KR20220092789A - Control system of working vehicle - Google Patents

Abstract

The objective of the present invention is to promote the efficiency of traveling to a work start point while detouring an entry prohibition area and improve work efficiency. According to embodiments, a control system of a work vehicle comprises a traveling vehicle body, a positioning device, an azimuth angle acquisition means, and a control unit. The traveling vehicle body can travel in a field. The positioning device obtains a self-position of the traveling vehicle body. The azimuth angle acquisition unit acquires an azimuth angle of the traveling vehicle body. The control unit generates a work path including a work start point in the field and controls the traveling vehicle body to perform work while autonomously traveling along the work path. The control unit sets a turning radius during movement of the traveling vehicle body and an entry prohibition area in the field in advance, sets a detour circle of the turning radius that detours the entry prohibition area at the apex of the entry prohibition area when the entry prohibition area is set, sets a movement path from the self-position of the traveling vehicle body to the work start point, and corrects the movement path so as to detour the entry prohibition area via the detour circle when the set movement path enters the entry prohibition area.

Description

CONTROL SYSTEM OF WORKING VEHICLE

The present invention relates to a control system for a work vehicle.

Conventionally, in a work vehicle such as an agricultural tractor capable of autonomous driving, when setting a work route for autonomously driving the work vehicle, a specifying unit for specifying an autonomous running candidate route in which the work vehicle can start autonomous driving is used for candidate specification A technique is known that sets an area and makes it possible to specify a work route included in the candidate specification area as an autonomous driving candidate route (for example, refer to Patent Document 1).

Japanese Patent Laid-Open No. 2018-147163

However, in the prior art as described above, when the position at which the work vehicle starts autonomous driving (the position at which the work starts, hereinafter referred to as work start point) is predetermined, an appropriate movement route to the work start point Since it was not possible to generate , it was not possible to increase the efficiency at the time of moving to the work start point. Moreover, for example, even if there was an area|region (entrance prohibition area|region) which you do not want to enter when moving to a work start point, it was not possible to set an efficient movement route while bypassing an entry prohibition area|region. That is, in the prior art as described above, there was room for further improvement in terms of improving the working efficiency.

The present invention has been made in view of the above, and an object of the present invention is to provide a control system for a work vehicle capable of increasing the efficiency of movement to a work starting point while bypassing an entry prohibited area and improving work efficiency. .

In order to solve the above problems and achieve the object, a control system for a work vehicle according to an embodiment includes a traveling vehicle body capable of traveling in a pavement, a positioning device for acquiring a magnetic position of the traveling vehicle body, and an azimuth acquisition means for acquiring an azimuth, and a control unit for generating a work path including a work starting point in the pavement, and controlling the traveling vehicle body to perform work while autonomously driving along the generated work path; The control unit is configured to preset a turning radius during movement of the traveling vehicle body within the pavement and an entry prohibition area for prohibiting entry of the traveling vehicle body as an inner area of a closed polygon within the pavement, and setting the entry prohibition area , setting a detour circle of the turning radius that bypasses the entry prohibition area at a vertex of the entry prohibition area, setting a movement path from the self position of the traveling vehicle body to the work start point, and setting the movement path When entering the no-entry area, the movement path is modified to bypass the no-entry area via the detour circle.

According to the work vehicle according to the embodiment, it is possible to increase the efficiency of movement to the work starting point while bypassing the entry prohibited area, thereby improving the work efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic left side view which shows the work vehicle which concerns on embodiment.
2 is a block diagram illustrating a control system for a work vehicle according to an embodiment.
It is explanatory drawing (part 1) of autonomous driving in a pavement.
It is explanatory drawing (part 2) of autonomous driving in a pavement.
Fig. 5 is a flowchart (Part 1) showing the processing of moving route setting.
Fig. 6 is a flowchart (Part 2) showing the processing of moving route setting.
It is explanatory drawing of the path pattern of a movement path.
Fig. 8 is an explanatory diagram of (a) a left-turn-right-turn path pattern, and (b) an explanatory diagram of a right-turn-left-turn path pattern.
Fig. 9 is an explanatory diagram of a movement path that bypasses an entry prohibited area or a departure prohibited area;
Fig. 10 is an explanatory diagram (Part 1) of setting a detour route in an entry-prohibited area.
Fig. 11 is an explanatory diagram (part 2) of setting a detour route in an entry-prohibited area.
Fig. 12 is an explanatory diagram (part 1) of setting a detour route in the departure-prohibited area.
Fig. 13 is an explanatory diagram (part 2) of setting a detour route in the departure-prohibited area.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a control system for a work vehicle disclosed herein will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

<Outline of work vehicle (tractor)>

First, an outline of the work vehicle 1 according to the embodiment will be described with reference to FIG. 1 . 1 is a schematic left side view showing a work vehicle 1 according to an embodiment. In addition, below, a tractor is demonstrated as an example as the work vehicle 1 . In addition, the tractor 1 which is a work vehicle is an agricultural tractor which performs agricultural work on a field while autonomously.

In addition, the tractor 1 which is a work vehicle carries out a predetermined|prescribed work while a pilot (also referred to as an operator) gets on board and travels in a pavement, and the control system centering on the control part 200 (refer FIG. 2) mentioned later. The predetermined operation is executed while autonomously driving in the pavement under the control of each unit.

In addition, in the following description, the front-back direction is the advancing direction at the time of the straight movement of the tractor 1, and the front side of the advancing direction is prescribed|regulated as "front" and the rear side as "rear". The traveling direction of the tractor 1 is a direction toward the steering wheel 9 from the cockpit 8 mentioned later when the tractor 1 goes straight.

In addition, the left-right direction is a direction orthogonal to horizontal with respect to the front-back direction. Below, left and right are prescribed|regulated toward the "front" side. That is, in the state where the operator sits in the cockpit 8 and faces forward, the left hand side is "left" and the right hand side is "right". The up-down direction is a vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other three-dimensionally. In addition, in the following description, the tractor 1 or the traveling vehicle body 2 may be referred to as "aircraft".

As shown in FIG. 1 , the tractor 1 includes a traveling body 2 and a work machine 6 . The traveling vehicle body 2 is capable of traveling in a pavement, and includes a front wheel 3 and a rear wheel 4 . The front wheel 3 is a wheel for steering (steering wheel) provided as a pair of right and left. The rear wheel 4 is a driving wheel (drive wheel) provided as a pair of right and left. In addition, the traveling vehicle body 2 may be provided with a crawler device instead of a wheel (at least any one of the front wheel 3 and the rear wheel 4). In this case, the traveling crawler is the driving wheel.

