 130 of the remote control device 112 capable of communicating with the 30 enables autonomous driving and workable path R within the pavement H to be generated, and at the time of setting the pavement, the pavement H If there is an obstacle 400 in the pavement (H) (work area (HA)), a first area in which a work path (Ra) for performing work is created, and a work path (Ra) is not created but travels A travel path (Rb) to be generated is a second area set around the first area to be created, a third area in which driving is prohibited within the pavement (H), and a work path (Ra) is generated. It is not possible, but because it is possible to set a fourth area that is set around the third area that allows the driving path Rb to be created, an obstacle 400 for which driving is prohibited exists in the pavement (H). Even in the case of doing so, the route is automatically set so that you can work efficiently.

In addition, the control unit 130 (or the control unit 30), in the first area (work area HA), the fourth area (the obstacle dog seat (JB) and the obstacle side clearance area (JC)) and Since it is possible to connect the second area (dog seat HB and side clearance area HC) and set the fifth area (entry area HD) in which the work path Ra is not generated, the work area HA ) After performing the work as a cooperative work by the autonomous driving work vehicle 1 and the driving work vehicle 100, enter the fourth area without spoiling the existing work site and perform the work, and after the work is finished, the fifth area is It can be removed while working, and the fourth area can be efficiently and neatly finished.

In addition, the control unit 130 (or control unit 30), when setting a third area (entry prohibition area K) in the first area (work area HA), to configure a third area Since at least one side is set substantially parallel to the specific side constituting the first region, the unworked paper at the time of path generation can be made as small as possible.

In addition, since the control unit 130 (or the control unit 30) forms the fifth area parallel to the work path Ra generated in the first area (work area HA), the fourth area After working, the fifth area is worked and the finish after leaving is almost the same as the finish on which the other work path Ra has been worked, and the overall finish can be neat.

In this way, when the obstacle region J is set and the work is performed along the path R, the work path Ra in the longitudinal direction in which the obstacle region J exists is divided when viewed as a whole of the pavement H. The work area HA divided in this longitudinal direction is a cooperative work by the autonomous driving work vehicle 1 and the traveling work vehicle 100, and a method of performing the other area after the work of one area is finished, 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 is selected 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 at the side of the obstacle area J in the work area HA and is adjacent to the side clearance area HC. The left side work area (HAL) and the right side work area (HAR) are the areas, and the area adjacent to the dog seat (HB) other than the remaining obstacle area (J) is the pre-segment work area (HAF) and the post-division work area (HAB). ), and a cooperative work is performed by the autonomously traveling work vehicle 1 and the traveling work vehicle 100 from the left side work area HAL side.

As shown in FIG. 14, when the left side work area HAL includes an even-numbered path R, the work area HA divided in the longitudinal direction of the path R is an autonomous driving work vehicle (1) The operation is performed by one area by two units of the driving work vehicle 100. In short, when the work of the left side work area (HAL) is finished, the work of one full-segment work area (HAF) (if the left side work area (HAL) is 4 groups, HAB → HAR → HAF) is performed. , Next, the work on the right side work area HAR is performed, and then, the work on the other post-division work area HAB is performed, and the work is finished.

In addition, as shown in FIG. 15, when the left side work area HAL has an odd-numbered path R, the work area HA divided in the longitudinal direction of the path is the autonomous driving work vehicle 1 and travels. Two of the work vehicles 100 perform work in different areas, respectively. In short, when the work of the left side work area (HAL) is finished, the work of one full-segment work area (HAF) (if the left side work area (HAL) is 3 pairs, for example, the work of the post-division work area (HAB)) is run The vehicle 100 implements it, and the self-driving work vehicle 1 implements the post-division work area HAB. Next, the right side work area HAR is operated by the autonomous driving work vehicle 1 and the traveling work vehicle 100. In addition, in the case of forming the entry region HD, the tank is emptied according to the number of tanks, or the tank is made empty without work.

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

In addition, if the 4th area (the obstacle dog seat (JB) or the obstacle side clearance area (JC)) and the second area (dog area (HB) or the side clearance area (HC)) overlap, the two areas are set to be integrated. do. For example, as shown in FIG. 16, when the dog seat HB and the obstacle dog seat JB overlap, the dog seat HB and the obstacle dog seat JB are integrated. In this state, the control unit 130 can set the path R by considering the obstacle dog seat JB and the obstacle side clearance area JC as the dog seat HB, so that the obstacle dog seat JB and the obstacle side clearance area Since there is no need to distinguish (JC), it is possible to simplify the creation of the program.

