TW202225889A - Control system of work vehicle - Google Patents

Abstract

The objective is to improve work efficiency by improving the efficiency of movement to the work start point while bypassing the entry prohibited area. The control system for the work vehicle includes a traveling vehicle body, a positioning device, an azimuth angle acquisition means, and a control unit. The running vehicle is able to run in the field. The positioning device acquires the self-position of the traveling vehicle body. The azimuth acquisition means acquires the azimuth angle of the traveling vehicle body. The control unit generates a work route including the work start point in the field, and controls the traveling vehicle body so as to perform the work while autonomously traveling along the work route. The control unit presets the turning radius when the traveling vehicle body moves and the entry prohibited area in the field, and if the entry prohibited area is set, at the top of the entry prohibited area, sets a detour circle of the turning radius that bypasses the entry prohibited area, and sets the movement route from the self-position of the traveling vehicle body to the work start point. If the set movement route enters the entry prohibited area, modify the movement route so that it bypasses the entry prohibited area via the detour circle.

Description

Control systems for work vehicles

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

Conventionally, in a work vehicle such as an agricultural hoisting machine that can travel autonomously, when setting a work route for causing the work vehicle to travel autonomously, a technique is known for specifying an autonomous travel candidate route that can start autonomous travel by a specific work vehicle. The section sets a candidate identification area, and can specify a work route included in the candidate identification area as an autonomous driving candidate route (for example, refer to Patent Document 1). [Prior Art Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 2018-147163.

[The problem to be solved by the invention]

However, in the conventional technique as described above, when the position where the work vehicle starts to travel autonomously (the position where work starts, hereinafter referred to as the work start point) is determined in advance, it is impossible to generate an appropriate movement to the work start point path, so the efficiency when moving to the work start point cannot be achieved. Also, for example, even if there is an area (an entry prohibited area) that you do not want to enter when moving to the work start point, it is impossible to set an efficient moving route that bypasses the entry prohibited area. That is, in the above-mentioned conventional technique, there is room for further improvement in terms of improving work efficiency.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a control system for a work vehicle that can realize efficient movement to a work start point while detouring around an entry prohibited area, and can improve work efficiency. [means to solve the problem]

In order to solve the aforementioned problems and achieve the purpose, an embodiment provides a control system for a work vehicle, comprising: a traveling vehicle body capable of traveling in a field; a positioning device for acquiring the position of the traveling vehicle body; and an azimuth angle acquiring unit for acquiring an azimuth angle of the traveling vehicle body; and a control unit for generating a work path including a work start point in the field, and controlling the traveling vehicle body to operate while autonomously traveling along the generated work path, the control unit being: The radius of gyration when the traveling vehicle body moves in the field, and the entry prohibited area are set in advance as the inner area of the closed polygon in the field, and the entry of the traveling vehicle body is prohibited. When the entry prohibited area is set At the time of setting, a detour circle that detours the radius of gyration of the entry-prohibited area is set at the vertex of the entry-prohibited area, a moving path from the self-position of the traveling vehicle body to the work start point is set, and the set moving path enters the In the case of the prohibited entry area, the movement route is corrected so as to detour the entry prohibited area via the detour circle. [Inventive effect]

According to the work vehicle of the embodiment, it is possible to improve the efficiency of the movement to the work start point while detouring around the prohibited entry area, and it is possible to improve the work efficiency.

Hereinafter, embodiments of the control system for the work vehicle disclosed in the present application will be described in detail with reference to the drawings. In addition, this invention is not limited to embodiment shown below.

<Outline of work vehicle (hoisting machine)> First, the outline of the work vehicle 1 according to the embodiment will be described with reference to FIG. 1 . FIG. 1 is a schematic left side view showing a work vehicle 1 according to the embodiment. In the following, a hoisting machine will be described as an example of the work vehicle 1 . In addition, the hoisting machine 1 as a work vehicle is an agricultural hoisting machine that performs agricultural work in a field while traveling by itself.

In addition, the hoisting machine 1, which is a work vehicle, is used by a driver (also referred to as an operator) to carry out a predetermined work while in the field, and is also operated by a control unit 200 (refer to FIG. 2 ) to be described later. The control of each part by the central control system is to execute predetermined work while autonomously traveling in the field.

In addition, in the following description, the front-back direction refers to the traveling direction when the hoisting machine 1 runs straight, and the front side of the traveling direction is defined as "front", and the rear side is defined as "rear". The traveling direction of the hoisting machine 1 is the direction from the driver's seat 8 to be described later to the steering wheel 9 when the hoisting machine 1 runs straight.

In addition, the left-right direction is a direction horizontally orthogonal to the front-rear direction. Hereinafter, right and left are defined toward the "front" side. That is, when the driver sits on the driver's seat 8 and faces forward, the left-hand side is "left" and the right-hand side is "right". The up-down direction is the vertical direction. The front-rear direction, the left-right direction, and the up-down direction are three-dimensionally orthogonal to each other. In addition, in the following description, the hoisting machine 1 or the traveling vehicle body 2 may be referred to as a "body".

As shown in FIG. 1 , the hoisting machine 1 includes a traveling vehicle body 2 and a working machine 6 . The traveling vehicle body 2 can travel in the field, and includes front wheels 3 and rear wheels 4 . The front wheel 3 is a pair of left and right steering wheels (steering wheels). The rear wheel 4 is a pair of left and right driving wheels (drive wheels). In addition, the traveling body 2 may be provided with a crawler device instead of a wheel (at least one of the front wheel 3 and the rear wheel 4 ). In this case, the crawler drive wheels are driven.

In the rear wheels 4 serving as driving wheels, the rotational power generated by the engine E, which is a driving source housed in the hood 5 , is driven by a transmission (transmission) 121 provided in the power transmission device (transmission case) 12 (refer to Figure 2) Appropriately decelerate and transmit. The rear wheels 4 are 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 gear positions (eg, first to eighth gears).

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

A work machine 6 that operates in the field is connected to the rear of the traveling vehicle body 2 , and a PTO (Power take-off; power take-off) device 7 is provided. The PTO device 7 has a PTO shaft 71 that transmits power for driving the work machine 6 . . A driver's seat 8 on which the driver rides when driving the hoisting machine 1 is provided in the center portion of the traveling vehicle body 2 .