In the rear wheel 4, which is the driving wheel, rotational power generated from the engine E as the driving source accommodated in the bonnet 5 is transmitted to the transmission (transmission) 121 installed in the power transmission device (mission case) 12 (refer to FIG. 2 ). ) is appropriately decelerated and transmitted. The rear wheel 4 is driven by the rotational power transmitted from the engine E. The transmission 121 switches the rotational power transmitted from the engine E to any one of a plurality of (for example, 1st to 8th speed) shift stages.

The traveling body 2 is configured to be able to transmit power generated by the engine E and decelerated by the transmission 121 to the front wheels 3 through the 4WD clutch. In this case, when the 4WD clutch transmits power, the four wheels of the front wheel 3 and the rear wheel 4 are driven by the power transmitted from the engine E. Further, when the 4WD clutch cuts off the transmission of power, the two wheels of only the rear wheel 4 are driven by the power transmitted from the engine E. In this way, the traveling vehicle body 2 is configured to be able to switch between two-wheel drive (2WD) and four-wheel drive (4WD).

A work machine 6 for performing work in the pavement is connected to the rear portion of the traveling vehicle body 2, and a PTO device having a power take-off (PTO) shaft 71 for transmitting power to drive the work machine 6 ( 7) is installed. In the central portion of the traveling body 2 , a cockpit 8 on which the operator sits when operating the tractor 1 is provided.

In front of the cockpit 8 , a steering wheel 9 which is a steering wheel for steering of the front wheels 3 is provided. In addition, the steering wheel 9, the driving part which drives a steering wheel, etc. comprise the steering apparatus 122 (refer FIG. 2). The steering wheel 9 is installed at the upper end of the handle post 10 . Various operation pedals 11 (accelerator pedal, brake pedal, and clutch pedal) are provided below the handle post 10 and in the vicinity of the operator's feet when the operator sits in the cockpit 8 .

In addition, an elevating device 13 for elevating the work machine 6 is provided at the rear portion of the traveling vehicle body 2 . The lifting device 13 moves the work machine 6 to the non-working position by raising the work machine 6 . In addition, the lifting device 13 moves the work machine 6 to the ground work position by lowering the work machine 6 . The lifting device 13 includes a hydraulic lifting cylinder 131 , a lift arm 132 , a lift rod 133 , a lower link 134 , and an upper link 135 .

When the hydraulic oil is supplied to the lifting cylinder 131 , the lift arm 132 rotates to raise the working machine 6 around the axis AX, and when the hydraulic oil is discharged from the lifting cylinder 131 , the axis AX It rotates to lower the work machine 6 around. In addition, a lift arm sensor that detects a rotation angle of the lift arm 132 is provided at the base of the lift arm 132 (in the vicinity of the axis AX). The height of the work machine 6 is calculated based on the detection value of the lift arm sensor.

Further, the lift arm 132 is connected to the lower link 134 through the lift rod 133 . In this way, the lifting device 13 connects the work machine 6 to the traveling body 2 so as to be able to move up and down through the lower link 134 and the upper link 135 .

In addition, in the example shown in FIG. 1, the case where the working machine 6 machine is a rotary tiller is illustrated. The rotary tiller tills the pavement surface (soil) by rotating the tillage clutch 61 by the power transmitted from the PTO shaft 71 of the PTO device 7 .

Further, the tractor 1 includes a control unit 200 (see FIG. 2 ). The control unit 200 controls the engine E and also the traveling speed of the traveling vehicle body 2 . Also, the control unit 200 controls the work machine 6 .

In addition, the tractor 1 is provided with a positioning device 150 . The positioning device 150 is installed on the upper portion of the traveling vehicle body 2, measures the position of the traveling vehicle body 2 at a predetermined period, and provides information on the self-position P0 (refer to FIG. 3 ) of the traveling vehicle body 2 . (eg latitude and longitude). The positioning device 150 is, for example, a GNSS (Global Navigation Satellite System), and can position and time by receiving radio waves from a navigation satellite S orbiting the sky.

Moreover, the tractor 1 can set the various work|work in a specific pavement by operation of the portable terminal apparatus 160 by an operator. The portable terminal device 160 is, for example, a tablet terminal, connectable to a communication network such as the Internet, and mutually connectable to a job management device through a communication network. In this case, the job management device is a system capable of so-called cloud computing. The portable terminal device 160 and the job management device are connected by, for example, a wireless LAN (Local Area Network).

The portable terminal device 160 includes, for example, a storage unit composed of a hard disk, a read only memory (ROM), a random access memory (RAM), and the like, and a display unit and an operation unit composed of a touch panel. Moreover, various keys, buttons, etc. may be provided separately as an operation part. In addition, the portable terminal apparatus 160 may be provided with the processing part which has a CPU (Central Processing Unit) etc. so that each part can be controlled by electronic control similarly to the control part 200 mentioned later.

The job management device is a processing device having a CPU or the like, a storage device such as a read only memory (ROM), a random access memory (RAM), a hard disk drive (HDD), or a computer provided with an input/output device.

In addition, the tractor 1 is provided with an azimuth acquisition means 170 (refer to FIG. 2). The azimuth acquisition means 170 acquires the azimuth of the traveling vehicle body. The azimuth angle acquisition means 170 is, for example, an azimuth sensor. Hereinafter, the azimuth acquisition means 170 is referred to as an azimuth sensor.

The azimuth sensor 170 is, for example, an absolute azimuth in the traveling direction of the traveling vehicle body 2 (for example, "north" is 0° (360°), "east" is 90°, and "south" 180° and 270°) are detected. The azimuth sensor 170 detects an absolute azimuth every predetermined time, and transmits the detected absolute azimuth to the controller 200 or the like. Note that, as the azimuth acquisition means 170, there are, for example, a geomagnetic sensor in addition to the azimuth sensor.

<Control system of work vehicle (tractor)>

Next, with reference to FIG. 2 , the control system 100 of the work vehicle according to the embodiment, that is, the control system of the work vehicle (tractor) 1 centered on the control unit 200 will be described. 2 is a block diagram illustrating a control system 100 for a work vehicle according to an embodiment. As shown in FIG. 2 , the control unit 200 includes an engine ECU (Electronic Control Unit) 201 , a travel system ECU 202 , and a work machine lifting system ECU 203 .

The engine ECU 201 controls the rotation speed of the engine E. The traveling system ECU 202 controls the traveling speed of the traveling body 2 (refer to FIG. 1 ) by controlling the rotation of the driving wheels (rear wheel 4). The work machine lifting system ECU 203 controls the lifting device 13 to lift and lower the work machine 6 .

