WO2018055921A1

WO2018055921A1 - Path creation system

Info

Publication number: WO2018055921A1
Application number: PCT/JP2017/027901
Authority: WO
Inventors: 敏史平松
Original assignee: ヤンマー株式会社
Priority date: 2016-09-26
Filing date: 2017-08-01
Publication date: 2018-03-29
Also published as: KR20210091367A; KR102413467B1; KR102279839B1; JP2018055179A; KR20180127417A; CN109716253B; CN109716253A; JP6832660B2; CN114594775A

Abstract

A work mode setting unit (101) sets a cooperative work mode for a robot tractor (1) and a manned tractor (1X). A positional relationship setting unit (102) sets a positional relationship between the robot tractor (1) and the manned tractor (1X) in cases where the cooperative work mode is cooperative work within the same work region. A travel path creation unit (35) creates a cooperative travel path including a first travel path (P) on which the robot tractor (1) travels and a second travel path (P') on which the manned tractor (1X) travels. A priority acceptance unit (103) accepts whether or not to prioritize the maintenance of the positional relationship. In cases where the priority acceptance unit (103) accepts the prioritization of the maintenance of the positional relationship, a cooperative travel path that maintains the positional relationship is created. In cases where the priority acceptance unit (103) does not accept the prioritization of the maintenance of the positional relationship, a cooperative travel path that does not maintain the positional relationship is created.

Description

Route generation system

The present invention relates to a route generation system. Specifically, the present invention relates to a route generation system that generates a travel route of work vehicles when a plurality of work vehicles perform work in cooperation.

Conventionally, when a plurality of work vehicles perform work in cooperation, a route generation system capable of generating a travel route of these work vehicles is known. Patent Document 1 discloses a route generation device (travel route setting device) used in this type of route generation system. The route generation device disclosed in Patent Document 1 includes a touch panel display device, and can communicate with the first work vehicle and / or the second work vehicle via a communication device. When the arrangement position of the second work vehicle with respect to the first work vehicle is set on the setting screen displayed on the route generation device after the field is specified, the travel routes of the first work vehicle and the second work vehicle are generated. . Here, the arrangement position of the second work vehicle with respect to the first work vehicle is configured such that an arbitrary arrangement position can be selected from a plurality of possible combinations.

According to Patent Document 1, it is possible to generate a travel route that maintains the set position of the second work vehicle with respect to the set first work vehicle.

Japanese Unexamined Patent Publication No. 2016-93125

However, in the configuration of Patent Document 1 described above, only the travel route that is constrained to the set position of the second work vehicle with respect to the set first work vehicle is generated, and therefore it is not necessarily possible to generate a travel route according to the user's intention. It was not limited.

The present invention has been made in view of the above circumstances, and its purpose is not necessarily restricted by the set positional relationship of a plurality of work vehicles, and a travel route is generated in a fluid manner according to the user's intention. It is an object of the present invention to provide a path generation system that can do this.

Means and effects for solving the problems

The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

According to an aspect of the present invention, a route generation system having the following configuration is provided. That is, the route generation system includes a cooperative work mode setting unit, a positional relationship setting unit, a cooperative traveling route generation unit, and a reception unit. The cooperative work mode setting unit sets a cooperative work mode of the first work vehicle and the second work vehicle. The positional relationship setting unit sets a positional relationship between the first work vehicle and the second work vehicle when the cooperative work mode is a cooperative work in the same work area. The cooperative travel route generation unit includes a first travel route on which the first work vehicle travels and a second travel route on which the second work vehicle travels when the cooperative work mode is cooperative work in the same work area. A coordinated travel route is generated. The reception unit receives whether or not priority is given to maintaining the positional relationship. When the priority of maintaining the positional relationship is received by the receiving unit, the cooperative traveling route that maintains the positional relationship is generated. When the priority for maintaining the positional relationship is not received by the reception unit, the cooperative travel route that does not maintain the positional relationship is generated.

Thus, the coordinated travel route can be generated in a fluid manner according to the user's intention without necessarily being restricted by the set positional relationship between the first work vehicle and the second work vehicle.

In the above route generation system, the following configuration is preferable. That is, the first travel route and the second travel route each include a plurality of travel routes arranged in parallel. When the cooperative traveling route that does not maintain the positional relationship is generated by the cooperative traveling route generation unit, the cooperative work route is traveled by the first work vehicle next to an arbitrary traveling route of the first traveling route and the arbitrary traveling route. The number of trains arranged between other trains is kept constant.

Thereby, when priority is not given to maintaining the set positional relationship between the first work vehicle and the second work vehicle, the first work vehicle travels after an arbitrary travel path on the first travel path and the arbitrary travel path. The number of rows of travel routes arranged between other travel routes, that is, the so-called skip number indicating how many rows the first work vehicle skips and travels on the next travel route is maintained at a constant number. . In this case, since the turning method at the headland on one side of the field and the headland on the other side is fixed in a certain manner, the turning operation is facilitated.