A steering wheel 9 that is a handle for operating the front wheels 3 is provided in front of the driver's seat 8 . In addition, the steering wheel 9, a drive unit for driving the steering wheel, and the like constitute a steering device 122 (see FIG. 2 ). The steering wheel 9 is provided on the upper end of the handle bar 10 . Various operation pedals 11 (an accelerator pedal, a brake pedal, and a clutch pedal) are provided below the handlebar 10 , that is, in the vicinity of the driver's feet when the driver sits on the driver's seat 8 .

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

When hydraulic oil is supplied to the lift cylinder 131, the lift arm 132 is rotated about the axis AX to raise the working machine 6, and when hydraulic oil is discharged from the lift cylinder 131, the lift arm 132 is rotated about the axis AX to lower the working machine 6 . Further, a lift arm sensor that detects the rotation angle of the lift arm 132 is provided at the base portion (near the axis AX) of the lift arm 132 . The height of the working machine 6 is calculated based on the detection value of the lift arm sensor.

In addition, the lift arm 132 is connected to the lower link 134 via a lift rod 133 . In this way, the lifting device 13 is connected to the working machine 6 via the lower link 134 and the top link 135 so as to be able to ascend and descend relative to the traveling vehicle body 2 .

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

Moreover, the hoisting machine 1 is provided with the control part 200 (refer FIG. 2). The control unit 200 controls the engine E and also controls the traveling speed of the traveling vehicle body 2 . In addition, the control unit 200 controls the work machine 6 .

In addition, the hoisting machine 1 includes a positioning device 150 . The positioning device 150 is installed on the upper part of the traveling vehicle body 2, measures the position of the traveling vehicle body 2 at a predetermined cycle, and acquires information (eg, latitude and longitude) of the own position P0 (see FIG. 3 ) of the traveling vehicle body 2 . The positioning device 150 is, for example, a GNSS (Global Navigation Satellite System; Global Navigation Satellite System), and can receive radio waves from a navigation satellite S orbiting in the sky to perform positioning and timing.

In addition, the hoisting machine 1 can perform the setting of various operations in a specific field by the operation performed by the operator on the portable terminal device 160 . The portable terminal device 160 is, for example, a tablet terminal, which can be connected to a communication network such as the Internet, and can be connected to the work management device via the communication network. In this case, the work management device is a system capable of so-called cloud computing. The portable terminal device 160 and the work 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 ROM (Read Only Memory), a RAM (Random Access Memory), and the like, a display unit composed of a touch panel, and an operation unit. department. In addition, various keys, buttons, etc. may be separately provided as the operation unit. In addition, the portable terminal device 160 may include a processing unit including a CPU (Central Processing Unit; Central Processing Unit) or the like, so that each unit can be controlled by electronic control, similarly to the control unit 200 described later.

The work management device includes a processing device such as a CPU, a storage device such as a ROM, a RAM, and an HDD (Hard Disk Drive), and a computer including an input/output device.

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

The azimuth sensor 170 detects, for example, the absolute azimuth of the traveling direction of the traveling vehicle body 2 (for example, "north" is set to 0° (360°), "east" is set to 90°, and "south" is set to 180°. °, set "West" to 270°). The azimuth sensor 170 detects the absolute azimuth at regular intervals, and transmits the detected absolute azimuth to the control unit 200 and the like. Furthermore, as the azimuth angle acquisition unit 170, in addition to the azimuth angle sensor, there is, for example, a geomagnetic sensor or the like.

<Control system of work vehicle (hoisting machine)> Next, the control system 100 of the work vehicle according to the embodiment, that is, the control system of the work vehicle (hoisting machine) 1 centered on the control unit 200 will be described with reference to FIG. 2 . FIG. 2 is a block diagram showing the control system 100 of the work vehicle according to the 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 working machine lift 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 vehicle body 2 (refer to FIG. 1 ) by controlling the rotation of the drive wheels (rear wheels 4 ). The working machine lifting system ECU 203 controls the lifting device 13 to drive the working machine 6 to lift and lower.

The control unit 200 can control each unit through electronic control, and includes a processing unit including a CPU and the like, and a storage unit including, for example, a hard disk, a ROM, a RAM, and the like. Required data such as a predetermined travel route (hereinafter, referred to as a work route) R1 which is set in advance to travel the vehicle body 2 to be described later.

As shown in FIG. 2 , 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 declination sensor are connected to the control unit 200 . 113 et al. In addition, the engine E, the transmission device 121 , the steering device 122 , the elevating 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 vehicle body 2 (see FIG. 1 ). The shift sensor 112 detects which gear position among the plurality of gear positions is in the transmission device 121 . The deflection angle sensor 113 detects the deflection angle of the front wheel 3 (refer to FIG. 1 ) as the steering wheel.

Separately, the position (own position) information of the vehicle body 2 traveling in the field or the like is input from the positioning device 150 to the control unit 200 , the rotational speed of the engine E is input from the engine rotation sensor 110 to the control unit 200 , and the vehicle speed sensor 111 is input to the control unit 200 . The vehicle speed of the traveling vehicle body 2 is input to the control unit 200 , the current gear position is input to the control unit 200 from the shift sensor 112 , and the deflection angle of the front wheels 3 is input to the control unit 200 from the deflection angle sensor 113 . In addition, the control unit 200 controls the steering wheel 9 (refer to FIG. 1 ) connected to the steering wheel 9 (see FIG. 1 ) while feeding back the deflection angle of the front wheels 3 using the detection value of the deflection angle sensor 113 as described above when the traveling vehicle body 2 is driven autonomously. Steering cylinder, whereby steering wheel 9 is operated.

In the control unit 200 , the engine ECU 201 is connected to the engine E, the travel system ECU 202 is connected to the transmission device 121 or the steering device 122 , and the working machine lift system ECU 203 is connected to the lift device 13 . In addition, the working machine raising and lowering system ECU 203 raises and lowers the working machine via the raising and lowering device 13 .