The control unit 200 is capable of controlling each unit by electronic control, and includes a processing unit having a CPU (Central Processing Unit), etc., and a scheduled travel route (described later) of the traveling body 2 preset for each various programs or pavements. Hereinafter, a storage unit constituted of, for example, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc. is provided in which necessary data types such as R1 are stored.

As shown in FIG. 2 , the control unit 200 includes a positioning device (GNSS) 150 , an azimuth sensor 170 , an engine rotation sensor 110 , a vehicle speed sensor 111 , a shift sensor 112 , and a cutting angle sensor. (113) and the like are connected. In addition, an engine E, a transmission device 121 , a steering device 122 , a lifting device 13 , and the like are connected to the control unit 200 .

The engine rotation sensor 110 detects the rotation speed of the engine E. The vehicle speed sensor 111 detects the traveling speed (vehicle speed) of the traveling body 2 (see FIG. 1 ). The shift sensor 112 detects which shift stage among a plurality of shift stages in the shift device 121 . The cutting angle sensor 113 detects the cutting angle of the front wheel 3 (refer FIG. 1) which is a steering wheel.

The control unit 200 includes information on the position (self-position) of the traveling vehicle body 2 in the pavement or the like from the positioning device 150 , the rotation speed of the engine E from the engine rotation sensor 110 , and the vehicle speed sensor 111 . The vehicle speed of the traveling body 2 , the current shift stage from the shift sensor 112 , and the cutting angle of the front wheel 3 are inputted from the cutting angle sensor 113 , respectively. In addition, when the vehicle body 2 is autonomously driven, the control unit 200 uses the detection value of the cutting angle sensor 113 to feed back the cutting angle of the front wheel 3 while feeding the steering wheel ( Steering the steering wheel 9 by controlling the steering cylinder connected to 9) (see Fig. 1).

Further, in the control unit 200 , the engine ECU 101 is connected to the engine E, the travel system ECU 102 is connected to the transmission 121 and the steering unit 122 , and the work machine elevating system ECU ( 103 is connected to the lifting device 13 . Further, the work machine lifting system ECU 103 raises and lowers the work machine via the elevating device 13 .

In addition, in the control unit 200, when the traveling vehicle body 2 is autonomously driven, the work route R1 (refer to FIG. 3 ) according to the work performed by the work machine 6 is determined in advance for each pavement, and data is generated. remembered in memory Based on the measurement result of the positioning device 150 , the control unit 200 includes the engine E, the transmission device 121 , and the steering device so as to perform work while traveling along the working path R1 stored in the storage unit. (122), the lifting device 13 and the like are controlled. The working path R1 is set according to the shape and size of the field, the width, length and number of seedlings formed in the field, and the type of crop. Moreover, the control part 200 sets the turning radius at the time of movement in the pavement of the tractor 1 (traveling body 2) in advance.

In addition, as described above, the control unit 200 is wirelessly connected to, for example, a portable terminal device (tablet terminal) 160 that an operator can carry. The control part 200 controls each part of the tractor 1 based on the instruction signal from the portable terminal device 160 by an operator's operation. Moreover, the control part 200 may have the aircraft information database of the tractor 1, and may be comprised so that information, such as a format, can be exchanged from the portable terminal apparatus 160 etc.

<Autonomous driving in the pavement>

Next, with reference to FIGS. 3-8, autonomous driving in the pavement F1 of the work vehicle (tractor) 1 is demonstrated. 3 and 4 are explanatory views of autonomous driving in the pavement F1, and are schematic views from above the pavement. Also, in FIG. 3 , the distance between the circle C1 of the turning radius when the traveling vehicle body 2 starts moving and the circle C2 of the turning radius when entering the work path R1 is a predetermined distance (eg For example, 10 m or more is shown. In FIG. 4 , a circle C1 of a turning radius when the traveling vehicle body 2 starts to move and a circle C2 of a turning radius when entering the work path R1 are shown. ) is less than a predetermined distance.

5 and 6 are flowcharts showing the process of setting the movement route R2. Among these, FIG. 6 shows the process of setting the movement path R2 which does not deviate from the deviation prohibition area A2. 7 is an explanatory diagram (table) of a path pattern of the movement path R2. Fig. 8 is an explanatory diagram of (a) a left-turn-right-turn path pattern, and (b) an explanatory diagram of a right-turn-left-turn path pattern.

For example, in the case of a tillage operation by the tractor 1 performing work while autonomously driving, the control unit 200 (refer to FIG. 2 ) may, for example, determine the total length, overall width, tread, and work machine of the tractor 1 . Based on the information including the capability of (6) (refer to Fig. 1), the shape, area, and the like of the pavement F1, an appropriate turning position, a center of gravity, and the like are prescribed, and a work path R1 is generated.

In addition, it is also possible for the operator H to operate the portable terminal device 160 from the headboard F2 etc., and to send an instruction|indication to the tractor 1 remotely.

3 and 4, the tractor 1 enters the pavement F1 from the entrance and exit of the pavement F1 along the work path R1, and the working area A1 set in the pavement F1. Tillage work is performed automatically while turning properly in the field. Moreover, the control that the tractor 1 comes out of the pavement F1 from the entrance and exit of the pavement F1 after a tillage operation depending on a program, and stops at a predetermined place is also possible.

The tractor 1 (traveling body 2) goes around in the headland area, for example, in a predetermined area inside the headland F2, ie, from the end of the pavement F1, as a headland area. while doing earth work. The tractor 1, in the work area A1 inside the headland area, from the preset work start point P1 to the work end point P2, while repeating straight ahead and turning along the work path R1, the land (tillage) work.

<Setting the movement path to the starting point of work>

In addition, in the present embodiment, as shown in Figs. 3 and 4, when the tractor 1 starts work, the tractor 1 (traveling body) 2)), the movement path R2 is set.

In this case, as shown in FIGS. 3 and 4 , the control unit 200 , the turning radius tangent to the vector V1 of the azimuth acquired by the azimuth acquisition means 170 and the magnetic position P0 acquired by the positioning device 150 . Set the circle C1 of , and set the circle C2 of the turning radius tangent to the vector V2 of the work path R1 and the work start point P1. In addition, the control unit 200 sets a tangent line L1 to the circles C1 and C2 having two turning radii. The control unit 200 generates a plurality of paths based on the circles C1 and C2 having two turning radii and the tangent line L1.

