KR20190119150A - Route generating device - Google Patents

Abstract

It is possible to set the obstacle area around where the obstacle is located so that the path is not generated, and the path set in the work area can autonomously drive and work in the pavement (H) so that it can work efficiently by avoiding the obstacle area. The control unit 30 of the autonomous driving work vehicle 1 serving as a route generation device capable of generating a route, or the control unit 130 of the remote control device 112 that can communicate with the control unit 30, is the package ( In the first region in which the work path Ra for carrying out work in H) is generated and the work path Ra is not generated but the travel path Rb for driving is created around the first area. A second area to be set, a third area where travel is prohibited in the pavement H, and a work area Ra is not generated, but a travel path Rb for driving can be generated. Set around Makes it possible to set the fourth region.

Description

Route generation device {ROUTE GENERATING DEVICE}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for generating travel and work paths when an obstacle exists in a work area in which a work vehicle performs work.

Conventionally, a technique is known in which a tractor is provided with a position detecting means and an azimuth detecting means so as to travel in a pavement to detect the position of a corner, and to carry out a so-called teaching run to set a work path of the pavement. (For example, refer patent document 1).

Japanese Unexamined Patent Publication No. 10-66405

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

SUMMARY OF THE INVENTION The present invention has been made in view 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 can efficiently work avoiding the obstacle area. It is intended to provide a path generation device configured to be.

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

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 within a pavement, wherein the control unit comprises: a first area in which a work path for performing work in the pavement is generated; The work area is not created but the second area is set around the first area which makes it possible to create a travel path for driving, the third area which is prohibited to travel in the pavement, and the work path is not generated. The travel route for traveling is to enable the setting of the fourth area set around the third area to be generated.

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

The present invention enables the control unit to generate 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 in parallel with the work path generated in the first region.

In this invention, when the said control part sets a 3rd area | region in the said 1st area, at least 1 side which comprises a 3rd area | region is set in substantially parallel with the specific side which comprises a 1st area | region.

The present invention provides a path generation device having a control unit capable of generating a path capable of autonomous driving and working within a package, wherein the control unit comprises: a first area in which a work path for performing work in the pavement is generated; Is not generated, but a second area set around the first area, which makes it possible to generate a travel route for driving, a third area prohibited to travel as in the pavement, and a work route is not generated but The driving route for the second path can be set around the third area to be generated, and when the second area and the fourth area overlap, the fourth area is included in the second area. To be set.

The present invention provides a path generation device having a control unit capable of generating a path capable of autonomous driving and working within a package, wherein the control unit comprises: a first area in which a work path for performing work in the pavement is generated; Is not generated, but a second area set around the first area, which makes it possible to generate a travel route for driving, a third area prohibited to travel as in the pavement, and a work route is not generated but The driving route for the second path can be set around the third area to be generated, and the second area and the fourth area face each other with the sixth area less than the predetermined width therebetween. The fourth and sixth regions are included in the second region so as to be set.

In the present invention, in the case where a plurality of third regions and a fourth region exist in the package, the controller controls the seventh region when the fourth regions face each other with a seventh region less than a predetermined width. Can be set to be included in any one of the fourth areas.

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

1 is a schematic side view of an autonomous driving work vehicle and a traveling work vehicle.
2 is a control block diagram.
3 is a diagram illustrating an initial screen.
4 is a diagram illustrating packaging settings.
5 is a view showing a region of a package.
6 is a view showing the shape of a package.
It is a figure which shows the state which recognizes the shape of a packaging end.
8 is a diagram illustrating correction of a package shape.
9 is a diagram illustrating the position and direction of environment recognition means for acquiring peripheral information.
10 is a diagram illustrating a state in which boundary feature points are selected on a display device.
11 is a diagram illustrating a state where a package end is recognized by a distance sensor that acquires surrounding information.
It is a figure which shows the area | region when an obstacle exists in the package.
13 is a diagram illustrating positioning around an obstacle.
It is a figure which shows the path | route when working the pavement in which an obstacle exists in 2 order.
It is a figure which shows the path | route in the case of working two pavement with obstacles separately separately.
It is a figure which shows the pavement in which an obstacle area overlaps with a dog seat.
It is a figure which shows the pavement which the obstacle area | region is predetermined distance from the dog seat.
18 is a diagram illustrating a pavement having a plurality of obstacle areas and a predetermined distance apart.
It is a figure which shows the setting of the width | variety of a dog seat.
It is a figure which shows the setting of the width | variety of a dog position when a dog seat is inclined with respect to the longitudinal direction.
It is a figure which shows the setting of the width | variety of the side margins at the time of turning by turning in two directions.

A self-driving work vehicle (hereinafter sometimes referred to as an unmanned vehicle) capable of autonomous driving unmannedly (1), and a manned traveling work vehicle steered by an operator (user) in cooperation with the autonomous driving work vehicle 1 ( Hereinafter, an embodiment in which the tractor 100 is used as a tractor and the autonomous traveling work vehicle 1 and the traveling work vehicle 100 are equipped with a rotary tillage device as a work machine will be described. However, the work vehicle is not limited to a tractor, but may be a combine or the like, and the work machine is not limited to a rotary tiller, but may be a rest machine, a mower, a rake, a planter, a fertilizer, or the like.

In this specification, "autonomous running" means that the structure concerning the traveling with which a tractor is equipped is controlled by the control part ECU which a tractor is equipped, and a tractor runs along a predetermined path | route.

Performing farm work in a single pavement by an unmanned vehicle or a manned vehicle may be referred to as cooperative work, follow-up work, accompanying work, or the like of the farm work. In addition, as a cooperative operation of agricultural work, in addition to "running agricultural work in a single pavement by an unmanned vehicle and a manned vehicle", "agricultural work in different pavements, such as adjacent pavement, is carried out at the same time. Running in an unmanned vehicle and a manned vehicle ”may be included.

FIG. 1: is a side view which shows schematic structure of an autonomous driving work vehicle and a traveling work vehicle, and FIG. 2 is a control block diagram which shows these control structures. In FIG. 1, FIG. 2, the whole structure of the tractor used as the autonomous driving 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 a cabin 11 at the rear of the bonnet 2, and steering operation is performed on the dashboard 14. The steering wheel 4 used as a means is provided. The direction of the front wheels 9 · 9 is rotated through the steering device by the rotation of the steering wheel 4. The steering actuator 40 which operates the steering apparatus is connected with the steering controller 301 which comprises the control part 30. As shown in FIG. The steering direction of the autonomous traveling work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 consists of an angle sensor, such as a rotary encoder, and is arrange | positioned at the rotation 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 wheel 4 may be detected or the operating 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 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 job control controller 305, a positioning control unit 306, an autonomous driving control controller ( 307, etc., each having a CPU (central processing unit), a storage device such as a RAM or a ROM, an interface, and the like, wherein the storage device stores programs, data, and the like for operation, and each information is stored by CAN communication. It enables communication so that data can be transmitted and received.