In addition, in the control unit 200, when the traveling vehicle body 2 is driven autonomously, a work route R1 (refer to FIG. 3 ) corresponding to the work content of the work machine 6 is determined in advance for each field, and is stored as data. in the storage department. The control unit 200 controls the engine E, the transmission device 121 , the steering device 122 , the lifting device 13 , and the like based on the measurement results of the positioning device 150 to perform work while traveling along the work route R1 stored in the storage unit. The work route R1 is set according to the shape and size of the field, the width, length, and number of ridges formed in the field, the type of crops, and the like. Moreover, the control part 200 presets the turning radius when the hoisting machine 1 (travel body 2) moves in the field.

In addition, as described above, the control unit 200 is wirelessly connected to, for example, the portable terminal device (tablet terminal) 160 that the operator can carry. The control part 200 controls each part of the hoisting machine 1 based on the instruction signal from the portable terminal device 160 formed by the operation of the operator. In addition, the control unit 200 may be configured to have a body information database of the hoisting machine 1, and to transmit information such as model numbers from the portable terminal device 160 or the like.

＜Autonomous driving in the field＞ Next, autonomous traveling in the field F1 of the work vehicle (hoisting machine) 1 will be described with reference to FIGS. 3 to 7 and Table 1. FIG. FIG. 3 and FIG. 4 are explanatory diagrams of autonomous driving in the field F1, and are schematic diagrams viewed from above the field. 3 shows a case where the distance between the circle C1 of the turning radius when the vehicle body 2 starts to move and the circle C2 of the turning radius when entering the working route R1 is a predetermined distance (for example, 10 m) or more, and FIG. 4 shows The case where the distance between the circle C1 of the turning radius when the vehicle body 2 starts to move and the circle C2 of the turning radius when entering the working route R1 is smaller than a predetermined distance.

5 and 6 are flowcharts showing the process of setting the moving route R2. Among them, FIG. 6 shows the process of setting the movement path R2, in which the movement path R2 does not escape from the escape prohibition area A2. Table 1 is an explanatory table of the route pattern of the moving route R2. [Table 1] The distance between the circle that starts to move and the circle that enters the work path path mode more than the predetermined distance Turn left - go straight - turn left Turn left - go straight - turn right Turn right - go straight - turn left Turn right - go straight - turn right below the predetermined distance Turn left - go straight - turn left Turn left - go straight - turn right Turn right - go straight - turn left Turn right - go straight - turn right Turn left - turn right - turn left turn right - turn left - turn right In FIG. 7 , (a) is an explanatory diagram of a route pattern of left-turn-right-turn-left-turn, and (b) is an explanatory diagram of a right-turn-left-turn-right-turn route pattern.

For example, when the hoisting machine 1 performs a cultivating operation in which the hoisting machine 1 performs work while traveling autonomously, the control unit 200 (see FIG. 2 ) includes, for example, the overall length, the overall width, the wheel base, the working machine 6 ( 1 ), information such as the shape and area of the field F1, and the like are used to generate a work route R1 in which an appropriate turning position, ploughing depth, and the like are defined.

In addition, the operator H can also transmit an instruction to the hoisting machine 1 from the remote end of the mobile terminal device 160 in the field F2 or the like.

As shown in FIGS. 3 and 4 , the hoisting machine 1 enters the field F1 from the entrance and exit of the field F1 along the work route R1, and automatically performs cultivating work while turning around appropriately in the work area A1 set in the field F1. In addition, the hoisting machine 1 can also be controlled according to a program, such as running out of the entrance and exit of the field F1 to the outside of the field F1, and stopping at a predetermined point after the cultivating work.

The hoisting machine 1 (travel body 2 ), for example, from the inner side of the field F2 , that is, the end of the field F1 , sets a predetermined area inside as a work machine moving area, and simultaneously performs ground work while surrounding the work machine moving area. The hoisting machine 1 repeatedly goes straight and turns along the work path R1 in the work area A1 inside the work machine active area from the pre-set work start point P1 to the work end point P2, while performing ground (cultivation) work.

<Movement path setting to work start point> In addition, in the present embodiment, as shown in FIGS. 3 and 4 , the moving path R2 of the hoisting machine 1 (traveling vehicle body 2 ) is set so that the hoisting machine 1 can move to an appropriate path when the hoisting machine 1 starts work. Job start point P1.

In this case, as shown in FIGS. 3 and 4 , the control unit 200 sets the circle C1 of the radius of gyration, and the circle C1 of the radius of gyration is tangent to the vector V1 of the azimuth angle acquired by the azimuth angle acquisition unit 170 and the position The control unit 200 sets the self-position P0 acquired by the device 150 and sets the circle C2 of the radius of gyration. The circle C2 of the radius of gyration is 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 L1 with respect to the circles C1 and C2 of the two radii of gyration. The control unit 200 generates a plurality of paths based on the circles C1 and C2 of the two gyration radii and the tangent L1.

Here, the circle C1 that is tangent to the vector V1 of the azimuth angle and the radius of gyration of the own position P0 is: there is a left-turn movement start circle C1 L in which the traveling body 2 starts to turn to the left and a left-turn movement start circle C1 _L where the traveling body 2 starts to move to the right. Turn right to move both starting circles C1 _R. In addition, the circle C2 that is tangent to the vector V2 of the work path R1 and the radius of gyration of the work start point P1 is: the vehicle body 2 turns left to enter the circle C2 _L of the left turn of the work path R1 and the vehicle body 2 turns right to enter the work. The right turn of path R1 enters circle C2 _R both.

Then, the control unit 200 selects the circle C1 ( C1 _L , C1 _R ) of the turning radii of the left and right sides on the side of the traveling vehicle body 2 , and selects the circle C2 ( C2 _L , C1 R ) of the turning radii of the left and right sides on the side of the work start point P1 C2 _R ), among these plural (four) paths, the shortest path from the self-position P0 to the work start point P1 is set as the movement path R2. Further, the control unit 200 displays the set moving route 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 and the tangent L1 of the two gyration radii as shown in FIG. 5 (step S101).

Next, the control unit 200 selects the shortest route from the own position P0 to the work start point P1 from the plurality of routes (step S102). Next, the control unit 200 sets the selected shortest route as the movement route R2 (step S103 ), and ends the process.

According to such a configuration, during autonomous travel of the hoisting machine 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 the shortest path (movement) among the generated paths can be generated. The path) R2 moves, so the efficiency of the movement to the work start point P1 can be improved, and the work can be started smoothly. Thereby, work efficiency can be improved.