Here, the circle C1 of the turning radius tangent to the vector V1 of the azimuth angle and the magnetic position P0 is the left-turn movement start source C1 _L at which the traveling vehicle body 2 starts moving to the left, and the traveling vehicle body There are two of the right turn movement initiation sources C1 _R from which (2) starts moving to the right. In addition, the circle C2 of the turning radius tangent to the vector V2 of the work path R1 and the work start point P1 is a left turn entry circle ( There are two of C2 _L ) and a right turn entry circle C2 _R , through which the traveling vehicle body 2 enters the work path R1 in a right turn.

Then, the control unit 200 selects a circle C1 ( C1 _L , C1 _R ) of either left or right turning radius on the side of the traveling vehicle body 2 , and turns any one of the left and right turns on the side of the work start point P1 . A radius circle C2 (C2 _L , C2 _R ) is selected, and among these plurality (four) paths, the shortest path between the self-position P0 and the work start point P1 is the movement path. (R2) is set. In addition, the control unit 200 displays the set movement path R2 on the display screen of the portable terminal device 160 .

When setting the movement path R2, the control unit 200 generates a plurality of paths based on the circles C1 and C2 having two turning radii and the tangent line L1 as shown in FIG. 5 (step S101).

Next, the control part 200 selects the shortest path|route between the self-position P0 and the work start point P1 from a several path|route (step S102). Next, the control unit 200 sets the selected shortest path as the movement path R2 (step S103), and ends the process.

According to such a configuration, in the autonomous driving of the tractor 1, the self-position P0 of the traveling vehicle body 2 and the work start point P1 are smoothly connected to generate a movable path, and among the generated paths Since it can move on the shortest path|route (moving path) R2, the efficiency of movement to the work start point P1 can be aimed at, and work can be started smoothly. Thereby, work efficiency can be improved.

Further, as shown in FIGS. 3 and 4 , the control unit 200 sets a departure prohibition area A2 that prohibits the departure of the traveling vehicle body 2 outside the work area A1 . For this reason, the traveling vehicle body 2 can travel (move) inside the departure prohibition area A2. The control unit 200 is a partial path when the shortest path between the self-position P0 and the work start point P1 in the plurality of paths includes a partial path deviating from the deviation-prohibited area A2. Exclude paths containing . That is, when a deviation component (partial route) from the deviation prohibition area A2 is included in the route, the route is excluded.

Then, the control unit 200 sets the shortest path between the self-position P0 and the work start point P1 from the remaining paths except for the path including the deviation component as the movement path R2. . In this case, even if the path including the deviation component is the shortest path, such a path is not set as the movement path R2. Further, even when the next shortest path contains a deviation component, it is not set as the movement path R2. Repeat until the path that does not contain the deviation component becomes the shortest path. In addition, when all the routes include a deviation component, the control unit 200 does not set the movement route R2 , but sets the movement route R2 on the display screen of the portable terminal device 160 , for example. indicates what cannot be done.

When the control unit 200 sets a movement path R2 that does not deviate from the deviation prohibition area A2, as shown in FIG. 6 , based on the circles C1 and C2 of two turning radii and the tangent line L1 to generate a plurality of paths (step S201).

Next, the control part 200 selects the shortest path|route between the self-position P0 and the work start point P1 from a several path|route (step S202). Next, the control unit 200 determines whether or not the shortest path includes a partial path deviating from the deviation prohibition area A2 (step S203).

When determining that the shortest path includes a partial path deviating from the deviation prohibition area A2 (step S203: Yes), the control unit 200 selects the shortest path other than the path including the deviating partial path The selected again and the shortest path selected again is set as the movement path R2 (step S204), and the process is ended.

In addition, when the control unit 200 determines that the shortest path does not include a partial path deviating from the deviation prohibition area A2 (step S203: No), the control unit 200 selects the shortest path selected It is set as the movement path R2 (step S103), and the process ends.

According to such a configuration, since it is possible to move to the shortest path (moving path) R2 while preventing deviation from the pavement F1 or contact with the headboard F2, the work start point P1 while ensuring safety. ) to increase the efficiency of movement to

Here, when the distance between the circle C1 of the turning radius when the traveling vehicle body 2 starts to move and the circle C2 of the turning radius when entering the work path R1 is less than a predetermined distance, This will be further described with reference to FIGS. 7 and 8 .

7 , the distance between the circle C1 of the turning radius when the traveling vehicle body 2 starts to move and the circle C2 of the turning radius when entering the work path R1 is a predetermined distance or more In this case, the control unit 200 controls the movement path ( R2) is set.

In addition, when the distance between the circle C1 of the turning radius when the traveling vehicle body 2 starts to move and the circle C2 of the turning radius when entering the work path R1 is less than a predetermined distance, the control unit 200 ) is, in the four path patterns of the left turn-straight-left turn path, left turn-straight-right turn path, right turn-straight-left turn path, right turn-straight-travel-right turn path, the path of left turn-right turn-left turn, A movement path R2 is set from the middle of adding two path patterns of the path of right turn - left turn - right turn.

As shown in Fig. 8(a) , when setting a path of left-turn-right-turn, the control unit 200 connects circles C3 with turning radii in contact with circles C1 and C2 with two turning radii, set more In addition, as shown in Fig. 8(b) , the control unit 200, even when setting the path of right turn-left turn-right turn, has a connection circle C3 of turning radius in contact with circles C1 and C2 of two turning radii. ) is further set.

According to this configuration, even when the distance between the circle C1 of the turning radius when the traveling vehicle body 2 starts to move and the circle C2 of the turning radius when entering the work path R1 is short, Since the movement path R2 serving as the shortest path can be set, it is possible to increase the efficiency of movement to the work start point P1.

In addition, the operator can use the portable terminal device 160 to instruct the start of movement of the traveling body 2 by remote operation. In this case, the control unit 200 receives an instruction to start moving the vehicle body 2 from the portable terminal device 160 , that is, when the control unit 200 receives a movement start instruction signal from the portable terminal device 160 . The movement path R2 is set based on the magnetic position P0 and the azimuth at one point in time. Then, the controller 200 moves the driving body 2 along the set movement path R2 .

According to such a configuration, the work start point (P1) from the point where the movement start instruction was given from the portable terminal device 160, that is, the control unit 200 received the movement start instruction signal from the portable terminal device 160. ), since it is possible to set a route without difficulty, it is possible to increase the efficiency of movement to the work start point P1.

<Route to bypass the no-entry area or no-departure area>

Next, with reference to FIG. 9, the entry prohibition area A3 and the movement path R2 which bypasses the entry prohibition area A3 are demonstrated. 9 : is explanatory drawing of the movement path R2 which bypasses the entry prohibition area|region A3 and the departure prohibition area|region A2. As shown in FIG. 9, the control part 200 sets the entry prohibition area|region A3 beforehand as an inner area|region of the polygon closed inside the pavement F1. In addition, the control unit 200 sets the departure prohibition area A2 in an area outside the entry prohibition area A3 .