The driver's seat 5 is disposed behind the steering wheel 4, and the 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 mission case 6, and the rear wheels 10 · 10 are supported by the rear axle cases 8 · 8 via the axles. The power from the engine 3 is shifted by the 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 is constituted by, for example, a hydraulic continuously variable transmission, and the movable swash plate of the variable displacement hydraulic pump is operated by a transmission means 44 such as a motor to shift the speed. 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 input to the shift control controller 303 as the traveling 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 and the PTO transmission are accommodated 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 display means 49. It is connected with the autonomous running control controller 307 of 30, and it is possible to control the single contact of the power to a PTO shaft. In addition, when a seeding machine, a rice field applicator, or the like is mounted as a work machine, a work machine controller 308 is provided so that independent control of the work machine is possible, and the work machine controller 308 includes information communication wiring (so-called ISOBUS). Is connected to the job control controller 305.

The front axle case 7 is supported by 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, and the mission case 6 is supported. It is configured to transmit power from the front wheels 9 · 9. The front wheels 9 and 9 are steering wheels, which are made rotatable by the pivoting operation of the steering wheel 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 and 9 are capable of steering 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 pressure sensor, or the like is 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 the load so as not to overload, and transmits the state of the engine 3 to the remote control device 112 described later to display the display device 113. ) To be displayed.

Moreover, in the fuel tank 15 arrange | positioned below a step, the level sensor 29 which detects the liquid level of fuel is arrange | positioned, and it is connected with the display means 49, and the display means 49 of the autonomous driving work vehicle 1 is carried out. It is formed on the dashboard and displays the fuel level. Then, the remaining amount of fuel is calculated by the autonomous running control controller 307, the workable time is calculated, the 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 fuel remaining amount and the working time can be displayed. The display means for displaying the rotation system, the fuel gauge, the hydraulic pressure, the abnormality, and the display means capable of displaying the current position or the like may have different configurations.

On the dashboard 14, display means 49 for displaying an engine rotation system, a fuel gauge, a hydraulic pressure, a monitor for indicating an abnormality, a set value, or the like is disposed. The display means 49 is a touch panel type similarly to the remote control apparatus 112, and enables input of data, selection, switch operation, button operation, and the like.

In addition, the rotary tiller 24 is provided as a work machine so as to be able to move up and down via the work machine mounting device 23 at the rear of the body part of the tractor. An elevating cylinder 26 is formed on the mission case 6, and the elevating cylinder 26 is stretched to rotate the elevating arm constituting the work machine mounting device 23 to elevate the rotary tiller 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. Inclined cylinders are formed on the left and right lift links of the work machine mounting device 23, and the inclined actuators 47 for operating the inclined cylinders are connected to the horizontal control controller 304.

The positioning control unit 306 serving as the position detecting unit is connected with a mobile GPS antenna (location antenna) 34 and a data receiving antenna 38 for enabling the detection of position information, and the mobile GPS antenna 34 and data receiving are connected. An antenna 38 is formed on the cabin 11. The positioning control unit 306 is provided with a position calculation means to calculate latitude and longitude, and to display the current position by the display means 49 or the display device 113 of the remote control device 112. In addition to the GPS (USA), a 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 describes using GPS. .

The autonomous traveling work vehicle 1 includes a gyro sensor 31 for obtaining posture change information of the vehicle body portion, and an azimuth detector 32 for detecting a moving direction, and is connected to the controller 30. However, since the traveling direction can be calculated from the GPS position measurement, 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 body portion of the autonomous traveling work vehicle 1, the angular velocity of the inclination (roll) in the left and right directions of the body portion, and the angular velocity of the turning (yaw). By integrating the three angular velocities, it is possible to determine the inclination angles in the front-back direction and the left-right direction and the turning angle of the vehicle body portion of the autonomous traveling work vehicle 1. As a specific example of the gyro sensor 31, a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, a vibrating 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. Specific examples of the azimuth detector 32 include a magnetic orientation sensor and the like. The azimuth detector 32 inputs information to the autonomous traveling control controller 307 via CAN communication means.

In this way, the autonomous running control controller 307 calculates the signals acquired from the gyro sensor 31 and the azimuth detection unit 32 by the posture / azimuth calculating means, and the posture (direction, vehicle body) of the autonomous traveling work vehicle 1. The inclinations of the front and rear directions and the left and right directions of the vehicle body portion, the turning direction).

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

As a positioning method using GPS, various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematic GPS) positioning, and the like can be used. However, in this embodiment, the RTK-GPS positioning system with high measurement accuracy is adopted.

RTK-GPS positioning performs GPS observation simultaneously with the reference station that knows the location and the mobile station to obtain the location, and transmits the data observed by the reference station to the mobile station in real time by wireless or the like. A method of obtaining the location of a mobile station in real time based on the location performance

In the present embodiment, in the autonomous driving work vehicle 1, the positioning control unit 306 serving as the mobile station, the mobile GPS antenna 34, and the data receiving antenna 38 are disposed, and the fixed communication device 35 serving as the reference station is provided. And a fixed GPS antenna 36 and a data transmitting antenna 39 are formed at predetermined positions. In RTK-GPS positioning of this embodiment, phase measurement (relative positioning) is performed by both a reference station and a mobile station, and data is received from the data transmission antenna 39 for measurement by the fixed communication device 35 of a reference station. Transmit to antenna 38.

The mobile GPS antenna 34 disposed in the autonomous driving work vehicle 1 receives a signal from the GPS satellites 37. This signal is transmitted to the positioning control unit 306 for positioning. At the same time, signals from the GPS satellites 37 · 37 are received by the fixed GPS antenna 36 serving as the reference station, and the signals are transmitted to the positioning control unit 306 by positioning them with the fixed communication device 35, and observed data. The location of the mobile station is determined by interpreting.

In this way, the autonomous running control controller 307 is provided as autonomous running means which autonomously runs the autonomous traveling 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 obtained as various information, and the various control units connected to the autonomous driving control controller 307 are obtained. This controls the autonomous running of the autonomous traveling work vehicle 1. Specifically, the positioning control unit 306 receives the radio wave transmitted from the GPS satellites 37 · 37, and obtains the position information of the vehicle body part at set time intervals, and from the gyro sensor 31 and the azimuth detector 32 Steering actuator 40, shifting to obtain displacement information and azimuth information of the body part and to travel along a path (running path and work path) R preset by the body part based on these positional information and the displacement information and azimuth information. The means 44, the elevating actuator 25, the PTO on-off means 45, the engine controller 302, and the like are controlled to autonomously travel and work automatically.