In the above route generation system, the following configuration is preferable. That is, in the route generation system, the cooperative work is performed in a different work area, the first work area is worked by the first work vehicle, and the second work area is worked by the second work vehicle. And a reference work setting unit for setting whether or not a reference work is required by the first work vehicle in the second work area. As the first travel route, a travel path in which the reference work is performed by the first work vehicle in the second work area, and a plurality of travel paths in which work is performed by the first work vehicle in the first work area; A travel route including is generated. As the second travel route, a travel route including a plurality of travel routes in which work is performed by the second work vehicle in the second work area excluding the area in which the reference work is performed is generated.

Accordingly, in the second work area, the reference work is performed by the first work vehicle, and the work is performed on the plurality of travel paths by the second work vehicle with reference to the travel path on which the work is performed in the reference work. It can be carried out. Therefore, it is easy to orderly work on the work area.

In the above route generation system, the following configuration is preferable. That is, a travel route including a plurality of travel routes on which work is performed by the first work vehicle in the first work area is generated as the first travel route. As the second travel route, a travel route including a plurality of travel routes on which work is performed by the second work vehicle in the second work area is generated.

Thus, different work areas can be shared by the first work vehicle and the second work area, and the work can be efficiently performed as a whole.

The side view which shows the robot tractor and manned tractor which a cooperative driving | running route is produced | generated by the route production | generation system which concerns on one Embodiment of this invention, and performs cooperative work. The side view which shows the whole structure of a robot tractor. The top view of a robot tractor. The figure which shows the radio | wireless communication terminal which can be operated by the user and can perform radio | wireless communication with a robot tractor. The block diagram which shows the main electrical structures of a robot tractor and a radio | wireless communication terminal. The block diagram which shows the main electrical structures with which the work information setting part of a radio | wireless communication terminal is provided. The figure which shows the example of a display of the input selection screen in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the work vehicle information input screen in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the agricultural field information input screen in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the operation | work aspect and positional relationship setting screen for setting the operation | work aspect in the display of a wireless communication terminal, and the setting of positional relationship. The figure which shows the example of a display of the priority setting window for setting whether to give priority to the maintenance of the positional relationship in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the division and reference | standard work setting screen for setting the setting of the division | segmentation in the display of a radio | wireless communication terminal, and the necessity of a reference | standard work. The figure which shows the example of a display of the overlap width setting screen for setting the overlap width in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the skip number setting screen for setting the skip number in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the non-working area width | variety setting screen for setting the headland width and the width | variety of a non-working area | region in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the autonomous running monitoring screen in the display of a radio | wireless communication terminal. The figure which shows the example of the driving | running route produced | generated by the driving | running route production | generation part, when the accompanying work (cooperation) is selected, maintenance of the positional relationship between vehicles is prioritized and 1 row skip is selected. The solid arrow indicates the first travel route, and the dotted arrow indicates the second travel route. The figure which shows the example of the driving | running route produced | generated by a driving | running route production | generation part, when the accompanying work (cooperation) is selected and maintenance of the positional relationship between vehicles is not prioritized and 1-line skip is selected. The solid arrow indicates the first travel route, and the dotted arrow indicates the second travel route. The figure which shows the example of the driving | running route produced | generated by a driving | running route production | generation part, when a division is set and the reference | standard operation | work is set to "necessary". The solid arrow indicates the first travel route, and the dotted arrow indicates the second travel route. The figure which shows the example of the driving route produced | generated by the driving route production | generation part, when a division is set and the reference | standard work is set to "unnecessary". The solid arrow indicates the first travel route, and the dotted arrow indicates the second travel route.

Next, an embodiment of the present invention will be described with reference to the drawings. In the following, the same members are denoted by the same reference symbols in the drawings, and redundant description may be omitted. In addition, names of members and the like corresponding to the same reference may be simply rephrased, or may be rephrased with a superordinate concept or a subordinate concept name.

The present invention relates to a route generation system that generates a travel route for running a work vehicle when a plurality of work vehicles are run in a predetermined farm field and all or part of the farm work in the farm field is executed. . In this embodiment, a tractor will be described as an example of a work vehicle. However, as a work vehicle, in addition to a tractor, a padded work machine such as a rice transplanter, a combiner, a civil engineering / construction work device, a snowplow, a walking work A machine is also included. In this specification, autonomous traveling means that the configuration related to traveling provided by the tractor is controlled by a control unit (ECU) provided in the tractor, and the tractor travels along a predetermined route. This means that the control unit included in the tractor controls the configuration related to the work included in the tractor, and the tractor performs the work along a predetermined route. On the other hand, manual running / manual work means that each component provided in the tractor is operated by the user to run / work.