The entry-prohibited area A3 prevents the traveling body 2 from being invaded, for example, while the traveling body 2 is moving to the work start point P1. This is a forbidden area. As described above, the departure prohibition area A2 is an area in which departure of the traveling vehicle body 2 is prohibited.

Then, when the entry prohibition area A3 or the departure prohibition area A2 is set, the control unit 200 sets a movement path R2 that bypasses the entry prohibition area A3 or the departure prohibition area A2 do.

The control unit 200 sets a detour circle C4 of a turning radius that bypasses the entry prohibition area A3 at the vertex p1 of the polygonal entry prohibition area A3 when the entry prohibition area A3 is set. . The control unit 200 sets a movement path R2 from the self position P0 of the traveling vehicle body 2 to the work start point P1 . When the set movement path R2 enters the entry prohibition area A3, the control unit 200 corrects the movement path R2 to bypass the entry prohibition area A3 via the bypass circle C4. .

The control unit 200 sets the bypass circle C4 only at the convex vertex p1a among the vertices p1 of the entry prohibition area A3 . In other words, the control unit 200 does not set the bypass circle C4 at the concave apex p1b of the entry prohibition area A3 .

In addition, if the control unit 200 includes a path R2c (refer to FIG. 12 ) that deviates from the departure prohibition area A2 in the movement path R2 that bypasses the entry prohibition area A3, which will be described later (refer to FIG. 12 ). The path R2c deviating from the prohibition area A2 is changed so as to pass through the detour circle C5 set at the vertex p2 of the departure prohibition area A2.

The control unit 200 sets the detour circle C5 only to the concave vertex p2b among the vertices p2 of the deviation-prohibited area A2. In other words, the control unit 200 does not set the bypass circle C5 at the convex vertex p1a of the deviation-prohibited area A2.

<Setting the detour route for the prohibited area>

Next, with reference to FIGS. 10 and 11, the setting of the detour path (movement path R2) of the entry prohibition area|region A3 is demonstrated. 10 and 11 are explanatory diagrams of setting a detour path (moving path R2) of the entry prohibited area A3.

10 and 11 , the control unit 200 includes a circle C1 of a turning radius tangent to the vector V1 of the azimuth angle and the magnetic position P0, and a vector V2 of the working path R1 and A circle C2 of a turning radius tangent to the work starting point P1, a circle C1, C2 of two turning radii, and a tangent L2 to a circumferential circle C4 of the no-entry area A3 (Fig. 9), set the movement path R2.

As shown in FIG. 10 , when setting the entry prohibition area A3, the control unit 200 connects the vertices p1 based on the order of the vertices p1 assigned to the operator to create the entry prohibition area A3 by connecting the vertices p1. set When specifying the vertex p1, the vertex p1 is assigned a clockwise or counterclockwise order (in the examples shown in Figs. 10 and 11, the positions a1, a2, ... a7), or a position ( It is preferable to designate in the order of a7, a6, ... a1) In addition, let the sequence of the positions (a1, a2, ... a7) be in ascending order, and the positions (a7, a6, ... a1) The sequence is called descending order.

The control unit 200 stores each side of the entry prohibition area A3 as a vector Vs1 based on the order of the designated vertices p1. The control unit 200 calculates the cross product of adjacent vectors Vs1 from the stored vector Vs1. The control unit 200 determines whether or not the vertex p1 is a convex vertex p1a based on the calculated value of the cross product. In this case, it is determined whether the vertex p1 is a convex vertex p1a or a concave vertex p1b based on whether the value of the cross product is a positive value or a negative value. When the value of the external product is a positive value, it is determined as a convex vertex p1a, and when the value of the external product is a negative value, it is determined as a concave vertex p1b.

Here, the portable terminal device 160 (refer FIG. 2) is operated by an operator etc. when setting the entry prohibition area|region A3. The portable terminal device 160 displays guidance to designate the vertices p1 in a clockwise or counterclockwise order when setting the entry-prohibited area A3. Based on the order of the vertices p1 designated by the portable terminal device 160 , the control unit 200 connects the vertices p1 to set the entry prohibition area A3 .

As shown in FIG. 10 , first, the control unit 200 includes a circle C1 having a turning radius, a circle C2 having a turning radius, and a tangent line L1 to two circles C1 and C2 having a turning radius. Based on (refer to FIG. 3), the shortest path (movement path R2) from the self-position P0 to the work start point P1 is set.

When the movement path R2 includes the path R2a entering the prohibited entry area A3, the control unit 200 selects the path R2a entering the entry prohibition area A3 from among the vertices p1. Correction is made so that it passes from the vertex p1 (the vertex p1 at the position a1) adjacent to the work start point P1 through the bypass circle C4 set in ascending order based on the designated order. In the example shown in FIG. 10, correction is made so that the vertex p1 of the position a2 may be passed through the circumferential circle C4.

11 , when the path R2a entering the no-entry area A3 in the movement path R2 is not resolved, the path R2a entering the no-entry area A3 is set to a vertex p1 ) (the vertex p1 of the position a4) is corrected to pass through the circumferential circle C4.

In this way, the control unit 200 corrects the bypass circle C4 set in ascending order based on the designated order, and moves the path R2b when the path R2a entering the entry prohibition area A3 disappears. Set as a path in the path R2. In addition, although the example shown in FIG. 10 and FIG. 11 goes through the bypass circle C4 set in ascending order, it may be comprised so that it may go through the bypass circle C4 set in descending order based on the designated order.

According to such a configuration, in autonomous driving, the self-position P0 of the traveling body 2 and the work start point P1 are smoothly connected to generate a moveable path, which does not want to invade the pavement F1. When there is an area, it is set as the no-entry area A3 of the traveling body 2 and a movement path R2 that bypasses the no-entry area A3 is set, thereby bypassing the no-entry area A3. It is possible to increase the efficiency of movement to the starting point P1. Thereby, work efficiency can be improved.

In addition, by setting the detour circle C4 only at the convex vertex p1a of the polygonal entry prohibition area A3, the set detour circle C4 is connected to bypass the entry prohibition area A3 by the shortest path. can Moreover, even if the detour circle C4 is set at the concave vertex p1b of the polygonal entry prohibition area A3, smooth movement while avoiding the entry into the entry prohibition area A3 cannot be performed.