In addition, as shown in FIGS. 3 and 4 , the control unit 200 sets a disengagement prohibition area A2 in which disengagement of the traveling vehicle body 2 is prohibited outside the work area A1 . Therefore, the traveling vehicle body 2 can travel (move) inside the escaping prohibited area A2. The control unit 200 removes the route including the partial route when the shortest route from the own position P0 to the work start point P1 among the plurality of routes includes the partial route that escapes from the exit prohibition area A2. That is, when the detachment component (partial path) from the detachment prohibited area A2 is included in the path, the path is removed.

Then, the control unit 200 sets the shortest route from the self-position P0 to the work start point P1 from the remaining route including the route from which the detachment component has been removed as the movement route R2. In this case, even if the path including the escape component is the shortest path, such a path is not set as the movement path R2. In addition, when the second shortest path includes the detachment component, it is also not set as the moving path R2. The path repeated until the detached component is not included becomes the shortest path. In addition, the control unit 200 does not set the moving route R2 when all the routes include the escape component, for example, the display screen of the portable terminal device 160 displays that the moving route R2 cannot be set.

When setting the movement path R2 that does not escape from the escape prohibited area A2, the control unit 200 generates a plurality of paths based on the circles C1 and C2 and the tangent L1 of the two gyration radii as shown in FIG. 6 (step S201).

Next, the control unit 200 selects the shortest route from the own position P0 to the work start point P1 from the plurality of routes (step S202). Next, the control unit 200 determines whether or not the shortest path includes a partial path that leaves the escape-prohibited area A2 (step S203).

When the control unit 200 determines that the shortest route includes a partial route that has departed from the disengagement prohibited area A2 (step S203: YES), the control unit 200 reselects the shortest route from the routes including the partial route that has departed, and selects the reselected shortest route. The route is set as the movement route R2 (step S204), and the process ends.

In addition, when the control unit 200 determines that the shortest route does not include a partial route deviating from the escape prohibition area A2 (step S203 : NO), the control unit 200 sets the selected shortest route as the moving route R2 (step S103 ) , to end processing.

According to such a configuration, since it is possible to move along the shortest path (movement path) R2 while preventing separation from the field F1 or contact with the field F2, it is possible to improve the efficiency of the movement to the work start point P1 while ensuring safety. .

Here, the case where 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 working route R1 is less than a predetermined distance will be further described with reference to Table 1 and FIG. 7 .

As shown in Table 1, 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 working route R1 is a predetermined distance or more, the control unit 200 turns left - goes straight - The movement route R2 is set in the four route modes: left-turn route, left-turn-straight-right-turn route, right-turn-straight-left-turn route, right-turn-straight-right-turn route.

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 working route R1 is less than the predetermined distance, the control unit 200 performs the left-turn-straight-left-turn path, Left-turn-straight-right-turn path, right-turn-straight-left-turn path, right-turn-straight-right-turn path are added to the four path modes: left-turn-right-turn-left-turn path and right-turn- Left-turn-right-turn path, two path patterns, from which the movement path R2 is set.

As shown in FIG. 7( a ), the control unit 200 further sets a connecting circle of gyration radii tangent to the circles C1 and C2 of the two gyration radii when setting the path of left-turn-right-turn-left turn C3. In addition, as shown in FIG. 7( b ), when the control unit 200 sets the path of right-turn-left-turn-right turn, the control unit 200 further sets the radius of gyration that is tangent to the circles C1 and C2 of the two radius of gyrations The connecting circle C3.

According to such a 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 working route R1 is short, the moving path R2 of the shortest path can be set, so that the shortest path can be set. Efficiency of the movement to the work start point P1 can be achieved.

In addition, the operator can instruct the start of the movement of the traveling vehicle body 2 by remote operation using the portable terminal device 160 . In this case, the control unit 200 sets its own position P0 and the azimuth angle based on the time when the portable terminal device 160 instructs the moving body 2 to start moving, that is, the time when the control unit 200 receives the instruction signal for starting the movement from the portable terminal device 160 . Move path R2. Then, the control unit 200 moves the traveling vehicle body 2 along the set moving route R2.

According to such a configuration, an appropriate route can be set from the point where the mobile terminal device 160 instructs to start the movement, that is, the control unit 200 from the point where the mobile terminal device 160 receives the instruction signal to start the movement to the work start point P1 , so the efficiency of the movement to the work start point P1 can be improved.

<A moving route that detours around the prohibited entry area or the prohibited exit area> Next, referring to FIG. 8 , description will be given of detouring the entry-prohibited area A3 and the movement route R2 of the entry-prohibited area A3. FIG. 8 is an explanatory diagram of a moving route R2 detouring around the entry-prohibited area A3 or the exit-prohibited area A2. As shown in FIG. 8 , the control unit 200 presets the entry prohibited area A3 as the inner area of the closed polygon in the field F1. In addition, the control unit 200 sets the escape-prohibited area A2 in the outer area of the entry-prohibited area A3.

The entry-prohibited area A3 is an area where the traveling of the traveling vehicle body 2 is prohibited, for example, which is not intended to be damaged by the traveling of the traveling vehicle body 2 while the traveling vehicle body 2 is moving to the work start point P1. The disengagement prohibition area A2 is an area in which the disengagement of the traveling vehicle body 2 is prohibited as described above.

Then, when the entry prohibited area A3 or the exit prohibited area A2 is set, the control unit 200 sets a moving route R2 that detours to the entry prohibited area A3 or the exit prohibited area A2.

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

The control unit 200 sets the detour circle C4 only to the convex vertex p1a in the vertex p1 of the entry prohibited area A3. In other words, the control unit 200 does not set the detour circle C4 at the concave vertex p1b of the entry prohibition area A3.

In addition, when the moving route R2 detouring the entry prohibited area A3 includes a later-described route R2c (refer to FIG. 11 ) that departs from the exit prohibited area A2, the control unit 200 changes the route R2c that departs from the exit prohibited area A2 to the route R2c that departs from the exit prohibited area A2. The detour circle C5 is set at the vertex p2 of the escape-prohibited area A2.