Moreover, the obstacle sensor 41 is arrange | positioned in the autonomous driving work vehicle 1, and is connected with the control part 30, and it is made not to collide with an obstacle. For example, the obstacle sensor 41 is constituted by a laser sensor, an ultrasonic sensor, or a camera, and is disposed on all, side, or rear parts of the vehicle body, and is connected to the control unit 30. It detects whether there is an obstacle in the rear, and controls to stop running when the obstacle approaches within a set distance.

Moreover, the autonomous driving work vehicle 1 is equipped with the camera 42F which photographs the front, the camera 42R which photographs the working machine of the back, and the packaging state after work, and is connected with the control part 30. FIG. Although the cameras 42F and 42R are disposed on the upper part and the rear part of the roof of the cabin 11 in this embodiment, the arrangement position is not limited, and the upper part and the rear part of the cabin 11 or one camera 42 is placed. It may be arranged around the vehicle body part, rotated about the vertical axis, and the surrounding image may be taken. Alternatively, the configuration may be such that the plurality of cameras 42 are arranged at four corners of the vehicle body portion to photograph the circumference of the vehicle body portion. Moreover, when the emblem of the manufacturer of the autonomous traveling work vehicle 1 is attached to the cabin 11, the bonnet 2, etc., you may arrange | position the camera 42F * 42R on the back side of the said emblem. In that case, a through hole or a predetermined gap is set in the emblem, and shooting is not disturbed because the lens of the cameras 42F and 42R corresponds to the position of the through hole or the gap. An image captured by the cameras 42F and 42R is displayed on the display device 113 of the remote control device 112 provided in the traveling work vehicle 100.

The remote control apparatus 112 sets the path | route R mentioned later of the said autonomous driving work vehicle 1, remotely operates the autonomous driving work vehicle 1, or the traveling state or work machine of the autonomous driving work vehicle 1; It is provided with a control unit (CPU or memory) 130, a communication device 111, a display device 113, a storage device 114, and the like, for monitoring the operation state of the device and storing the operation data.

The traveling work vehicle 100 serving as the manned traveling vehicle is provided with a remote operation device 112 mounted on the traveling work vehicle 100 so as to operate and operate the autonomous driving work vehicle 1 while the operator rides and operates the vehicle. have. Since the basic configuration of the traveling work vehicle 100 is substantially the same as that of the autonomous driving work vehicle 1, detailed description thereof will be omitted. Moreover, it is also possible to set it as the structure provided with the GPS control unit in the traveling work vehicle 100 (or the remote control apparatus 112).

The remote control device 112 includes a mounting portion (e.g., a remote control device 112, not shown) which is formed on a dashboard of the traveling work vehicle 100 and the autonomous driving work vehicle 1, or a filler of the cabin 11. Arm member which can be attached and fixed) is made detachable. The remote operation apparatus 112 is attached to the mounting portion of the autonomous driving operation vehicle 1 to operate while being mounted on the mounting portion of the traveling work vehicle 100, or to carry it out of the traveling work vehicle 100 and carry it out for operation. It is also possible to operate with one. The remote control apparatus 112 can be comprised, for example by a wireless communication terminal, such as a notebook type or tablet type personal computer. In this embodiment, it consists of a tablet type computer.

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

Next, the procedure for setting the path R by the remote operation apparatus 112 serving as the path generation 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 route R by the control part 30 with which the autonomous driving work vehicle 1 is equipped.

The display device 113 of the remote control device 112 is a touch panel type, and the initial screen is displayed when the power supply is turned on to activate the remote control device 112. In the initial screen, as shown in Fig. 3, the tractor setting button 201, the pavement setting button 202, the route generation setting button 203, the data transmission button 204, the job start button 205, and the end button ( 206 is displayed.

First, the tractor setting will be described.

When the tractor setting button 201 is touched, when the tractor has been used in the past by the remote control device 112, that is, when there is a tractor set in the past, the tractor name (model) is displayed. do. If a tractor name to be used is touched and selected from the displayed tractor names at this time, it is possible to advance to the packaging setting mentioned later or to return to an initial screen.

When newly setting a tractor, the model of a tractor is specified. In this case, enter the model name directly. Alternatively, a plurality of types of tractors are displayed on the display device 113 to select a desired type.

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

When the setting of the work machine is finished, the setting screen for 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 make the vehicle speed differently at the return route and the return route during work.

When the setting of the vehicle speed and the engine speed is completed, 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. Fig. 4 shows a state of the outer circumference running carried out by the user in the autonomous driving work vehicle at the time of paving setting. 5 shows an area set in a package such as a work area and a sleeping area.

When the package setting button 202 is touched, in the past, when the operation was performed by the remote control device 112 using the tractor, that is, when there is a package set in the past, the name of the package set is displayed. do. If the package name to be worked on is selected by touching the selected package name at this time, it is possible to proceed to the path generation setting described later or to return to the initial screen. It is also possible to edit or set the set packaging.

If no package is registered, a new package 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 four corners in the pavement H, and the "start of measurement" Touch the button. Thereafter, the tractor is driven along the outer periphery of the pavement H to register the pavement shape. Next, the operator registers the corner positions A, B, C, D and the 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 exists in this pavement H, a tractor is moved to the position of an obstacle, a "block obstacle setting" button is touched, it runs around, and obstacle setting is performed. Moreover, it is possible to display the map image of a pavement on the display apparatus 113, and when the said specified pavement shape is displayed superimposed on the said map image, obstacle setting is made by designating the perimeter of the obstacle on the display apparatus 113. May be carried 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 package registered in the past, touch the "Edit / Add" button.

When the OK button is touched in the package setting, the path generation setting is made. 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 selection screen of which position the traveling work vehicle 100 travels 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 at the right rear side of the autonomous traveling work vehicle 1. (3) The traveling work vehicle 100 is located immediately after the autonomous driving work vehicle 1. (4) The traveling work vehicle 100 is not accompanied (it performs work only by the autonomous driving work vehicle 1). Four types 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, set the number of skips. In short, when the autonomous traveling work vehicle 1 reaches the pavement outer circumferential end (opening) and moves from the first path to the second path, the number of paths to be skipped is set. Specifically, (1) it does not skip. (2) Skip 1 row. (3) Skip 2 rows. Choose which one.