In addition, by designating each vertex p1 of the polygonal entry prohibition area A3 sequentially in a clockwise (or counterclockwise direction) direction, the entry prohibition area A3 can be accurately set.

In addition, if each vertex p1 of the polygonal entry prohibited area A3 is designated one after another, the value of the cross product between the vectors Vs1 of each adjacent side, that is, whether the value of the cross product is a positive value or a negative value Thus, it can be determined whether the vertex p1 is a convex vertex p1a or a concave vertex p1b. For this reason, it is possible to set the necessary information of the entry prohibition area A3 by a simple operation.

In addition, when the path R2a entering the no-entry area A3 is included in the movement path R2, the path R2a entering the no-entry area A3 is defined as the work starting point among the vertices p1 ( Since the correction is made so that the vertex p1 adjacent to P1) passes through the bypass circle C4 set in ascending (or descending) order based on the specified order, the movement of the bypass circle C4, which does not need to pass, is omitted. It can be set as a movement path R2 with good efficiency.

Then, the control unit 200, the circle C1 of the turning radius tangent to the vector V1 of the azimuth angle and the magnetic position P0, the vector V2 of the work path R1 and the work start point P1. The movement path R2 is set based on the circle C2 of turning radius, the circles C1 and C2 of the two turning radii, and the tangent L2 to the detour circle C4 of the no-entry area A3. .

Thereby, the direction change by turning without unreasonableness becomes possible, and efficiency improvement of the movement to the work starting point P1 can be aimed at, bypassing the entry prohibition area|region A3, and work can be started smoothly. .

In addition, the control unit 200 generates two paths, a path that bypasses the entry prohibition area A3 in a clockwise direction, and a path that bypasses the entry prohibition area A3 in a counterclockwise direction, and the generated two paths You may be comprised so that the shorter one may be set as the movement path R2. Thereby, while bypassing the entry prohibition area|region A3, efficiency improvement of the movement to the work start point P1 can be aimed at, and work can be started smoothly.

<Setting the detour route of the no-departure area>

Next, with reference to FIG. 12 and FIG. 13, setting of the detour path (movement path R2) of the deviation prohibition area|region A2 is demonstrated. 12 and 13 are explanatory diagrams of setting a detour path (movement path R2) of the departure prohibition area A2.

As shown in FIG. 12 , when setting the deviation prohibition area A2 , the control unit 200 connects the vertices p2 based on the order of the vertices p2 assigned to the operator to select the deviation prohibition area A2 . set When specifying the vertex p2, the vertex p2 is assigned a clockwise or counterclockwise order (in the examples shown in Figs. 12 and 13, the positions b1, b2, ... b7), or the position ( b7, b6, ... It is preferable to designate in the order of b1)). In addition, the order of positions (b1, b2, ... b7) is referred to as ascending order, and the order of positions (b7, b6, ... b1) is referred to as descending order.

The control unit 200 stores each side of the deviation-prohibited area A2 as a vector Vs2 based on the order of the designated vertices p2. The control unit 200 calculates the cross product of adjacent vectors Vs2 from the stored vector Vs2. The control unit 200 determines whether or not the vertex p2 is a concave vertex p2b based on the calculated value of the cross product. In this case, it is determined whether the vertex p2 is a concave vertex p2b or a convex vertex p2a based on whether the value of the cross product is a positive value or a negative value. When the value of the external product is a positive value, it is determined as a convex vertex p2a, and when the value of the external product is a negative value, it is determined as a concave vertex p2b.

Here, the portable terminal apparatus 160 (refer FIG. 2) is operated by an operator etc. when setting the deviation prohibition area|region A2. The portable terminal device 160 displays guidance so as to designate the vertices p2 in a clockwise or counterclockwise order when setting the deviation-prohibited area A2. Based on the order of the vertices p2 designated by the portable terminal device 160 , the control unit 200 connects the vertices p2 to set the deviation prohibition area A2 .

As shown in FIG. 12 , when the control unit 200 includes a path R2c entering the departure prohibition area A2 in the movement path R2, the path R2c entering the departure prohibition area A2 is included. is corrected to pass through the circumferential circle C5 with respect to the vertex p2 (the vertex p2 at the position b3).

In this way, the control unit 200 modifies to go through the detour circle C5, and when the path R2c entering the departure prohibited area A2 disappears, the path R2d is set as a path within the movement path R2. . In addition, when there are a plurality of bypass circles C5, it may be configured so as to pass through the bypass circles C5 set in ascending or descending order based on the designated order.

According to such a configuration, when the path R2c deviating from the departure prohibited area A2 is included in the movement path R2 bypassing the entry prohibition area A3, the path deviating from the departure prohibited area A2 ( R2c) is changed so as to pass through the bypass circle C5 set at the concave apex p2b of the deviation-prohibited area A2. Thereby, since it can move to the movement path R2 used as the shortest while preventing a deviation from the pavement F1 and contact with the headboard F2, while bypassing the entry prohibition area A3 while ensuring safety. Efficiency of movement to the work start point P1 can be achieved.

In addition, if each vertex p2 of the deviation-prohibited area A2 is designated sequentially, the vertex p2 becomes a convex vertex ( p2a) or the concave vertex p2b can be determined. For this reason, necessary information of the deviation prohibition area|region A2 can be set by simple operation, and efficiency improvement of the movement to a work start point can be aimed at, bypassing the entry prohibition area|region A3.

Then, the control unit 200, the circle C1 of the turning radius tangent to the vector V1 of the azimuth angle and the magnetic position P0, the vector V2 of the work path R1 and the work start point P1. At least one of a circle C2 having a turning radius, two circles C1 and C2 having a turning radius, a detour circle C4 of the no-entry area A3, and a detour circle C5 of the no-departure area A2 Set the movement path R2 based on the tangent line L2 to one.

Thereby, the direction change by turning without unreasonableness becomes possible, and efficiency improvement of the movement to the work starting point P1 can be aimed at, bypassing the entry prohibition area|region A3, and work can be started smoothly. .

According to the embodiment described above, the following work vehicle control system 100 is realized.

(1) The traveling vehicle body 2 capable of traveling in the pavement F1, the positioning device 150 for acquiring the magnetic position P0 of the traveling vehicle body 2, and the azimuth for acquiring the azimuth of the traveling vehicle body 2 Acquisition means 170 and the traveling body 2 so as to generate a work path R1 including the work starting point P1 in the pavement F1, and perform work while autonomously driving along the generated work path R1. ), the control unit 200 includes a turning radius of the traveling vehicle body 2 during movement in the pavement F1, and the traveling vehicle body as an inner region of a closed polygon within the pavement F1. (2) By presetting the prohibited entry area A3 that prohibits the entry, and setting the entry prohibition area A3, it bypasses the entry prohibition area A3 at the vertex p1 of the entry prohibition area A3. The detour circle C4 of the turning radius is set, the movement path R2 from the self position P0 of the traveling body 2 to the work start point P1 is set, and the set movement path R2 enters A control system 100 for a work vehicle that, when entering the prohibited area A3, corrects the movement path R2 to bypass the entry prohibited area A3 via the bypass circle C4.