The control unit 200 sets the detour circle C5 only to the concave vertex p2b in the vertex p2 of the escape prohibition area A2. In other words, the control unit 200 does not set the detour circle C5 at the convex vertex p1a of the escape prohibited area A2.

<Setting the detour route in the prohibited area> Next, the setting of the detour route (movement route R2 ) in the entry prohibited area A3 will be described with reference to FIGS. 9 and 10 . FIGS. 9 and 10 are explanatory diagrams for setting the detour route (movement route R2 ) in the entry prohibited area A3 .

As shown in FIGS. 9 and 10 , the control unit 200 is based on the vector V1 tangent to the azimuth angle, the circle C1 of the radius of gyration at the own position P0, the vector V2 tangent to the work path R1, and the radius of gyration of the work start point P1. The movement path R2 is set for the circle C2, the circles C1 and C2 having two radii of gyration, and the tangent L2 (see FIG. 8 ) to the detour circle C4 in the prohibited entry area A3.

As shown in FIG. 9 , when the entry prohibition area A3 is set, the control unit 200 sets the entry prohibition area A3 by connecting the vertices p1 based on the order of the vertices p1 designated by the operator. In the case of specifying the vertex p1, it is preferable that the order be clockwise or counterclockwise (in the examples shown in FIGS. 9 and 10 , the order of positions a1, a2, . the order of a1) specifies the vertex p1. In addition, the order of positions a1, a2, ... a7 is called ascending power, and the order of positions a7, a6, ... a1 is called descending power.

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

Here, when setting the entry prohibition area A3, an operator or the like operates the portable terminal device 160 (see FIG. 2 ). When setting the entry prohibition area A3, a guide is displayed so that the vertex p1 may be designated in a clockwise or counterclockwise order. The control unit 200 connects the vertices p1 based on the order of the vertices p1 designated by the portable terminal device 160 to set the entry prohibition area A3.

As shown in FIG. 9 , the control unit 200 first sets the distance from the self-position P0 to The shortest path (movement path R2) of the work start point P1.

When the movement route R2 includes a route R2a that enters the entry-prohibited area A3, the control unit 200 corrects the route R2a that enters the entry-prohibited area A3 to the vertex p1 adjacent to the work start point P1 from the vertex p1 (at the position a1). The vertex p1) passes through the detour circle C4 set to an ascending power based on the designated order. In the example shown in FIG. 9 , the vertex p1 at the position a2 is corrected to pass through the detour circle C4.

As shown in FIG. 10 , when the route R2a entering the entry prohibition area A3 is not eliminated in the moving route R2, the route R2a entering the entry prohibition area A3 is corrected to the vertex p1 (the vertex p1 at the position a4) via the detour circle C4.

In this way, the control unit 200 corrects to set the route R2b as the route within the movement route R2 when the route R2a does not enter the entry prohibited area A3 via the detour circle C4 set to the ascending power based on the specified order. In addition, although the example shown in FIGS. 9 and 10 passes through the detour circle C4 set to the ascending power, it may be configured to pass through the detour circle C4 set to the descending power based on the designated order.

According to such a configuration, during autonomous driving, the self-position P0 of the traveling body 2 and the work start point P1 are smoothly connected to generate a movable route, and when there is an area not to be destroyed in the field F1, the traveling body 2 is set. The entry-prohibited area A3 is set, and the movement route R2 detouring around the entry-prohibited area A3 is set, so that the efficiency of the movement to the work start point P1 can be achieved while detouring the entry-prohibited area A3. Thereby, work efficiency can be improved.

In addition, by setting the detour circle C4 only at the convex vertex p1a of the entry-prohibited area A3 of the polygon, the set detour circle C4 can be connected, and the entry-prohibited area A3 can be detoured by the shortest route. Further, even if the detour circle C4 is set at the concave vertex p1b of the entry-prohibited area A3 of the polygon, it cannot move smoothly while avoiding entering the entry-prohibited area A3.

In addition, by sequentially specifying each vertex p1 of the polygonal entry prohibited area A3 clockwise (or counterclockwise), the entry prohibited area A3 can be accurately set.

In addition, by sequentially specifying the vertices p1 of the entry prohibited area A3 of the polygon, the vertex p1 can be determined to be convex according to the value of the outer product of the vectors Vs1 of the adjacent sides, that is, according to whether the value of the outer product is a positive value or a negative value shape vertex p1a or concave shape vertex p1b. Therefore, it is possible to set the information necessary for the prohibited entry area A3 by a simple operation.

In addition, when the movement route R2 includes the route R2a entering the entry prohibition area A3, the route R2a entering the entry prohibition area A3 is corrected to pass from the vertex p1 adjacent to the work start point P1 among the vertexes p1 via the specified Since the order is set to the detour circle C4 of ascending power (or descending power), the movement of the detour circle C4 which does not need to be passed can be saved, and the efficient movement path R2 can be set.

Then, the control unit 200 is based on the circle C1 tangent to the vector V1 of the azimuth angle and the radius of gyration of the own position P0, the circle C2 of the vector V2 tangent to the work path R1 and the radius of gyration of the work start point P1, and the circle C2 of the radius of gyration relative to the two The tangent line L2 of the circles C1 and C2 of each radius of gyration and the detour circle C4 of the prohibited entry area A3 is set, and the moving path R2 is set.

Thereby, the direction can be changed by a reasonable turning, the efficiency of the movement to the work start point P1 can be improved while detouring around the entry prohibited area A3, and the work can be started smoothly.

In addition, the control unit 200 may be configured to generate two routes, a route detouring the entry-prohibited area A3 clockwise and a route detouring the entry-prohibited area A3 counterclockwise, and set the shorter one of the two generated routes. is the moving path R2. Thereby, the efficiency of the movement to the work start point P1 can be achieved while detouring around the entry prohibited area A3, and the work can be started smoothly.

<The setting of the detour route in the forbidden area> Next, the setting of the detour route (movement route R2 ) in the escape prohibition area A2 will be described with reference to FIGS. 11 and 12 . FIGS. 11 and 12 are explanatory diagrams of setting of the detour route (movement route R2 ) in the escape prohibition area A2 .