Next, the overlap is set. In short, the overlapping amount of the working width in the work path adjacent to the work path is set. Specifically, (1) it does not overlap. (2) Overlap. Select. In addition, when "overlap" is selected, a numerical input screen is displayed, and if it is not inputted, it cannot proceed to the next.

Next, outer circumference setting is performed. In other words, the area outside the work area HA that performs work by the autonomous driving work vehicle 1 and the traveling work vehicle 100, or by the autonomous driving work vehicle 1, as shown in FIG. 5. Is set. In other words, the side seat space HC which turns into the non-working state by the paving end, and the non-working area HC which contacts the pavement outer periphery of both right and left sides between the seat HB and the seat HB are provided. Is set. Therefore, it becomes pavement H = working area HA + opening area HB + opening area HB + side clearance paper HC + side clearance paper HC. Usually, the width Wb of the dog seat HB and the width Wc of the side clearance HC are set to a length not more than twice the width of the work machine on which the traveling work vehicle 100 is mounted. After the accompanying work by the vehicle 1 and the traveling work vehicle 100 is finished, the worker gets on the traveling work vehicle 100 and finishes by changing two outer peripheries by manual operation. However, when the shape of the pavement outer circumference is not complicated, it is also possible to work the outer circumference with the autonomous traveling work vehicle 1. In addition, in the outer periphery setting, the width Wb of the opening HB and the width Wc of the side clearance HC are automatically calculated with a predetermined width according to the width of the work machine, but the calculated opening HB The width Wb and the width Wc of the side clearance HC can be changed to any width, and the user can change the width Wb and the width Wc after the change to the desired width, respectively. It can be set as the width of the opening HB and the width of the side clearance paper HC. However, if it can be changed to an arbitrary width, it cannot be set below the minimum setting width calculated in consideration of running, work and safety in the package. For example, when the autonomous traveling work vehicle 1 travels or turns in the dog seat HB or the side clearance HC, a width which ensures that the work machine does not protrude out of the pavement is calculated as the minimum set width. .

When the above input of the various settings is completed, a confirmation screen appears, and when the confirmation is touched, the path R is automatically generated. The path R is composed of the work path Ra and the travel path Rb, and the work path Ra is a path generated in 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 rectangle, it may be protruded to an area outside the working area HA (opening area HB and side margins (side margins) HC). The travel path Rb is a path generated in an area outside the work area HA, and is a path that travels without performing work, and is a path combining a straight line and a curve. Mainly, the turning travel in the dog seat HB is performed.

The path R generates a path R of the autonomous traveling work vehicle 1 and the traveling work vehicle 100.

When the work path is desired to be viewed after the work path generation, a simulation image is displayed and confirmed by touching the path generation setting button 203. In addition, 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 the lower portion of the route generation setting is displayed so that "path setting button", "data transfer" and "return to home" can be selected.

When the information on the path (path R) generated by the path generation setting is transmitted, it can be transmitted by touching the data transmission button 204 formed on the initial screen. Since this transmission is performed by the remote control apparatus 112, it is necessary to transmit these set information to the control apparatus 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, when using a terminal, the remote control device 112 is connected using a USB cable. And the control device of the autonomous driving work vehicle 1 are directly connected or stored in a USB memory once, and then connected to and transferred to the USB terminal of the autonomous driving work vehicle 1. Moreover, when transmitting wirelessly, it transmits using WiFi (wireless LAN).

Hereinafter, the package setting which registers a package shape is demonstrated in detail.

Conventionally, although the work path is set based on the information on the pavement section and the reference travel direction obtained by the learning travel data obtained by manual driving (teaching travel) of the periphery of the pavement, the end of the actual pavement, that is, The boundary between the pavement, the rice paddies and the road is not necessarily a straight line depending on the characteristics of the land, etc., so it is difficult to faithfully travel along the boundary in the teaching driving. In addition, since the positioning data obtained by the teaching running does not have information about obstacles such as a pole, a water intake valve, and a wall that are locally projected inside the pavement, the opening work and the finishing of the side margin are performed to the autonomous driving work vehicle. It could not be done autonomously. Therefore, various types of information relating to 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.

Fig. 6 shows a pavement having a locally complicated shape change due to the presence of an obstacle at the boundary portion of the pavement end. In the present embodiment, the pavement protrudes inside the pavement on the side DA of the pavement H. The example in which a telephone pole exists is shown. Fig. 7 shows a state in which the shape of the packing end is recognized as the peripheral information, and here, a state in which the telephone pole is recognized. Fig. 8 shows a pavement shape registered after correcting the running trajectory based on the surrounding information, and here, a pavement circumferential shape considering the telegraph pole protruding into the pavement H is shown.

When the packaging setting button 202 is touched on the display device 113 of the remote control device 112 to newly set the packaging or when the existing packaging is edited and the packaging is set again, the measurement starts. After the button is touched, the autonomous driving work vehicle 1 is driven. In this embodiment, the autonomous driving work vehicle 1 is positioned at one corner A of four corners of the pavement H, and the autonomous driving work vehicle 1 is packed by touching the "Start measurement" button. The case where the vehicle travels 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 and 37... And acquires the positional information of the vehicle body part, and by the gyro sensor 31 and the azimuth detection unit 32, The displacement information and the orientation information of the vehicle body portion are acquired. The travel trajectory information based on the positional information, the displacement information, and the orientation information obtained in this way is obtained.

When driving the autonomous driving work vehicle 1 along the outer periphery of the pavement H, the obstacle sensor 41 and / or the camera 42F, 42R disposed to recognize the surrounding environment of the autonomous driving work vehicle 1. By this, the surrounding information (environmental information) of the autonomous driving work vehicle 1 is acquired together. The "peripheral information" means, for example, an image of all of the vehicle body portion and the side portion obtained by the obstacle sensor 41 constituted as an imaging means such as a camera, an image obtained by the camera 42F, or a laser sensor or an ultrasonic sensor. Information on the outer edge of the pavement, such as the pavement stage and paddy field, by the obstacle sensor 41 constituted as a distance sensor of? In this embodiment, the video image by the front camera 42F is acquired as peripheral information, and is displayed on the display apparatus 113. FIG.

The driving trajectory information is corrected based on the surrounding information thus obtained. Specifically, based on the image obtained as the surrounding information or the like, the actual outer circumferential end of the pavement H is grasped, and the traveling trajectory information is corrected by correcting the running trajectory to the outside or the inner side so as to fit the outer circumferential shape of the pavement H. Register. And the running route of the outer periphery of the pavement H is set based on the outer periphery shape. In short, when traveling on the outer periphery of the pavement H, the traveling periphery is appropriately avoided. However, according to the nature of the obstacle, the pavement outer periphery needs to be registered inside or outside the route avoided at that time. As described above, an appropriate avoidance amount corresponding to the obstacle can be set by using the shape of the obstacle, the size pushed up into the air, etc. from the image acquired as the surrounding information, and the like can be used for setting the travel route in the path generation setting.