According to the control system 100 of the work vehicle as described above, in autonomous driving, the self-position P0 of the traveling body 2 and the work start point P1 are smoothly connected to generate a movable path, and the pavement ( If there is an area that does not want to be invaded within F1), it is set as the prohibited area A3 of the traveling vehicle body 2 and a movement path R2 that bypasses the prohibited area A3 is set. Efficiency of movement to the work start point P1 can be aimed at, detouring (A3). Thereby, work efficiency can be improved.

(2) The control system 100 of the work vehicle according to (1), wherein the control unit 200 sets the bypass circle C4 only at the convex vertex p1a among the vertices p1 of the entry prohibited area A3. ).

According to the control system 100 of such a work vehicle, in addition to the effect of (1) above, for example, a detour circle C4 is set at the concave vertex p1b of the polygonal entry prohibition area A3. Also, since smooth movement while avoiding entry into the entry prohibited area A3 is not possible, by setting the bypass circle C4 only at the convex vertex p1a and connecting the set bypass circle C4, It is possible to bypass the entry prohibition area A3 by the shortest path, and it is possible to achieve efficiency improvement in movement to the work start point P1 while bypassing the entry prohibition area A3.

(3) In (1) or (2) above, the portable terminal device 160 operated when setting the entry prohibited area A3 is provided, wherein the portable terminal device 160 includes the entry prohibited area A3. At the time of setting of , a guide is displayed to designate the vertices p1 in a clockwise or counterclockwise order, and the control unit 200 connects the vertices p1 based on the designated vertices p1 order. The control system 100 of the work vehicle which sets the entry prohibition area A3 by doing this.

According to the control system 100 of such a work vehicle, in addition to the effect of (1) or (2) above, each vertex p1 of the polygonal entry prohibition area A3 is sequentially rotated in a clockwise or counterclockwise direction. By designating as indicated, the entry prohibition area A3 can be accurately set, and the efficiency of movement to the work start point P1 can be achieved while bypassing the entry prohibition area A3.

(4) In the above (3), the control unit 200 stores each side of the entry prohibition area A3 as a vector Vs1 based on the order of the designated vertices p1, and the adjacent vector Vs1 A control system (100) for a work vehicle that calculates a cross product between each other and determines whether or not the vertex p1 is a convex vertex p1a based on the calculated value of the cross product.

According to the control system 100 of such a work vehicle, in addition to the effect of (3) above, if each vertex p1 of the polygonal entry prohibition area A3 is sequentially designated, the vector Vs1 of each adjacent side ), it is possible to determine whether the vertex p1 is a convex vertex p1a or a concave vertex p1b by the value of the cross product, that is, whether the value of the cross product is a positive or negative value. For this reason, necessary information of the entry prohibition area|region A3 can be set by simple operation, and efficiency improvement of the movement to the work start point P1 can be aimed at, bypassing the entrance prohibition area|region A3.

(5) In (3) or (4) above, when the control unit 200 includes the path R2a entering the entry prohibition area A3 in the movement path R2, the entry prohibition area A3 The path (R2a) entering the , the control system 100 of the work vehicle for setting the path R2b as a path within the movement path R2 when the path R2a entering the entry prohibited area A3 disappears.

According to the control system 100 of such a work vehicle, in addition to the effect of (3) or (4), the movement of the bypass circle C4 that does not need to be passed is omitted and the movement path R2 with good efficiency It can be set as , and it is possible to increase the efficiency of movement to the work start point P1 while bypassing the entry prohibition area A3.

(6) The control unit 200 according to any one of (1) to (5) above, wherein the control unit 200 includes a departure prohibition area A2 that prohibits the departure of the traveling vehicle body 2 in an area outside the entry prohibition area A3 When setting and including the path R2c deviating from the departure prohibited area A2 in the movement path R2 that bypasses the entry prohibited area A3, the path R2c deviating from the deviating prohibited area A2 is , a control system 100 for a work vehicle that changes to pass through a detour circle C5 set at the concave apex p2b of the deviation-prohibited area A2.

According to the control system 100 of such a work vehicle, in addition to the effect of any one of (1) to (5) above, in the shortest possible way while preventing deviation from the pavement F1 or contact with the headboard F2. Since it can move to the moving path R2 used as a movement path R2, the efficiency of movement to the work start point P1 can be achieved while bypassing the entry prohibition area A3 while ensuring safety.

(7) In (6) above, the mobile terminal device 160 is operated when setting the departure prohibition area A2, wherein the portable terminal device 160 is configured to set the departure prohibition area A2 In this case, a guide is displayed to designate the vertices p2 in a clockwise or counterclockwise order, and the control unit 200 connects the vertices p2 based on the designated order of the vertices p2 to a deviation-prohibited area (A2) is set, and each side s2 of the deviation-prohibited area A2 is stored as a vector Vs2 based on the order of the designated vertices p2, and the cross product of adjacent vectors Vs2 is calculated, , a control system for a work vehicle that determines whether or not the vertex p2 is a concave vertex p2b based on the calculated value of the cross product.

According to the control system 100 of such a work vehicle, in addition to the effect of (6) above, when each vertex p2 of the deviation-prohibited area A2 is sequentially designated, the value of the cross product, that is, the cross product Whether the vertex p2 is a convex vertex p2a or a concave vertex p2b can be determined by whether the value of is a positive value or a negative value. For this reason, necessary information of the deviation-prohibited area|region A2 can be set by simple operation, and efficiency improvement of the movement to a work start point can be aimed at, bypassing the entry-prohibited area|region A3.

(8) The control unit 200 according to any one of (1) to (7) above, wherein the control unit 200 includes a departure prohibition area A2 for prohibiting the departure of the traveling vehicle body 2 in an area outside the entry prohibition area A3 set and obtained by the azimuth acquisition means 170, the vector V1 of the azimuth, the circle C1 of the turning radius tangent to the magnetic position P0 acquired by the positioning device 150, and the vector V2 of the working path R1 ) and a circle C2 with a turning radius tangent to the work starting point P1, two circles C1 and C2 with a turning radius, and a detour circle C4 and/or a no-departure area of the no-entry area A3 A control system 100 for a work vehicle that sets a movement path R2 based on the tangent L2 to the bypass circle C5 in (A2).