In this way, an autonomous driving work vehicle 1 that enables autonomous driving and work using a satellite positioning system, and a driving work vehicle 100 that operates by an operator in cooperation with the autonomous driving work vehicle 1 to perform work. ) In the work system that performs work by, the control unit 30 of the autonomous driving work vehicle 1, which becomes a path generating device capable of generating a path capable of autonomous driving and work within the pavement H, or The control unit 130 of the remote control device 112 capable of communicating with the control unit 30 includes a first area in which a work path Ra for performing work in the packaging H is created, and a work path Ra is generated. The second area is set around the first area, which allows the generation of a travel path Rb for driving, but a third area in which driving is prohibited in the pavement H, and a work path Ra. ) Is not created, but the driving path Rb for driving is able to set a fourth area, which is set around the third area, allowing the generation of the second area (dog seat (HB) or side clearance (HC)) and the fourth area (the obstacle dog seat (JB) or the obstacle side clearance area (JC)) overlap, the fourth area is included in the second area and can be set (integrated). There is no need to consider the work processing of the (JB) and the obstacle side clearance (JC), making the path generation simple, and the post-processing of the dog seat (HB), the side clearance area (HC), and the obstacle area (J) is also simple. You can do it.

In addition, between the second area (dog seat (HB) and side clearance area (HC)) and the fourth area (blockage area (JB) or obstacle side clearance area (JC)) is less than a predetermined width between the sixth area (HE). In the case where they face each other, the fourth region and the sixth region HE are included in the second region and can be set. For example, as shown in FIG. 17, when the obstacle dog JB is separated by the width Wj and the width Wj is less than the predetermined width T1, the obstacle dog position ( JB) and the sixth area HE occurring in the working area HA between the dog's seat HB is incorporated into the dog's seat HB and integrated, and the work path Ra is not set, so that the autonomous driving work vehicle 1 or It is set so that no work is performed by the traveling work vehicle 100. The width of the 6th area HE between the 4th area and the 2nd area is, for example, the distance that the working length by the work machine is about the entire length of the tractor, and if the turning is repeated frequently, the work efficiency is rather reduced. .

In this way, the control unit 130 (or the control unit 30), when the second area and the fourth area are opposed to each other through the sixth area (HE) less than a predetermined width, the fourth area and the sixth Since the area HE is included in the second area and can be set, the narrow sixth area HE between the second area and the fourth area is set by the autonomous driving work vehicle 1 or the traveling work vehicle 100. There is no need to work repeatedly by turning, and work efficiency can be improved. In addition, the area in which the fourth area is integrated into the second area does not need to be considered as another work as the obstacle dog seat (JB) and the obstacle side clearance area (JC), so that the dog seat (HB), the side clearance area (HC) and the obstacle The area J can be processed at once.

In addition, the control unit 130 (or the control unit 30), when a plurality of the third area and the fourth area including the obstacle 400 in the packaging (H), the fourth area is a predetermined width In the case of opposing the lesser seventh region HF, the seventh region HF can be set by being included in any one of the fourth regions. For example, as shown in Fig. 18, the obstacle 400 and the obstacle 401 are separated from each other in the pavement H, and the fourth area (blocking obstacle (JB) or obstacle side clearance (JC)) When the width (Wk) between the 4 areas (the obstacle dog seat (JB) or the obstacle side clearance area (JC)) is less than the predetermined distance (T2), the seventh area (HF) is included in one of the fourth areas and integrated. Is set. In addition, when the width Wk is less than the predetermined width T2, a case where the fourth region and the fourth region are separated, or a case where a part thereof overlaps is also included. In this way, by integrating the fourth areas, the obstacle dog seat JB and the obstacle side clearance area JC are integrated, thereby simplifying the path generation and processing after the work area HA.

Further, when there are a plurality of obstacles 400 in the pavement H, and one or more of the fourth regions are shorter than the predetermined width T1 with respect to the second region, they are integrated as described above. As shown in Fig. 18, when the concave portion region is formed between the fourth region and the second region of the obstacle 401, it may be integrated so as to eliminate the concave portion when a predetermined condition is satisfied. As a predetermined condition, for example, the area of the concave portion is less than the threshold value, the width of the concave portion is less than the threshold value (for example, the width of the tractor), and the length in the longitudinal direction of the concave portion is the threshold value (for example, the entire tractor Length × 2) or less. In this case, the path generation and processing after the work of the work area HA are simplified.

As described above, when a plurality of third and fourth regions exist in the packaging (H), the control unit 130 faces each other with the seventh region HF having a predetermined width between them. In this case, since the seventh region HF can be set by including it in one of the fourth regions, it is possible to simplify the path generation.

Next, the length when the autonomous driving work vehicle 1 or the traveling work vehicle 100 turns in a dog position is demonstrated.