As shown in FIG. 11 , when setting the escape prohibition area A2 , the control unit 200 connects the vertices p2 based on the order of the vertices p2 designated by the operator to set the escape prohibition area A2 . In the case of specifying the vertex p2, it is preferably in the order of clockwise or counterclockwise (in the examples shown in FIGS. 11 and 12 , the order of positions b1, b2, . . . b7 or the order of positions b7, b6, . . . ... order of b1) specifies vertex p2. In addition, the order of positions b1, b2, ... b7 is called ascending power, and the order of positions b7, b6, ... b1 is called descending power.

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

Here, when setting the escape-prohibited area A2, the operator or the like operates the portable terminal device 160 (see FIG. 2 ). When setting the escape-prohibited area A2, the portable terminal device 160 specifies the vertex p2 in a clockwise or counterclockwise order. p2 to set the escape prohibition area A2.

As shown in FIG. 11 , when the movement path R2 includes a path R2c entering and leaving the prohibited area A2, the control unit 200 corrects the path R2c entering and leaving the prohibited area A2 to the vertex p2 (vertex p2 at the position b3) via the detour circle C5.

In this way, the control unit 200 corrects to set the route R2d as the route within the moving route R2 when the route R2c does not enter the escape prohibited area A2 via the detour circle C5. In addition, when a plurality of detour circles C5 are present, the detour circle C5 may be configured to be set to a descending power or a descending power based on the designated order.

According to such a configuration, when the moving route R2 detouring into the entry prohibited area A3 includes the route R2c escaping from the exit prohibited area A2, the route R2c exiting from the exit prohibited area A2 is changed to pass through the route R2c set in the exit prohibited area A2. The detour circle C5 of the concave vertex p2b. As a result, it is possible to prevent separation from the field F1 or contact with the field F2, and to move along the shortest movement path R2, thereby ensuring safety and realizing the efficiency of the movement to the work start point P1 while detouring around the entry prohibited area A3.

In addition, when each vertex p2 of the escape prohibition area A2 is sequentially designated, it can be determined whether the vertex p2 is a convex vertex p2a or a concave vertex p2b according to the value of the outer product, that is, according to whether the value of the outer product is a positive value or a negative value. Therefore, it is possible to set the information necessary for the exit prohibition area A2 by a simple operation, and it is possible to realize the efficiency of the movement to the work start point while detouring around the entry prohibition area A3.

Then, the control unit 200 is based on the circle C1 tangent to the vector V1 of the azimuth angle and the radius of gyration of the own position P0, the circle C2 of the vector V2 tangent to the work path R1 and the radius of gyration of the work start point P1, and the circle C2 of the radius of gyration relative to the two The movement path R2 is set by the tangent L2 of at least any one of the circles C1 and C2 of the gyration radius, the detour circle C4 of the entry prohibited area A3, and the detour circle C5 of the exit prohibited area A2.

Thereby, the direction can be changed by a reasonable turning, the efficiency of the movement to the work start point P1 can be improved while detouring around the entry prohibited area A3, and the work can be started smoothly.

Through the above-described embodiments, the following control system 100 for a work vehicle is realized.

(1) The control system 100 of the work vehicle includes: a traveling vehicle body 2 capable of traveling in the field F1 ; a positioning device 150 , which acquires the own position P0 of the traveling vehicle body 2 ; and an azimuth angle acquiring unit 170 , which acquires the azimuth of the traveling vehicle body 2 and the control unit 200 generates a work route R1 including the work start point P1 in the field F1, and controls the traveling vehicle body 2 to perform work while autonomously traveling along the generated work route R1, the control unit 200 is: preset The radius of gyration of the traveling vehicle body 2 when moving in the field F1, and the entry prohibited area A3, which is the inner area of the closed polygon in the field F1, and the entry of the traveling vehicle body 2 is prohibited. When the entry prohibited area A3 is set , the detour circle C4 of the radius of gyration of the detour entry prohibition area A3 is set at the vertex p1 of the entry prohibition area A3, the movement path R2 from the own position P0 of the vehicle body 2 to the work start point P1 is set, and the set movement path R2 When entering the entry prohibition area A3, the movement route R2 is corrected to detour the entry prohibition area A3 via the detour circle C4.

According to the control system 100 of such a work vehicle, during autonomous travel, the self-position P0 of the traveling vehicle body 2 and the work start point P1 are smoothly connected to generate a movable route, and when there is an area that is not intended to be destroyed in the field F1 By setting the entry-prohibited area A3 of the traveling vehicle body 2 and setting the movement route R2 detouring the entry-prohibited area A3, the efficiency of the movement to the work start point P1 can be improved while detouring the entry-prohibited area A3. Thereby, work efficiency can be improved.

(2) The control system 100 of the work vehicle is based on the above (1), wherein the control unit 200 sets only the detour circle C4 to the convex vertex p1a in the vertex p1 of the entry prohibited area A3.

According to such a control system 100 for a work vehicle, in addition to the effect of (1) described above, for example, even if the detour circle C4 is set at the concave vertex p1b of the entry-prohibited area A3 of the polygon, it is not possible to avoid the entry-prohibited area A3 It moves smoothly while entering. Therefore, by setting the detour circle C4 only at the convex vertex p1a and connecting the set detour circle C4, the entry prohibition area A3 can be detoured by the shortest route, and the entry prohibition area A3 can be detoured while detouring. Efficiency of movement to work start point P1.

(3) The control system 100 of the work vehicle is provided with the portable terminal device 160 which is operated when the entry prohibition area A3 is set in addition to the above (1) or (2), and when the entry prohibition area A3 is set, the portable terminal The device 160 displays the guidance so as to designate the vertex p1 in a clockwise or counterclockwise order, and the control unit 200 connects the vertex p1 based on the designated order of the vertex p1 to set the entry prohibition area A3.

According to the control system 100 for such a work vehicle, in addition to the effects of (1) or (2) described above, by sequentially specifying each vertex p1 of the polygonal entry prohibition area A3 clockwise or counterclockwise, it is possible to accurately set the entry prohibition In the area A3, the efficiency of the movement to the work start point P1 can be achieved while detouring around the prohibited entry area A3.

(4) The control system 100 of the work vehicle is based on the above-mentioned (3), wherein the control unit 200 stores each side of the prohibited entry area A3 as a vector Vs1 based on the order of the specified vertices p1, and calculates the adjacent vector Vs1 As for the outer product of each other, it is determined whether or not the vertex p1 is the convex vertex p1a based on the value of the calculated outer product.