According to the control system 100 of such a work vehicle, in addition to the effect of any one of (1) to (7) above, it is possible to change the direction by a smooth turning, and to bypass the entry prohibited area A3. While moving to the work starting point P1, efficiency improvement can be achieved, and work can be started smoothly.

(9) The control unit 200 according to any one of (1) to (8) above, wherein the control unit 200 includes a path that bypasses the entry prohibition area A3 in a clockwise direction, and a route that bypasses the entry prohibition area A3 in a counterclockwise direction. A control system (100) for a work vehicle that generates a path to be used and sets the shorter one of the two generated paths as a moving path (R2).

According to the control system 100 of such a work vehicle, in addition to the effect of any one of (1) to (8) above, efficiency of movement to the work starting point P1 while bypassing the entry prohibited area A3 is improved can be achieved, and work can be started smoothly.

Further effects and modifications can be easily derived by those skilled in the art. For this reason, the broader aspect of this invention is not limited to the specific detail and typical embodiment shown and described as mentioned above. Accordingly, various modifications are possible without departing from the spirit or scope of the overall inventive concept defined by the appended claims and their equivalents.

1: work vehicle (tractor)
2: Driving body
3: front wheel
4: rear wheel
5: Bonnet
6: work machine
7: PTO device
8 : cockpit
9: steering wheel
10 : handle post
11: operation pedal
12: power transmission device (mission case)
13: elevating device
61: tillage clutch
71: PTO shaft
131: elevating cylinder
132: lift arm
133: lift rod
134: lower link
135: upper link
100: control system of the work vehicle
110: engine rotation sensor
111: vehicle speed sensor
112: shift sensor
113: cutting angle sensor
121: gearbox
122: steering device
150: positioning device (GNSS)
160: mobile terminal device (tablet terminal)
170: azimuth acquisition means (azimuth sensor)
200: control unit
201 : engine ECU
202: Odometer ECU
203: work machine hoisting system ECU
AX: axis
A1: work area
A2 : No deviation area
A3: No entry area
C1: Circle of turning radius
C2: circle of turning radius
C3 : Connection source
C4: roundabout
C5 : roundabout
E: engine
F1: Packaging
F2 : head
H: worker
L1: Tangent
L2: Tangent
P0: magnetic position
P1: work start point
P2 : task end point
p1 : vertex
p1a: convex shape vertex
p1b: concave shape vertex
p2: vertex
p2a: convex shape vertex
p2b: concave shape vertex
R1 : work path
R2: travel path
R2a: path
R2b: path
S: navigation satellite
V1: Vector
V2: Vector
Vs1: Vector
Vs2: Vector

Claims (9)

A driving body capable of driving in the pavement;
a positioning device for acquiring a magnetic position of the traveling vehicle body;
azimuth acquisition means for acquiring an azimuth of the traveling vehicle body;
a control unit for generating a work path including a work starting point in the pavement, and controlling the traveling vehicle body to perform work while autonomously driving along the generated work path;
The control unit is
a turning radius at the time of movement in the pavement of the traveling vehicle body, and an entry prohibition area for prohibiting entry of the traveling vehicle body as an inner area of a closed polygon within the pavement;
When the entry prohibition area is set, a detour circle of the turning radius that bypasses the entry prohibition area is set at the vertex of the entry prohibition area, and a movement path from the self position of the traveling vehicle body to the work start point is set and, when the set movement path enters the entry prohibition area, modifying the movement path to bypass the entry prohibition area via the detour circle. The method of claim 1,
The control unit is
The control system for a work vehicle, characterized in that the bypass circle is set only at a convex vertex among the vertices of the entry prohibited area. 3. The method according to claim 1 or 2,
and a mobile terminal that is operated when setting the entry-prohibited area;
The mobile terminal device,
When setting the entry prohibited area, a guide is displayed to designate the vertices in a clockwise or counterclockwise order,
The control unit is
The control system for a work vehicle according to claim 1, wherein the vertices are connected based on a sequence number of the designated vertices to set the entry prohibition area. 4. The method of claim 3,
The control unit is
Each side of the no-entry area is stored as a vector based on the designated order of the vertices, the cross product of the adjacent vectors is calculated, and based on the calculated value of the cross product, it is determined whether the vertex is a convex vertex or not A control system for a work vehicle, characterized in that. 5. The method according to claim 3 or 4,
The control unit is
When the movement path includes a path entering the no-entry area, the path entering the no-entry area is set in ascending or descending order based on a specified sequence from a vertex adjacent to the work start point among the vertices. The control system of the work vehicle according to claim 1, wherein the route is modified to pass through the detour circle, and the route is set as a route within the movement route when there is no route that enters the entry-prohibited area. 6. The method according to any one of claims 1 to 5,
The control unit is
setting a departure prohibition area for prohibiting departure of the traveling vehicle body in an area outside the entry prohibition area;
When a path deviating from the departure prohibition area is included in the movement path bypassing the entry prohibition area, the path deviating from the departure prohibition area goes through a detour circle set at the concave vertex of the departure prohibition area A control system for a work vehicle, characterized in that it changes. 7. The method of claim 6,
and a portable terminal device operated when setting the deviation prohibition area;
The mobile terminal device,
When setting the deviation prohibition area, a guide is displayed to designate the vertices in a clockwise or counterclockwise order;
The control unit is
connecting the vertices based on the designated sequence number of the vertices to set the deviation prohibition area;
Each side of the deviation-prohibited area is stored as a vector based on the designated order of the vertices;
A control system for a work vehicle, wherein a cross product of the adjacent vectors is calculated, and based on the calculated cross product value, it is determined whether the vertex is the concave vertex or not. 8. The method according to any one of claims 1 to 7,
The control unit is
setting a departure prohibition area for prohibiting departure of the traveling vehicle body in an area outside the entry prohibition area;
the circle of the turning radius tangent to the vector of the azimuth angle acquired by the azimuth acquisition means and the magnetic position acquired by the positioning device, the vector of the working path and the circle of the turning radius tangent to the work starting point; The control system of the work vehicle according to claim 1, wherein the movement path is set based on a tangent to a circle of a turning radius, a detour circle of the entry prohibition area and/or a detour circle of the departure prohibition area. 9. The method according to any one of claims 1 to 8,
The control unit is
A work characterized in that a path circumventing the no-entry area in a clockwise direction and a path circumventing the no-entry area in a counterclockwise direction are generated, and a shorter one of the two generated paths is set as the movement path vehicle's control system.

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