In the following description, a tractor that autonomously travels and works autonomously may be referred to as an “unmanned tractor” or a “robot tractor”, and a tractor that travels manually and is manually operated is referred to as a “manned tractor”. Sometimes. When a part of the farm work is performed by the unmanned tractor in the field, the remaining farm work is performed by the manned tractor. Performing farm work in a single farm with unmanned tractors and manned tractors may be referred to as cooperative work of farm work, follow-up work, accompanying work, and the like. In this specification, the difference between an unmanned tractor and a manned tractor is the presence or absence of an operation by a user, and each configuration is basically common. That is, even if it is an unmanned tractor, the user can board (ride) and operate (that is, it can be used as a manned tractor), or even if it is a manned tractor, the user gets off and autonomously travels. It can be operated autonomously (that is, it can be used as an unmanned tractor). In addition, as cooperative work of farm work, in addition to “execution of farm work in a single farm field with unmanned vehicles and manned vehicles”, “farm work in different farm fields such as adjacent farm fields can be performed at the same time. "Execution" may be included.

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing a robot tractor 1 and a manned tractor 1X that perform cooperative work by generating a cooperative travel route by a route generation system 99 according to an embodiment of the present invention. FIG. 2 is a side view showing the overall configuration of the robot tractor 1. FIG. 3 is a plan view of the robot tractor 1. FIG. 4 is a diagram showing a wireless communication terminal 46 that is operated by a user and can wirelessly communicate with the robot tractor 1. FIG. 5 is a block diagram showing main electrical configurations of the robot tractor 1 and the wireless communication terminal 46. FIG. 6 is a block diagram illustrating a main electrical configuration provided in the work information setting unit 47 of the wireless communication terminal 46.

A route generation system 99 according to an embodiment of the present invention generates a cooperative traveling route that travels when the robot tractor 1 and the manned tractor 1X shown in FIG. Here, the cooperative travel route includes a first travel route for traveling the robot tractor (first work vehicle) 1 and a second travel route for traveling the manned tractor (second work vehicle) 1X. Each component of the route generation system 99 of the present embodiment is mainly provided in the wireless communication terminal 46 that wirelessly communicates with the robot tractor 1.

First, a robot tractor (hereinafter sometimes simply referred to as “tractor”) 1 will be described mainly with reference to FIGS.

The structure of the tractor 1 will be described with reference to FIGS. As shown in FIG. 1, the traveling machine body 2 of the tractor 1 is supported at its front part by a pair of left and right

front wheels

7 and 7 and at its rear part by a pair of left and right

rear wheels

8 and 8.

A bonnet 9 is arranged at the front of the traveling machine body 2. The bonnet 9 houses an engine 10 that is a driving source of the tractor 1, a fuel tank (not shown), and the like. Although this engine 10 can be comprised, for example with a diesel engine, it is not restricted to this, For example, you may comprise with a gasoline engine. Further, an electric motor may be employed as a drive source in addition to or instead of the engine 10.

A cabin 11 for the user to board is arranged behind the hood 9. Inside the cabin 11, there are mainly provided a steering handle 12 for a user to steer, a seat 13 on which a user can be seated, and various operation devices for performing various operations. However, the work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

As the operation device, the monitor device 14 shown in FIG. 3, the throttle lever 15, the main transmission lever 27, the plurality of hydraulic operation levers 16, the PTO switch 17, the PTO transmission lever 18, the auxiliary transmission lever 19, and the work equipment lift switch 28 etc. can be mentioned as an example. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.

The monitor device 14 is configured to display various information of the tractor 1. The throttle lever 15 is an operating tool for setting the output rotational speed of the engine 10. The main transmission lever 27 is an operating tool for changing the traveling speed of the tractor 1 in a stepless manner. The hydraulic operation lever 16 is an operation tool for switching and operating a hydraulic external take-off valve (not shown). The PTO switch 17 is an operating tool for switching the transmission / cut-off of power to a PTO shaft (power transmission shaft) (not shown) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates to drive the work implement 3, while when the PTO switch 17 is in the OFF state, the power to the PTO shaft is cut off. Thus, the PTO shaft does not rotate and the work machine 3 is stopped. The PTO speed change lever 18 is used to change the power input to the work machine 3, and specifically, is an operating tool for changing speed of the rotational speed of the PTO shaft. The auxiliary transmission lever 19 is an operating tool for switching the gear ratio of the traveling auxiliary transmission gear mechanism in the transmission 22. The work implement raising / lowering switch 28 is an operating tool for raising and lowering the height of the work implement 3 attached to the traveling machine body 2 within a predetermined range.

As shown in FIG. 2, a chassis 20 of the tractor 1 is provided at the lower part of the traveling machine body 2. The chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

The fuselage frame 21 is a support member at the front portion of the tractor 1 and supports the engine 10 directly or via a vibration isolation member. The transmission 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheel 8.