According to such a control system 100 for a work vehicle, in addition to the effect of (3) described above, when the vertices p1 of the entry prohibited area A3 of the polygon are sequentially designated, the value of the outer product of the vectors Vs1 of the adjacent sides can be determined according to the value of the outer product. , that is, whether the value of the outer product is a positive value or a negative value, it is determined that the vertex p1 is a convex vertex p1a or a concave vertex p1b. Therefore, it is possible to set the information necessary for the entry prohibition area A3 by a simple operation, and it is possible to realize the efficiency of the movement to the work start point P1 while detouring around the entry prohibition area A3.

(5) The control system 100 of the work vehicle is based on the aforementioned (3) or (4), wherein the control unit 200 is configured to prohibit entry when the movement route R2 includes the route R2a that enters the entry prohibition area A3 The route R2a of the area A3 is corrected to go from the vertex p1 adjacent to the work start point P1 among the vertices p1 to the detour circle C4 set to ascending or descending power based on the specified order, and when there is no route R2a to enter the prohibited entry area A3 , the path R2b is set as the path within the movement path R2.

According to such a control system 100 for a work vehicle, in addition to the effects of (3) or (4) described above, the movement of the detour circle C4 that does not need to be passed can be saved, and the efficient movement path R2 can be set, and the entry can be prohibited while detouring Efficiency of the movement to the work start point P1 while the area A3 is being carried out.

(6) The control system 100 of the work vehicle is based on any one of the above (1) to (5), wherein the control unit 200 sets a disengagement prohibition prohibiting disengagement of the vehicle body 2 in the outer area of the entry prohibition area A3 In the area A2, when the movement path R2 detouring into the prohibited entry area A3 includes a path R2c exiting from the exit prohibited area A2, the path R2c exiting from the exit prohibited area A2 is changed to pass through the concave shape set in the exit prohibited area A2 Detour circle C5 of vertex p2b.

According to the control system 100 for such a work vehicle, in addition to the effects of any one of the aforementioned (1) to (5), since it is possible to prevent separation from the field F1 or contact with the field F2, and to move on the shortest moving path R2, Therefore, safety can be ensured, and the efficiency of the movement to the work start point P1 can be achieved while detouring around the prohibited entry area A3.

(7) The control system of the work vehicle is based on the above-mentioned (6), and further includes the portable terminal device 160 which is operated when the escape prohibition area A2 is set. The guide is displayed so that the vertex p2 is specified in the clockwise or counterclockwise order, and the control unit 200 connects the vertices p2 based on the specified order of the vertices p2 to set the escape prohibition area A2, and sets the escape prohibition area based on the specified order of the vertices p2. Each side s2 of A2 is stored as a vector Vs2, the outer product of the adjacent vectors Vs2 is calculated, and it is determined whether or not the vertex p2 is a concave vertex p2b based on the value of the calculated outer product.

According to such a control system 100 for a work vehicle, in addition to the effect of (6) described above, when each vertex p2 of the escape prohibition area A2 is sequentially designated, the value of the outer product, that is, the value of the outer product can be a positive value or a negative value. , the vertex p2 is determined to be a convex vertex p2a or a concave vertex p2b. Therefore, it is possible to set the information necessary for the exit prohibition area A2 by a simple operation, and it is possible to realize the efficiency of the movement to the work start point while detouring around the entry prohibition area A3.

(8) The control system 100 of the work vehicle is based on any one of the aforementioned (1) to (7), wherein the control unit 200 sets a disengagement prohibition prohibiting disengagement of the vehicle body 2 in an area outside the entry prohibition area A3 The area A2 is based on the circle C1 tangent to the azimuth angle acquired by the azimuth angle acquiring unit 170 and the radius of gyration of the own position P0 acquired by the positioning device 150, the vector V2 tangent to the work path R1, and the work start point The circle C2 of the radius of gyration of P1, and the tangent L2 of the circle C1 and C2 of the two radius of gyrations and the detour circle C4 of the prohibited entry area A3 and/or the detour circle C5 of the prohibited escape area A2, set the moving path R2.

According to the control system 100 for such a work vehicle, in addition to the effects of any one of the above-mentioned (1) to (7), it is possible to perform a direction change by a reasonable turning, and to go to the work start point while detouring around the prohibited entry area A3 The efficiency of the movement of the P1 can be started smoothly.

(9) The control system 100 for a work vehicle is based on any one of (1) to (8) above, wherein the control unit 200 generates a route detouring the prohibited entry area A3 clockwise and detouring the prohibited entry area counterclockwise For the route A3, the shorter one of the two generated routes is set as the movement route R2.

According to such a control system 100 for a work vehicle, in addition to the effects of any one of the aforementioned (1) to (8), the efficiency of the movement to the work start point P1 while detouring around the entry prohibited area A3 can be achieved, and the smoothness can be achieved. start work.

Further effects or modifications can be easily derived by those skilled in the art to which the present invention pertains. Therefore, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Therefore, various changes can be made without departing from the spirit or scope of the concept of the general invention defined by the appended claims and their equivalents.

1: Work vehicle (traction machine) 2: Driving body 3: Front wheel 4: Rear wheel 5: Hood 6: Work machine 7: PTO device 8: Driver's seat 9: Steering wheel 10: Handlebar 11: Operating pedal 12: Power transmission device (gearbox) 13: Lifting device 61: Cultivation claw 71: PTO shaft 100: Control system of work vehicle 110: Engine rotation sensor 111: Vehicle speed sensor 112: Gear shift sensor 113: Declination sensor Detector 121: Shifting device 122: Steering device 131: Lifting cylinder 132: Lifting arm 133: Lifting rod 134: Lower link 135: Top link 150: Positioning device (GNSS) 160: Portable terminal device (tablet terminal) 170: Azimuth acquisition unit (azimuth sensor) 200: Control section 201: Engine ECU 202: Travel system ECU 203: Work machine lift system ECU AX: Axis A1: Work area A2: Exit prohibition area A3: Entry prohibition area a1, a2… _a7 : Position b1, b2… _b7 : Position C1: Circle C1 with _radius of _rotation : Right turn movement start circle C3: Connection circle C4: Detour circle C5: Detour circle E: Engine F1: Field F2: Rim H: Operator L1: Tangent line L2: Tangent line P0: Own position P1: Work start point P2: Work end Point p1: vertex p1a: convex vertex p1b: concave vertex p2: vertex p2a: convex vertex p2b: concave vertex R1: work path R2: movement path R2a: path R2b: path S: navigation satellite S101~S103: step S201~S205: Step V1: Vector V2: Vector Vs1: Vector Vs2: Vector