In the present embodiment, the driving trajectory information is corrected based on the driving trajectory information and the surrounding information (environmental information). However, the driving trajectory information may not be corrected, or the correction trajectory information may be selected. It may be possible. In the case where the correction trajectory information is not corrected, for example, external factors affecting the driving trajectory information in the surrounding information (for example, when an obstacle exists near the paving stage or the paving stage is curved). Can be considered. In this case, the presence or absence of an external factor is determined based on the surrounding information. If there is an external factor, the driving trajectory information is corrected. If there is no external factor, the driving trajectory information is not corrected.

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

As described above, by acquiring the surrounding information and correcting the driving trajectory information, the pavement end can be accurately identified and registered, and when the outer circumference 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, the more accurate packaging region can be registered as the packaging region.

9 shows the position and direction of the environmental recognition means for acquiring the surrounding information. In the case of correcting the driving trajectory information, in order to recognize the paving stage more accurately, the arrangement of the obstacle sensor 41 and the moving GPS antenna 34 of the cameras 42F and 42R for acquiring the peripheral information (the driving trajectory information is Taking into account the relative position relative to the position to be acquired, the positional relationship between the driving trajectory at any position on the driving trajectory, the obstacle sensor 41 and the cameras 42F, 42R, and the recognized paving stage is made clear. Correction is performed based on these positional information and directions. Specifically, using information on the height of the mounting position of the sensor or the camera, the positional information on the horizontal position, the relative positional relationship between these and the mobile GPS antenna 34, and 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, the distance between the traveling trajectory and the pavement or obstacle is taken into consideration in consideration of the information regarding the position and the direction, and the position of the pavement is accurately identified.

As described above, by making the surrounding information have a relative positional relationship with the driving trajectory information, it is possible to more accurately use the information about the paving stage recognized by the environmental recognition means, and perform the paving stage recognition process automatically. It becomes possible.

As described above, the correction of the driving trajectory information may be performed automatically, or may be performed according to a user's operation. For example, a map image of a pavement is displayed on the display device 113, and the line shape indicating a pavement specified on the map image based on the running trajectory information, or the travel locus information corrected based on the surrounding information. When the line shapes indicating the pavement specified on the basis of overlapping display are displayed, the user can designate the correct pavement stage by touching the display device 113, and may correct the driving trajectory information according to the user's operation. In that case, the environmental information acquisition means (general name of 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. When designating a packaging end, it is only necessary to correct a part of the linear shape by, for example, adding a control point to the linear shape and manipulating the control point. In addition, the user may designate one or a plurality of boundary feature points in a linear shape and automatically correct the driving trajectory information based on the boundary feature points. Hereinafter, boundary feature points will be described.

Fig. 10 shows a state in which a boundary feature point of a package end is selected on a display device to register a package shape. In the present example, the recognition of the outer circumferential end of the pavement based on the surrounding information is performed by the display device 113 of the remote control device 112 for the image acquired by the obstacle sensor 41 or the cameras 42F and 42R configured as a camera. This is performed by touching on the display device 113 a position to be registered as an outer circumferential end. In other words, the worker himself / herself determines the feature point (that is, the boundary feature point) of the boundary between the package in the image displayed on the display device 113 and the outside thereof, 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 positional information, the driving trajectory information, and the surrounding information of the vehicle body portion, and operates to designate boundary feature points for the surrounding information. It also functions as a control panel. The driving trajectory information is then corrected based on the boundary feature point specified by the user, and the line shape after the change is registered as a pavement shape. Correction of the driving trajectory information may also be performed based on the boundary feature point and the associated feature point. A related feature point is a feature point having the same or similar characteristics as the boundary feature point. For example, on a map image (image data), for example, the specified boundary feature point has the same or similar hue, saturation, and brightness (the difference between each element is predetermined). It is possible to specify the feature point as a related feature point.

In the above description, the driving trajectory information is corrected at the time of pavement registration. However, after the driving trajectory information and the peripheral information are stored in association with the remote control device 112, the operation of changing the position information of the paving stage is described later. For example, it can also be implemented as a change of a packaging setting.

As a method for recognizing the outer peripheral end of the pavement based on the surrounding information, as described above, in addition to performing by a visual recognition by the operator on the image acquired by the camera, for example, the difference in the colors on the image data acquired by the camera Alternatively, such as a difference in lightness, such as automatically determining the displacement point on the image data as the boundary feature point can be considered. In the case of using a distance sensor such as a laser sensor or an ultrasonic sensor, a step difference existing at the boundary between the pavement stage and the paddy field is detected as a change in distance, and the lower end of the step is defined as the boundary feature point, thereby automatically making the outer circumferential end of the pavement. It may be recognized as (see FIG. 11).

In the present specification, the remote control device 112 is used to set the path R of the autonomous traveling work vehicle 1. The various settings (the tractor setting, pavement setting, path generation setting) necessary for setting the path R are set by appropriately operating the display device 113 of the remote control device 112, but the path R is set. The control unit 30 (for example, the autonomous running control controller 307) performs the setting of the control unit, and various settings required for setting the route R may be set by the user operating the display means 49 appropriately. In other words, the remote control device 112 may not be included in the system for registering the shape of the package. The remote control device 112 is included, but the remote control device 112 is used to set the path R. It may not be.

In addition, in this specification, although correction | amendment of the driving | route | route information is performed in order to specify and register the shape of a pavement, in addition to the shape of a pavement or instead of the shape of a pavement, another area | region (autonomous driving work vehicle 1 ) May be used to specify and register the shape of a predetermined area (traveling area) on which travels). For example, it may be used to specify and register the shape of the work area described above. Furthermore, it may be used for specifying and registering the shape of the predetermined area (non-driving area) in which the running 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. There is no difference in correcting the driving trajectory information on the basis of the surrounding information even if the object of the specification / registration is a driving area or a non-driving area. While traveling on the inside of the end of the travel area, travel for obtaining travel trajectory information in the non-travel area often travels on the outside of the end of the travel area. In this case, the correction of the driving trajectory information in the traveling area is performed in the direction of enlarging the closed linear area specified by the driving trajectory information, while the correction of the driving 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.