As shown in FIG. 5, the tractor 1 includes a control unit 4 for controlling the operation of the traveling machine body 2 (forward, reverse, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.). . The control unit 4 includes a CPU, a ROM, a RAM, an I / O, etc. (not shown), and the CPU can read various programs from the ROM and execute them. The controller 4 is electrically connected to a controller for controlling each component (for example, the engine 10 and the like) included in the tractor 1 and a wireless communication unit 40 that can wirelessly communicate with other wireless communication devices. ing.

As the above controller, the tractor 1 includes at least an unillustrated engine controller, vehicle speed controller, steering controller, and elevator controller. Each controller can control each component of the tractor 1 in accordance with an electrical signal from the control unit 4.

The engine controller controls the rotational speed of the engine 10 and the like. Specifically, the engine 10 is provided with a governor device 41 including an unillustrated actuator that changes the rotational speed of the engine 10. The engine controller can control the rotational speed of the engine 10 by controlling the governor device 41. Further, the engine 10 is provided with a fuel injection device 52 that adjusts the injection timing / injection amount of fuel to be injected (supplied) into the combustion chamber of the engine 10. The engine controller can stop the supply of fuel to the engine 10 and stop the driving of the engine 10 by controlling the fuel injection device 52, for example.

The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with a transmission 42 which is, for example, a movable swash plate type hydraulic continuously variable transmission. The vehicle speed controller can change the gear ratio of the transmission 22 and change to the desired vehicle speed by changing the angle of the swash plate of the transmission 42 with an actuator (not shown).

The steering controller controls the turning angle of the steering handle 12. Specifically, a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering handle 12. With this configuration, when the tractor 1 travels (as an unmanned tractor) on a predetermined route, the control unit 4 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. Then, a control signal is output to the steering controller so that the obtained rotation angle is obtained. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4 and controls the rotation angle of the steering handle 12. Note that the steering controller does not adjust the turning angle of the steering handle 12, but may adjust the steering angle of the front wheel 7 of the tractor 1. In this case, the steering handle 12 even if turning is performed. Does not rotate.

The elevating controller controls the elevating of the work machine 3. Specifically, the tractor 1 includes an elevating actuator 44 composed of a hydraulic cylinder or the like in the vicinity of a three-point link mechanism that connects the work machine 3 to the traveling machine body 2. With this configuration, the lift controller drives the lift actuator 44 based on the control signal input from the control unit 4 to appropriately lift and lower the work implement 3 so that the work implement 3 performs farm work at a desired height. It can be carried out. By this control, the work machine 3 can be supported at a desired height such as a retreat height (a height at which farm work is not performed) and a work height (a height at which farm work is performed).

Note that the plurality of controllers (not shown) control each part of the engine 10 and the like based on a signal input from the control part 4, so that the control part 4 substantially controls each part. I can grasp it.

The tractor 1 including the control unit 4 as described above controls various parts of the tractor 1 (the traveling machine body 2, the work implement 3, etc.) by the control unit 4 when the user gets into the cabin 11 and performs various operations. Thus, the farm work can be performed while traveling in the field. In addition, the tractor 1 of the present embodiment can be autonomously run and autonomously operated by a predetermined control signal output from the wireless communication terminal 46 without the user getting on the tractor 1.

Specifically, as shown in FIG. 5 and the like, the tractor 1 has various configurations for enabling autonomous traveling and autonomous work. For example, the tractor 1 has a configuration such as a positioning antenna 6 necessary for acquiring position information of itself (the traveling machine body 2) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel on the field.

Next, the configuration of the tractor 1 for enabling autonomous traveling will be described in detail with reference to FIG. Specifically, the tractor 1 of this embodiment includes a positioning antenna 6, a wireless communication antenna 48, a storage unit 55, and the like. In addition to these, the tractor 1 is provided with an unillustrated inertial measurement unit (IMU) that can specify the posture (roll angle, pitch angle, yaw angle) of the traveling machine body 2.

The positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 2, the positioning antenna 6 is attached to the upper surface of the roof 5 provided in the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information calculation unit 49 shown in FIG. The position information calculation unit 49 calculates the position information of the traveling machine body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as latitude / longitude information, for example. The position information calculated by the position information calculation unit 49 is input to the control unit 4 and used for autonomous traveling.

In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and other positioning systems can be used as long as high-precision position coordinates can be obtained. May be. For example, it is conceivable to use a relative positioning method (DGPS) or a geostationary satellite type satellite navigation augmentation system (SBAS).