1 is a schematic left side view showing the work vehicle according to the embodiment. 2 is a block diagram showing a control system of the work vehicle according to the embodiment. [ Fig. 3 ] An explanatory diagram (Part 1) of autonomous driving in a field. [Fig. 4] An explanatory diagram (Part 2) of autonomous driving in the field. [ Fig. 5] Fig. 5 is a flowchart (part 1 ) showing the processing of setting the movement path. [ Fig. 6 ] It is a flowchart (Part 2) showing the process of setting the movement path. In [ FIG. 7 ], (a) is an explanatory diagram of a route pattern of left-turn-right-turn-left-turn, and (b) is an explanatory diagram of a right-turn-left-turn-right-turn route pattern. [ Fig. 8 ] It is an explanatory diagram of a movement route detouring around the entry-prohibited area or the exit-prohibited area. [ Fig. 9 ] It is an explanatory diagram (Part 1 ) of the detour route setting of the entry prohibited area. [ Fig. 10 ] It is an explanatory diagram (Part 2) of setting a detour route in an entry prohibited area. [ Fig. 11 ] It is an explanatory diagram (Part 1) of setting a detour route in the escape prohibition area. [ Fig. 12 ] It is an explanatory diagram (Part 2) of setting a detour route in the escape prohibition area.

1: Working vehicle (traction machine)

2: Driving body

A2: It is forbidden to leave the area

A3: No entry area

C1: circle with radius of gyration

C1 _L : Turn left to move the start circle

C1 _R : Turn left to move the start circle

C2: circle with radius of gyration

C2 _L : Turn left to move the start circle

C2 _R : Turn right to move the start circle

C4: Detour circle

C5: Detour circle

F1: Fields

L2: Tangent

P0: own position

P1: Homework start point

p1: vertex

p1a: convex vertex

p1b: concave vertex

p2: vertex

p2a: convex vertex

p2b: concave vertex

R2: move path

V1: vector

V2: Vector

Claims (9)

A control system for a work vehicle, comprising: The driving body is capable of driving in the field; a positioning device, which acquires the position of the vehicle body; an azimuth angle acquisition unit, which acquires the azimuth angle of the aforementioned traveling vehicle body; and a control unit that generates a work route including a work start point in the field, and controls the traveling vehicle body to perform work while autonomously traveling along the generated work route; The aforementioned control department is: pre-setting a radius of gyration when the traveling vehicle body moves in the field, and an entry prohibition area that prohibits entry of the traveling vehicle body as an inner area of a closed polygon in the field; and When the entry prohibition area is set, a detour circle that detours the turning radius of the entry prohibition area is set at the vertex of the entry prohibition area, and a moving path from the self position of the traveling vehicle body to the work start point is set. When the movement route of , enters the forbidden entry area, the movement route is corrected to bypass the forbidden entry area via the detour circle. The control system for a work vehicle according to claim 1, wherein the control unit sets the detour circle only to a convex vertex among the vertexes of the entry prohibited area. The control system for a work vehicle according to claim 1, comprising a portable terminal device that is operated when the entry prohibited area is set, wherein when the entry prohibited area is set, the portable terminal device is clockwise or counterclockwise. The order of the hour hand to specify the way the aforementioned vertices display the guide; The control unit connects the vertices based on the specified order of the vertices and sets the entry prohibition area. The control system for a work vehicle according to claim 3, wherein the control unit stores each side of the entry prohibition area as a vector based on the specified order of the vertices, calculates the outer product of the adjacent vectors, and calculates the outer product based on the calculated The value of the outer product determines whether or not the aforementioned vertex is a convex vertex. The control system for a work vehicle according to claim 3, wherein the control unit is: If the movement route includes a route entering the entry prohibition area, the route entering the entry prohibition area is corrected to be set to an ascending power from the vertex adjacent to the work start point among the vertices via the specified order. Or the detour circle of the reduced power, when there is no route entering the entry prohibition area, the route is set as the route within the moving route. The control system for a work vehicle as described in any one of Claims 1 to 5, wherein the aforementioned control unit is: Setting an escape prohibition area that prohibits the escape of the traveling vehicle body in an outer area of the entry prohibition area; When the movement path detouring the entry prohibition area includes a route deviating from the escape prohibition area, the route deviating from the escape prohibition area is changed to a detour circle passing through the concave apex set in the escape prohibition area. The control system for a work vehicle according to claim 6, further comprising a portable terminal device that operates when setting the escape prohibition area; When performing the setting of the escape prohibition area, the portable terminal device displays the guide in a manner of specifying the vertices in a clockwise or counterclockwise order; The aforementioned control department is: The aforementioned vertices are connected based on the specified order of the aforementioned vertices and the aforementioned escape prohibition area is set; and Each edge out of the forbidden area is stored as a vector based on the specified order of the vertices, the outer product of the adjacent vectors is calculated, and whether or not the vertex is the concave vertex is determined based on the value of the calculated outer product. The control system for a work vehicle as described in any one of Claims 1 to 5, wherein the aforementioned control unit is: Setting a disengagement prohibition area that prohibits the disengagement of the traveling vehicle body in an outer area of the entry prohibition area; and The circle based on the gyration radius of the vector tangent to the azimuth angle acquired by the azimuth angle acquiring unit and the self-position acquired by the positioning device, the vector tangent to the work path, and the gyration of the work start point A circle of radius and a tangent to the circle of the radius of gyration and the detour circle entering the forbidden area and/or the detour circle leaving the forbidden area are set to set the movement path. The control system for a work vehicle according to any one of claims 1 to 5, wherein the control unit generates a route detouring the entry-prohibited area clockwise and a route detouring the entry-prohibited area counterclockwise, and converts the generated The shorter one of the two aforementioned paths is set as the aforementioned moving path.

Images