In view of the above-described invention based on the present specification, the present invention is a system for registering the shape of a traveling area (which is realized by, for example, pavement) in which a work vehicle travels, and is a satellite positioning system (this specification). In the present invention, position information acquisition means (which is realized by, for example, the positioning control unit 306) for acquiring the position information of the traveling work vehicle 100 by the GNSS, and the traveling work vehicle ( Identification based on environmental information acquiring means for acquiring environmental information around the periphery 100 (here, realized by, for example, an environmental recognition sensor) and positional information of the traveling work vehicle 100 acquired by the satellite positioning system. Travel trajectory information acquisition means for acquiring travel trajectory information indicating the travel trajectory of the traveling work vehicle 100 (in this specification, Control unit 30 of air travel work vehicle 100 or wireless communication terminal (realized by control unit 130 included in remote control device 112) capable of wireless communication with travel work vehicle 100, and travel trajectory information A specific region 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 environmental recognizing means (in this specification, for example, an area obtained by correcting the traveling region). Registration means for registering as a shape of a travel area (in the present specification, for example, a control unit provided by a control unit 30 of the travel work vehicle 100 or a wireless communication terminal capable of wireless communication with the travel work vehicle 100). Realized by (130)).

In addition, in this invention, correction | amendment of the running trace information by a registration means is performed based also on the direction which acquires the positional information and environmental information of an environmental recognition means. In the present invention, display means capable of displaying the shape of the travel area (that is, the shape of the travel area after correction) registered by the registration means (in this specification, for example, wireless communication capable of wireless communication with a work vehicle or work vehicle). The image display part (implemented by the display means 49 or the display apparatus 113) with which a terminal is equipped, and the operation means which can change and operate the shape of the traveling area displayed on the display means (In this specification, for example, a display means is provided. Realized by a touch panel, wherein the registration means changes the shape of the traveling area displayed on the display means according to an operation (for example, by adding a control point or designating a boundary feature point) to the operation means. The area after the change is registered as the shape of the travel area. It goes without saying that it may be changed in accordance with the operation on the operation means before the registration by the registration means (that is, the shape of the traveling area before correction).

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

In the above paving setting, the case where the obstacle 400, such as a soft ground or a rock, in which the running of the vehicle body part is prohibited in the paving H will be described in detail.

As shown in FIG. 12, when an obstacle 400 exists in the pavement H, at the time of pavement setting, the operator rides the autonomous driving work vehicle 1 to a position near the obstacle 400 and sets the obstacle. Is selected to drive the outer circumference of the obstacle 400. At this time, four points (points) 401, 402, 403, 404, which are the vertices of the rectangle, are designated to register the third area (hereinafter, the entry prohibited area K). The sides of the rectangle forming the outer circumference of the entry prohibition region K are substantially parallel to the sides of the outer circumference of the package 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 it is a place where a situation where a person can not escape due to a deep run when escaped from the soft ground or the like is buried. The obstacle makes it possible to simply register as the entry prohibition area K without traveling.

When the shape of the obstacle 400 has a circular or pointed shape, if it is registered as a quadrangle, a margin portion (a portion where work is allowed but entry is prohibited) may increase. In such a case, as shown in FIG. 13, the entry prohibition area | region K can also be made into polygon (401-405) by increasing the designation point. However, the number of points is not limited. In addition, the position of the designated point enables movement or change on the display device 113. In other words, since vertices are usually set automatically, there are cases in which you want to make them wider, narrower, slanted, or out of position or polygonal. This allows movement and change of points. In addition, when the entry prohibition area K is a polygon, at least one specific side is set to be substantially parallel to the side of the first area (working area HA) in the pavement H, and the path is generated when the path is generated. Worksheets are made as small as possible.

And when the entry prohibition area | region K of the rectangle (or polygonal) into which the obstacle 400 enters is set, next, the obstacle opening position JB which becomes a 4th area outside the predetermined length (width) of the entrance prohibition area | region K ) And the obstacle side clearance JC, the obstacle area J is set in the work area HA. In short, the obstacle area J includes the entry prohibition area K in which travel is prohibited, and the obstacle location JB which becomes the fourth area in which the work path Ra is not generated but the travel path Rb can be generated. ) Plus obstacle side clearance (JC). The width | variety of the 4th area | region of the obstacle opening position JB and the obstacle side clearance paper JC is 2 times or less of the width | variety of the work machine, and can complete | finish a job | work can be complete | finished.

Further, a fifth area (entry area) in which a path is not set between the second area (opening HB and side clearance HC) and the fourth area (obstacle opening JB and obstacle side clearance JC). (HD)) is set. In short, after the work area HA is worked in cooperation with the autonomous driving work vehicle 1 and the traveling work vehicle 100, the operator manually sets the obstacle opening JB and the obstacle side clearance JC. Since the work needs to be performed, it is necessary to enter the obstacle opening JB or the obstacle side clearance JC from the opening HB or the side clearance HC. For this reason, the 5th area which becomes an access route is set so that the 2nd area | region and the 4th area may connect, and after completion | finish of a cooperative work, the obstacle opening position JB and the obstacle side clearance space ( JC) allows you to work on it. Therefore, the width | variety of a 5th area | region is made into the length more than the width | variety of a work machine (or the vehicle body part), and 2 times or less of the width of a work machine. If the width of the fifth area is equal to the width of the work machine, there is no need to perform work in the fifth area when entering the fourth area, but by working in the fifth area when exiting the fourth area, the borderless work is eliminated. Can be. On the other hand, when the width of the fifth region is larger than the width of the work machine, the work can be eliminated by performing the work when entering the fourth region and when leaving the fourth region. By making the width of the fifth area equal to twice the width of the work machine, duplication of work can be prevented even when the work is performed in the fifth area when entering the fourth area and when 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 as small as possible. However, when the distance between the side clearance HC and the obstacle side clearance JC is the shortest, if the entrance area HD is formed so as to connect therebetween, this entrance area HD is the working area HA. The path | route of the longitudinal direction in the edge may be segmented, and work efficiency may fall. 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 finishing can be done smoothly without reducing the work efficiency. have. In addition, since the work in the fourth area is performed after the work in the first area (work area HA) is finished, the entry area HD can be shortened by setting the travel area closer to the work end position G. Can improve the working efficiency.