The wireless communication antenna 48 receives a signal from the wireless communication terminal 46 operated by the user or transmits a signal to the wireless communication terminal 46. As shown in FIG. 2, the radio communication antenna 48 is attached to the upper surface of the roof 5 provided in the cabin 11 of the tractor 1. A signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is subjected to signal processing by the wireless communication unit 40 shown in FIG. The signal transmitted from the control unit 4 to the wireless communication terminal 46 is subjected to signal processing by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

The front camera 57 captures the front of the tractor 1. The rear camera 56 photographs the rear of the tractor 1. The moving image data captured by the front camera 57 and the rear camera 56 is signal-processed by the wireless communication unit 40 and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display a moving image based on the received moving image data on the display 37.

The vehicle speed sensor 53 detects the vehicle speed of the tractor 1 and is provided on the axle between the

front wheels

7 and 7, for example. The remaining fuel sensor 54 detects the remaining amount of fuel in a fuel tank (not shown) mounted in the bonnet 9 and is provided in the fuel tank. The detection results obtained by the vehicle speed sensor 53 and the remaining fuel amount sensor 54 are signal-processed by the wireless communication unit 40 and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display the received detection result on the display 37.

The storage unit 55 alternates a linear or broken line-shaped traveling path (a work path for performing farm work) P1 and a turning arc-shaped connection path (turning circuit) P2 that are paths for autonomously traveling the tractor 1. Is a memory that stores a travel route (path) P that is connected to, and a transition (travel locus) of the position of the tractor 1 (strictly speaking, the positioning antenna 6) that is traveling autonomously. In addition, the storage unit 55 stores various information necessary for the tractor 1 to autonomously travel and work.

The wireless communication terminal 46 is configured as a tablet personal computer as shown in FIG. In the present embodiment, a user who operates the manned tractor 1X gets on the manned tractor 1X with the wireless communication terminal 46, and, for example, sets the radio communication terminal 46 on an appropriate support unit in the manned tractor 1X for operation. Alternatively, a user who is different from the operator who operates the manned tractor 1X operates the generation of the travel route with the wireless communication terminal 46 outside the

tractors

1 and 1X. The user can check by referring to information (for example, information from various sensors attached to the robot tractor 1) displayed on the display 37 of the wireless communication terminal 46. Further, the user operates the hardware key 38 disposed in the vicinity of the display 37 and the touch panel 39 disposed so as to cover the display 37 to control the tractor 1 with the control unit 4 of the tractor 1. The control signal can be transmitted. Here, the control signal output from the wireless communication terminal 46 to the control unit 4 includes a signal related to the route of autonomous running / autonomous work, a start signal of autonomous running / autonomous work, a stop signal, an end signal, an emergency stop signal, and a temporary stop. A signal, a restart signal after a temporary stop, and the like are conceivable, but not limited thereto.

Note that the wireless communication terminal 46 is not limited to a tablet-type personal computer, but can be configured by, for example, a notebook-type personal computer. Alternatively, for example, the monitor device 14 mounted on the manned tractor 1X may be a wireless communication terminal.

The tractor 1 configured in this manner can perform farm work by the work implement 3 while traveling autonomously along a route on the farm field based on a user instruction using the wireless communication terminal 46.

Specifically, by performing various settings using the wireless communication terminal 46, the user alternates between a linear or broken line-shaped traveling path P1 and an arc-shaped connecting path P2 that connects the ends of the traveling path. It is possible to generate a travel route P as a series of routes connected to the. Then, by inputting (transferring) information on the travel route (path) P generated in this way to the control unit 4 and performing a predetermined operation, the control unit 4 controls the tractor 1 and the tractor 1 Can be farmed by the work implement 3 while traveling autonomously along the travel route P.

As shown in FIG. 1, in the present embodiment, in cooperation with a robot tractor (first work vehicle) that performs autonomous traveling / autonomous work along the first traveling route P, manned along the second traveling route P ′. The tractor (second work vehicle) 1X performs manual travel and manual work. Specifically, for example, of two adjacent traveling paths P1, P1 ′, the robot tractor 1 travels on one traveling path P1 and the manned tractor 1X travels on the other traveling path P1 ′. A case where the work is performed in an area is conceivable. The travel path P1 is a travel path included in the first travel path P, and the travel path P1 'is a travel path included in the second travel path P'.

In this collaborative work, the robot tractor 1 travels on the preceding side and the manned tractor 1X travels on the subsequent side so that a user on the manned tractor 1X can easily view the robot tractor 1 directly. It is common. In other words, in a general cooperative work mode using two robot tractors 1 and manned tractors 1X, the manned tractor 1X travels diagonally right or left behind the robot tractor 1. A user who has boarded the manned tractor 1X performs manual travel and manual work, monitors the robot tractor 1 on the preceding side, and operates the wireless communication terminal 46 as necessary to autonomously travel and autonomously operate the robot tractor 1. Give work instructions.