The dog seat HB is a turning area for the tractor to move to the next work path Ra without performing work at the outer periphery of the pavement, and has a predetermined dog seat width Wb. As shown in FIG. 19, when the package H is a square, the width Wb is the distance L1 from the turning center O of the body to the rear end of the work machine, and the center of the body O. The minimum turning radius (set turning radius set for the tractor) (L2), the length of the work machine width or the width of the aircraft, whichever is the larger half (L3), plus the safety margin width (Lsm). In short, it becomes the dog seat width (Wb) = L1 + L2 + L3 + Lsm.

In addition, as shown in Fig. 20, when the shape of the pavement H is a deformed square, and the dog seat HB is inclined at an angle θ with respect to the traveling direction, the distance from the center of rotation O of the body to the rear end of the work machine Since (L1) and the minimum turning radius (L2) at the center of the body (O) become inclined direction, the distance from the center of rotation (O) of the body at the inclined dog seat (HB) to the rear end of the work machine (L1' ) Becomes L1cos(θ-90)=L1sinθ, and the minimum turning radius L2' in the gas center O in the inclined dog seat HB becomes L2-L2cosθ. L3 and Lsm have the same length as above. In short, it becomes the width of the dog digit (Wb') = L1' + L2' + L3 + Lsm = L1sinθ + (L2-L2cosθ) + L3 + Lsm.

Moreover, when it is desired to make the width Wc of the side clearance sheet HC as narrow as possible to increase the work area HA, a two-time changeover turn shown in FIG. 21 is employed. The side clearance width (Wc) in these two direction change turns is the distance (L1) from the center of rotation of the machine O to the rear end of the work machine on the start side, and the minimum rotation radius at the center of the machine O In (L2), it becomes the length which is reduced by 3/2 working width (W2) and plus the safety margin width (Lsm). In short, Wc = L1 + L2-3/2W2 + Lsm.

On the end side, the length obtained by subtracting 3/2 working width (W2) from the length obtained by adding the distance L1 from the turning center of the aircraft to the rear end of the work machine (L1) and the minimum turning radius L2 at the center of the aircraft (O), and It becomes the length obtained by adding the length L5 from the center of the gas O to the tip of the gas and the safety margin Lsm. In short, the side margin width (Wc) = L1 + L2-3/2W2 + L5 + Lsm.

Since the lengths of L1, L2, L3, and L5 are obtained in advance in the tractor setting, they are automatically calculated by inputting the safety margin width Lsm in the outer periphery setting in the path generation. When an operator manually sets the dog digit width Wb and the side margin width Wc, the input value is compared with the automatically calculated value, and the longer side is adopted so as to safely turn.

Industrial availability

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

1: autonomous driving work vehicle
30: control unit
110ㆍ111: Communication device
112: remote control device
130: control unit
H: packing
R: path
Ra: work path
Rb: driving route
HA: work area

Claims (4)

A system that registers the shape of a travel area in which a work vehicle travels,
Position information acquisition means for acquiring position information of the work vehicle by a satellite positioning system;
Environmental information acquisition means for acquiring environmental information around the work vehicle;
Travel trajectory information acquisition means for acquiring a trajectory for registering the shape of a driving area and travel trajectory information indicating a travel trajectory of the working vehicle, specified based on the position information of the work vehicle acquired by the satellite positioning system and,
Correcting the travel trajectory information based on the travel trajectory information acquired by the travel trajectory information acquiring means and the environmental information acquired by the environmental information acquiring means to register a specific area specified as the shape of the travel area A system for registering a driving area shape of a work vehicle, comprising: a registration means. The method of claim 1,
The driving area shape registration system of the work vehicle is performed based on the position information of the environmental information acquisition means and a direction in which the environmental information is acquired. The method according to claim 1 or 2,
A display means capable of displaying the shape of the travel area registered by the registration means;
And an operation means capable of changing the shape of the travel area displayed on the display means,
And the registration means registers, as a shape of the travel area, a changed area in which the shape of the travel area displayed on the display means is changed according to an operation on the operation means. A travel area shape registration system that registers the shape of a travel area in which a work vehicle travels,
Position information acquisition means for acquiring position information of the work vehicle by a satellite positioning system;
Travel trajectory information acquisition means for acquiring a trajectory for registering the shape of a driving area and travel trajectory information indicating a travel trajectory of the working vehicle, specified based on the position information of the work vehicle acquired by the satellite positioning system and,
Display means for superimposing and displaying the traveling locus information acquired by the traveling locus information acquisition means on a map image displayed on a display screen;
A travel area shape registration system comprising a correction means for correcting a part of the travel trajectory information by an operator's operation on a display screen of the display means.

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