As described above, the autonomous driving work vehicle 1 which enables autonomous driving and work using the satellite positioning system along the route R previously set by the controller 130, and the autonomous driving work vehicle 1 In a work system in which a work is performed by a traveling work vehicle 100 in which a worker operates in cooperation with a worker, the control unit 30 of the autonomous driving work vehicle 1 serving as a route generating device, or the control unit. The control unit 130 of the remote control device 112 that can communicate with the 30 enables the generation of the path R capable of autonomous running and working within the packaging H, and at the time of packaging setting, the packaging H If there is an obstacle 400 in the first zone, a work path Ra for working in the pavement H (work area HA) is generated, and the work path Ra is not generated but travels. The driving route (Rb) for The second area set around the first area, the third area where travel is prohibited in the pavement H, and the work path Ra is not generated, but the travel path Rb for travel is generated. Since the fourth area set around the third area can be set, even if the obstacle 400 which is prohibited to travel is present in the pavement H, the path setting is made automatically and efficiently. You can work on it.

Moreover, the said control part 130 (or the control part 30) is a said 1st area | region (working area HA), Comprising: said 4th area | region (obstacle opening JB and obstacle side clearance JC); Since the second area (opening area HB and side clearance HC) is connected, and the fifth area (entry area HD) in which the work path Ra is not generated can be set, the work area HA ) After the work is carried out by the cooperative work between the autonomous traveling work vehicle 1 and the traveling work vehicle 100, the work enters the fourth area without ruining the work paper and performs the work. It can be removed while working, so that the fourth region can be neatly finished.

Moreover, when the said control part 130 (or the control part 30) sets a 3rd area | region (entrance prohibition area | region K) in the said 1st area | region (work area | region HA), it comprises a 3rd area | region Since at least one side is set in substantially parallel with the specific side which comprises a 1st area | region, the unworked paper at the time of a path | route generation can be made as small as possible.

Moreover, since the said control part 130 (or the control part 30) forms the said 5th area | region in parallel with the work path Ra produced | generated in the 1st area | region (working area HA), the 4th area | region is After the work is finished, the finish after the fifth area is worked out is almost the same as the finish in which the other work path Ra is worked, and the overall finish can be neat.

Thus, when the obstacle area | region J is set and a work | work is performed along the path | route R, the longitudinal working path Ra in which the obstacle area | region J exists will be divided when it sees the pavement H as a whole. 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 the cooperative work by the autonomous driving work vehicle 1 and the travel work vehicle 100, and autonomous running. There is a method in which the work vehicle 1 and the traveling work vehicle 100 work on different areas. Which one is selected depends on the terrain and the position of the obstacle area J, and the efficient one is selected automatically. However, it is also possible to select arbitrarily manually (worker).

Specifically, in FIG. 12, when the obstacle area J is present in the work area HA, the obstacle area J is located on the side of the obstacle area J in the work area HA and adjacent to the side clearance HC. The area | region is made into the left side work area | region HAL and the right side work area | region HAR, and the area | region adjacent to the dog seat HB other than the remaining obstacle area | region J is used for the starch work area | region HAF and the post division work area | region HAB. It is assumed that the coordinated work is performed by the autonomous 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 | region HAL is equipped with the path | route R of an even tank, the work area | region HA divided | segmented in the longitudinal direction of the path | path R is an autonomous traveling work vehicle. Two areas of (1) and the traveling work vehicle 100 are operated one by one area. In short, when the work of the left side work area HAL is completed, if one of the starch work area HAF (the left side work area HAL is four pairs, for example, the work of HAB → HAR → HAF) is performed. Next, the work of the right side work area HAR is performed, and the work of the other post dividing work area HAB is performed next, and the operation ends.

Moreover, as shown in FIG. 15, when the left part work area | region HAL is equipped with the odd path | route R, the work area | region HA segmented in the longitudinal direction of a path | route runs with the autonomous driving work vehicle 1 Two of the work vehicles 100 work in different areas, respectively. In short, when the work in the left side work area HAL is finished, the work in one starch work area HAF (the post work area HAB when the left side work area HAL is, for example, 3 pairs) is traveled. The vehicle 100 performs, and the autonomous traveling work vehicle 1 implements the post-dividing work area HAB. Next, the right side work area HAR is performed by the autonomous traveling work vehicle 1 and the traveling work vehicle 100. In addition, when the entry area | region HD is formed, it is made empty according to the number of tanks, or it is made to freeze without working.

As described above, the controller 130 (or the controller 30) may generate the work path Ra in the remaining areas except for the third area, the fourth area, and the fifth area in the first area. Since it is possible to make all the work areas HA work in order, the work efficiency can be improved.

In addition, when the fourth area (obstacle opening JB or obstacle side clearance JC) and the second area (opening HB or side clearance 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 part 130 can set the path | route R, considering the obstacle opening position JB and the obstacle side clearance JC as the opening position HB, and the obstacle opening position JB and the obstacle side clearance area Since there is no need to distinguish (JC), the program can be simplified in writing.

In this way, the autonomous driving work vehicle 1 which enables autonomous driving and work using the satellite positioning system, and the traveling work vehicle 100 which cooperates with the autonomous driving work vehicle 1 and operates by an operator to perform work. In the work system which performs a work by the control part, the control part 30 of the autonomous driving work vehicle 1 which becomes a path | route generator which can generate the path | route which can drive autonomously and work in the pavement H, or its The control unit 130 of the remote control device 112 that can communicate with the control unit 30 includes a first region in which a work path Ra for performing work in the pavement H is generated, and a work path Ra is generated. The driving path Rb for driving is not included but the second area is set around the first area, which allows generation of the driving path, the third area where the driving is prohibited in the pavement H, and the working path Ra ) Is not generated, but The driving route Rb for the purpose of setting the fourth region set around the third region to be generated, and the second region (the seat HB or the side clearance HC) and the first region When the four areas (obstacle opening JB or obstacle side clearance JJ) overlap, the fourth area is included in the second area so that it can be set (integrated), so that the obstacle opening JB and the obstacle side can be set. It is not necessary to consider the work processing of the clearance zone JC, so that the path generation can be simplified, and the post-processing of the opening HB, the side clearance HC and the obstacle region J can also be easily performed.

Further, the second region (opening HB and side clearance HC) and the fourth region (obstacle opening JB or obstacle side clearance JC) are between the sixth region HE having a predetermined width or less therebetween. In the case of facing each other, the fourth area and the sixth area HE are included in the second area so as to be set. For example, as shown in FIG. 17, when the obstacle opening position JB is separated by the width Wj and the width Wj is less than the predetermined width T1, the obstacle opening position ( The sixth area HE generated in the work area HA between the JB and the seat HB is included in the seat HB, and the work path Ra is not set so that the autonomous driving work vehicle 1 or The traveling work vehicle 100 is set to not perform work. The width of the sixth region HE between the fourth region and the second region is, for example, a distance that decreases the work efficiency if the work length by the work machine is about the full length of the tractor, and if the swing is frequently repeated. .