Hereinafter, the configuration of the wireless communication terminal 46 including the main components of the route generation system 99 according to the embodiment of the present invention will be described in more detail with reference to FIGS. 4 to 16. FIG. 6 is a block diagram illustrating a main electrical configuration provided in the work information setting unit 47 of the wireless communication terminal 46. FIG. 7 is a diagram illustrating a display example of the input selection screen on the display 37 of the wireless communication terminal 46. FIG. 8 is a diagram illustrating a display example of the work vehicle information input screen 70 on the display 37 of the wireless communication terminal 46. FIG. 9 is a diagram illustrating a display example of the field information input screen 80 on the display 37 of the wireless communication terminal 46. FIG. 10 is a diagram illustrating a display example of a work mode / position relationship setting screen 90 for setting a work mode and a positional relationship on the display 37 of the wireless communication terminal 46. FIG. 11 is a diagram showing a display example of a priority setting window 91 for setting whether to give priority to maintaining the positional relationship on the display 37 of the wireless communication terminal 46. FIG. 12 is a diagram illustrating a display example of a section / reference work setting screen 92 for setting a section and a reference work on the display 37 of the wireless communication terminal 46. FIG. 13 is a diagram showing a display example of an overlap width setting screen 93 for setting the overlap width on the display 37 of the wireless communication terminal 46. FIG. 14 is a diagram showing a display example of a skip number setting screen 94 for setting the skip number on the display 37 of the wireless communication terminal 46. FIG. 15 is a diagram illustrating a display example of a non-work area width setting screen 96 for setting the headland width and the non-work area width on the display 37 of the wireless communication terminal 46. FIG. 16 is a diagram illustrating a display example of the autonomous traveling monitoring screen 100 on the display 37 of the wireless communication terminal 46.

As shown in FIGS. 4 and 5, the wireless communication terminal 46 according to the present embodiment includes a display 37, a hardware key 38, and a touch panel 39, as main components, a display control unit 31, a field shape acquisition unit 33, A travel route generation unit (cooperative travel route generation unit) 35, a work vehicle information setting unit 36, a field information setting unit 45, a work information setting unit 47, a storage unit 32, and the like are provided.

Specifically, as described above, the wireless communication terminal 46 is configured as a computer, and includes a CPU, a ROM, a RAM, and the like (not shown). The wireless communication terminal 46 is preinstalled with a control application for controlling the tractor 1. And by cooperation of the hardware and software described above, the wireless communication terminal 46 is connected to the display control unit 31, the field shape acquisition unit 33, the travel route generation unit 35, the work vehicle information setting unit 36, the field information setting unit 45, the work. The information setting unit 47 and the storage unit 32 can be operated.

The display control unit 31 creates display data to be displayed on the display 37, and performs control to switch the display screen appropriately. The display control unit 31 can generate an input selection screen 60 as an initial screen (menu screen) shown in FIG. 7 and display it on the display 37. In addition, when a predetermined operation is performed on the input selection screen 60, the display control unit 31 generates input screens 70, 80, and 90 (see FIGS. 8 to 10), which will be described later, and displays the display screen on the display 37. Can be switched to 70, 80, 90.

The field shape acquisition unit 33 shown in FIG. 5 acquires the shape of the field by, for example, rotating the tractor 1 once along the outer periphery of the field and recording the transition of the position of the positioning antenna 6 at that time. It is. The field shape acquired by the field shape acquisition unit 33 is stored in the storage unit 32. However, the method of acquiring the shape of the field is not limited to this. For example, instead of this, the position information of the corners of the field is recorded, and a line graph connecting the recorded points does not intersect with a so-called closed graph. The identified polygon may be acquired as the shape of the field.

The travel route generation (cooperative travel route generation unit) 35 generates a first travel route P that is input (transferred) to the tractor 1 and a second travel route P ′ that is referred to by a user who drives the manned tractor 1X. The travel route generator 35 automatically sets the first travel route P and the second travel route when work vehicle information, farm field information, and work information, which will be described later, are set without omission and when a predetermined operation is performed. A cooperative traveling route including P ′ is generated (calculated). The generated cooperative travel route is stored in the storage unit 32.

The work vehicle information setting unit 36 receives work vehicle information (information on the traveling machine body 2 and the work machine 3) input on a work vehicle information input screen 70 described later. The work vehicle information set by the work vehicle information setting unit 36 is stored in the storage unit 32.

The farm field information setting unit 45 receives farm field information (information about farm fields) input on a farm field information input screen 80 described later. The field information set by the field information setting unit 45 is stored in the storage unit 32.

The work information setting unit 47 receives work information (information related to the work mode etc.) input on the work mode / position relation setting screen 90 or the like. More specifically, as shown in FIG. 6, the work information setting unit 47 includes a work mode setting unit (cooperative work mode setting unit) 101, a positional relationship setting unit 102, a priority receiving unit 103, an overlap width setting unit 104, A skip number setting unit 105, a non-work area width setting unit 106, a section setting unit 107, and a reference work setting unit 108 are mainly provided. Each of these components will be described in detail later. The work information set by the work information setting unit 47 is stored in the storage unit 32.

The storage unit 32 includes a non-volatile memory (for example, a flash ROM), and includes work vehicle information set by the work vehicle information setting unit 36, field information set by the field information setting unit 45, and The work information set by the work information setting unit 47 can be stored. In addition, the storage unit 32 can store information on the registered field shape, information on the generated travel routes P and P ′, and the like. The storage unit 32 stores information on the generated travel routes P and P ′ in association with work vehicle information, field information, and work information used for generating the travel routes P and P ′.

Next, operations performed by the user using the wireless communication terminal 46 when setting the work vehicle information, the field information, and the work information and generating the travel routes P and P ′ will be described in detail.

Before the user starts to set the work vehicle information, the field information, and the work information, the display 37 of the wireless communication terminal 46 has an input selection screen created by the display control unit 31 as shown in FIG. 60 is displayed as an initial screen (menu screen). The input selection screen 60 includes a work vehicle information input operation unit 61, a field information input operation unit 62, a work information input operation unit 63, a travel route generation / transfer operation unit 64, and a farm work start operation unit 65. Mainly displayed.

These operation units are all configured as virtual buttons (so-called icons) displayed on the display 37. However, when none of the work vehicle information, the field information, and the work information is set, the work vehicle information input operation unit 61, the field information input operation unit 62, the work information input operation unit 63, the travel route generation / transfer operation Of the unit 64 and the farm work start operation unit 65, only the work vehicle information input operation unit 61 can be operated. That is, the field information input operation unit 62, the work information input operation unit 63, the travel route generation / transfer operation unit 64, and the farm work start operation unit 65 are initially disabled (for example, grayed out) and touched. Can not even operate.

When the user starts setting the work vehicle information, the field information, and the work information, first, the work vehicle information input operation unit 61 on the input selection screen 60 is operated. The work vehicle information input operation unit 61 is a button operated when switching from the input selection screen 60 to the work vehicle information input screen 70.

When the user operates the work vehicle information input operation unit 61, a predetermined first selection screen (not shown) is displayed. When the tractor information set (registered) in the past exists on the first selection screen, Tractor information set in the past is displayed in a selectable manner.

The first selection screen can be selected only when tractor information is newly set (registered) or past tractor information is changed (provided that tractor information set in the past exists). ) Appears to be selectable. When the user selects new registration, the display screen of the display 37 is switched to the work vehicle information input screen 70 shown in FIG.

In the work vehicle information input screen 70, work vehicle information related to the traveling machine body 2 and the work machine 3 attached to the traveling machine body 2 can be input. Specifically, the work vehicle information input screen 70 includes, as work vehicle information, the model of the tractor 1, the mounting position of the positioning antenna 6 with respect to the traveling machine body 2, the lateral width of the tractor 1 and the work machine 3, and the three-point link mechanism. The distance from the rear end (rear end of the lower link) to the rear end of the work machine 3, the offset amount (distance) of the center line of the work machine 3 from the center line of the tractor 1, the vehicle speed during the work in the forward path, the return path Vehicle speed at work in the headland, vehicle speed at headland (turning), engine speed at work in the forward path, engine speed at work in the return path, engine speed at headland (turning), etc. Each column to be specified is arranged. Although only a part of the above-described fields are displayed on the work vehicle information input screen 70 shown in FIG. 8, the remaining fields can be displayed by performing an operation of scrolling the screen downward from the state of FIG. Can do.

When the specification for all items on the work vehicle information input screen 70 is completed, a “vehicle setting confirmation” button (not shown) is displayed. When the user operates the “confirm vehicle setting” button, an unillustrated setting confirmation screen is displayed, and the contents specified in each column are displayed for confirmation. When the user operates the “OK” button (not shown) on the setting confirmation screen, the contents of the work vehicle information are stored in the storage unit 32, and the setting of the work vehicle information is completed. When the setting (registration) of the work vehicle information is completed, a “edit / add field information” button and a “return to input selection screen” button are selectably displayed at the bottom of the display screen. When “edit / add field information” is selected, field information can be set in the same manner as when the field information input operation unit 62 is operated on the input selection screen 60. When “return to input selection screen” is selected, the display screen is switched to the input selection screen 60.

It should be noted that the work vehicle information can be stored (that is, stored in the storage unit 32) for each of the plurality of work vehicles by repeating the operation of inputting and registering each item on the work vehicle information input screen 70. The stored work vehicle information is used by selecting as tractor information set (registered) in the past on the first selection screen described above when the work vehicle information input operation unit 61 is operated on the input selection screen 60. Can do.