Thus, when the 2nd area | region and 4th area | region face the 6th area | region HE which is less than predetermined width between the said control part 130 (or the control part 30), 4th area | region and 6th Since the area HE can be included in the second area for setting, 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. It is not necessary to work repeatedly and it is possible to improve work efficiency. In addition, the area in which the fourth area is integrated into the second area does not need to be considered as another operation as the obstacle opening JB and the obstacle side clearance JC, and the location HB and the side clearance HC and the obstacle are not considered. The area J can be processed at once.

Moreover, when the said control part 130 (or the control part 30) has several 3rd area | region and 4th area | region containing the obstacle 400 in the packaging H, 4th area | region is mutually predetermined width. When facing less than 7th area | region HF which is less than 7th, the 7th area | region HF can be set to include in any one 4th area | region. For example, as shown in FIG. 18, the obstacle 400 and the obstacle 401 exist in the pavement H, and the 4th area | region (obstacle opening JB or obstacle side clearance JC) and agent When the width Wk between the four areas (obstacle opening JB or 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 width Wk is less than predetermined width T2, the case where the 4th area | region and the 4th area | region are separated also includes the case where the one part overlaps. Thus, by integrating the fourth regions, the obstacle opening position JB and the obstacle side clearance JC are integrated, thereby simplifying the path generation and the processing after the work area HA.

In the case where a plurality of obstacles 400 are present in the package H, and one or a plurality of fourth areas are shorter than the predetermined width T1 with respect to the second area, they are integrated as described above. As shown in FIG. 18, when the recessed part area | region is formed between the 4th area | region and the 2nd area | region of the obstacle 401, it can also be integrated so that a recessed part may be removed when predetermined | prescribed 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 whole of the tractor. Length x 2) and the like. In this case, the process after the path generation and the work area HA is simplified.

Thus, when the 3rd and 4th area | region exists in the said package H in the said control part 130, the said control part 130 opposes 7th area | region HF whose 4th area | region is less than predetermined width | interval. In this case, since the seventh region HF can be included in one of the fourth regions and set, the route generation can be simplified.

Next, the length when the autonomous traveling work vehicle 1 or the traveling work vehicle 100 turns to the seat is described.

The opening HB is a turning area for the tractor to move to the next work path Ra without carrying out work at the outer periphery of the pavement, and has a predetermined opening width Wb. When the pavement H is rectangular, as shown in FIG. 19, the opening width Wb is equal to the distance L1 from the pivot center O of the body to the rear end of the work machine and the body center O. As shown in FIG. It becomes the length which added the minimum turning radius (setting turning radius set with respect to the tractor) L2, the length L3 of the larger half of a work machine width | variety or a gas width, and safety clearance width Lsm. In short, the dog width Wb = L1 + L2 + L3 + Lsm.

Moreover, as shown in FIG. 20, when the shape of the pavement H is the rectangle which deform | transformed, and when the opening HB inclines with respect to the advancing direction, the distance from the rotation center O of a base | substrate to the back end of a working machine is shown. Since L1 and the minimum turning radius L2 in the gas center O become the inclined direction, the distance L1 'from the turning center O of the gas in the inclined opening HB to the rear end of the working machine. ) Is L1cos (θ-90) = L1sinθ, and the minimum turning radius L2 'at the gas center O in the inclined opening HB is L2-L2cosθ. L3 and Lsm are the same length as the above. In other words, the dog width Wb '= L1' + L2 '+ L3 + Lsm = L1sinθ + (L2-L2cosθ) + L3 + Lsm.

In addition, when it is desired to make the width Wc of the side clearance paper HC as narrow as possible, and to enlarge the work area HA, the two turn direction turns shown in FIG. 21 are employed. The side clearance width Wc in this two turn direction turn is the distance L1 from the turning center O of the body to the rear end of the work machine and the minimum turning radius in the body center O at the start side. It becomes the length which shortened 3/2 working width W2 by (L2), and the safety clearance 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 L1 from the pivot center O of the body to the rear end of the work machine plus the minimum turning radius L2 of the gas center O, It becomes the length which added length L5 from the gas center O to the front-end | tip, and safety margin width Lsm. In short, the side clearance width (Wc) = L1 + L2-3 / 2W2 + L5 + Lsm.

Since the length of said L1, L2, L3, L5 is acquired beforehand in tractor setting, it calculates automatically by inputting the safety clearance width Lsm in the outer periphery setting in path | route generation. When the operator has manually set the opening width Wb and the side clearance width Wc, the input value is compared with the automatically calculated value, and the longer side is adopted to safely turn.

Industrial availability

INDUSTRIAL APPLICABILITY The present invention can be used for a path generation device that enables generation of travel and work paths for agricultural work vehicles that enable autonomous travel and automatic work in a pavement.

1: autonomous driving work vehicle
30: control unit
110, 111: 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 for registering a shape of a travel area in which a work vehicle travels,
Positional information acquiring means for acquiring positional information of the work vehicle by a satellite positioning system;
Environmental information acquisition means for acquiring environmental information around the work vehicle;
Travel locus information acquiring means for acquiring travel locus information indicating a locus of the work vehicle, the locus being specified based on the positional information of the work vehicle acquired by the satellite positioning system and for registering the shape of the travel area. and,
Registration for registering a specific area specified as a shape of the travel area by correcting the travel locus information on the basis of the travel locus information acquired by the travel locus information acquisition means and the environment information acquired by the environment recognition means. And a driving area shape registration system of the work vehicle. The method of claim 1,
The traveling area shape registration system of the work vehicle is corrected based on the direction of acquiring the positional information and the environment information of the environment recognizing means by the registration means. The method according to claim 1 or 2,
Display means capable of displaying the shape of the travel area registered by the registration means;
An operation means capable of changing the shape of the travel area displayed on the display means;
And the registration means registers the changed area as a shape of the travel area, in which the shape of the travel area displayed on the display means is changed in accordance with an operation on the operation means. A traveling area shape registration system that registers a shape of a traveling area in which a work vehicle travels,
Positional information acquiring means for acquiring positional information of the work vehicle by a satellite positioning system;
Travel trajectory information acquisition means for acquiring travel trajectory information indicating a trajectory of the work vehicle, which is specified on the basis of the positional information of the work vehicle acquired by the satellite positioning system, and which registers the shape of the travel area. and,
Display means for superimposing the travel trajectory information acquired by the travel trajectory information acquisition means on a map image displayed on a display screen;
And a driving means for correcting a part of the driving trajectory information by an operation on a display screen of the display means by an operator.

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