When the user finishes setting (registering) the work vehicle information and returns to the input selection screen 60 in FIG. 7, the field information input operation unit 62 of the input selection screen 60 can be operated. The field information input operation unit 62 is a button operated when switching from the input selection screen 60 to the field information input screen 80.

When the user operates the field information input operation unit 62, a predetermined second selection screen (not shown) is displayed, and when the field information set (registered) in the past exists on the second selection screen, the past The field information set to is displayed in a selectable manner.

Also, on the second selection screen, whether to newly set (register) farm field information or change past farm field information (however, only when past farm field information exists) can be selected. ) Appears to be selectable. When the user selects new registration, the display screen of the display 37 is switched to the field information input screen 80 shown in FIG.

In the farm field information input screen 80, it is possible to input information related to the travel area (field) in which the traveling machine body 2 travels. Specifically, on the farm field information input screen 80, a plane display unit 81 that displays the shape of the farm field as a graphic (graphically) is arranged. In the field information input screen 80, “record start” and “redo” buttons are arranged in the “position / shape of outer periphery of field” and “position / shape of obstacle” fields. In the field information input screen 80, “set” and “redo” buttons are arranged in the “work start position”, “work end position”, and “work direction” fields.

When the “recording start” button of “the position and shape of the outer periphery of the field” is operated, the wireless communication terminal 46 switches to the field shape recording mode. In this field shape recording mode, for example, when the tractor 1 is rotated once around the outer periphery of the field, the position transition of the positioning antenna 6 at that time is recorded by the field shape acquisition unit 33, and the field shape acquisition unit At 33, the shape of the field is acquired (calculated). Thereby, the position, shape, and area of the field can be specified. The position and shape of the outer periphery of the field thus calculated (designated) are graphically displayed on the plane display unit 81. Further, by operating the “redo” button, the position (designation) of the outer periphery of the field can be recorded again.

Similarly, when the “recording start” button of “obstacle position / shape” is operated, the wireless communication terminal 46 switches to the obstacle outer periphery shape recording mode. In this obstacle outer periphery shape recording mode, for example, when the tractor 1 is rotated once along the outer periphery of the obstacle, the transition of the position of the positioning antenna 6 at that time is recorded by the obstacle shape acquisition unit (not shown). The shape of the obstacle is acquired (calculated). Thereby, the position, shape and area of the obstacle can be designated. The position and shape of the obstacle calculated (designated) in this way are graphically displayed on the plane display unit 81 together with the shape of the field. Further, by operating the “redo” button, the position (designation) of the outer periphery of the obstacle can be recorded again.

When the “set” button of “work start position” is operated, the field and obstacle shapes acquired as described above are superimposed on the map data and displayed on the plane display unit 81 of the field information input screen 80. In this state, when the user selects an arbitrary point near the contour of the field, position information near the selected point can be set as a work start position. The “work end position” can also be set in the same manner as the “work start position”.

When the “setting” button of “work direction” is operated, the plane display unit 81 of the field information input screen 80 displays the field and obstacle shape, the work start position, and the work end position acquired as described above as map data. And is displayed superimposed. In this state, for example, when the user selects two arbitrary points on the contour of the field, the direction of the straight line connecting the two points can be set as the work direction.

When the settings for all items on the field information input screen 80 are completed, a “Register” button is displayed. When the content designated by the user is confirmed on the flat display unit 81 or the like and the “register” button is operated, the content of the set field information is stored in the storage unit 32, and the setting of the field information is completed. When the setting (registration) of the field information is completed, a “Edit / Add work” button and a “Return to input selection screen” button are displayed at the bottom of the display screen in a selectable manner. When “edit / add work” is selected, work information can be set in the same manner as when the work information input operation unit 63 is operated on the input selection screen 60. When “return to input selection screen” is selected, the display screen is switched to the input selection screen 60.

In addition, by repeating the operation of registering each item on the farm field information input screen 80, farm field information can be stored (that is, stored in the storage unit 32) for each of a plurality of farm fields. The stored field information can be used by selecting the field information set (registered) in the past on the second selection screen described above when the field information input operation unit 62 is operated on the input selection screen 60. .

When the user finishes setting the field information and returns to the input selection screen 60 of FIG. 7, the work information input operation unit 63 of the input selection screen 60 can be operated. In other words, the work information input operation unit 63 is in an inoperable state until the user finishes setting the work vehicle information and the field information. That is, the work information setting unit 47 inputs information (setting of work information) until the work vehicle information is set by the work vehicle information setting unit 36 and the field information is set by the field information setting unit 45. The configuration is not accepted. This work information input operation unit 63 is a button operated when switching from the input selection screen 60 to the work mode / position relationship setting screen 90 shown in FIG.

When the user operates the work information input operation unit 63, the display screen is switched to the work mode / position relationship setting screen 90 shown in FIG.

In the work mode / position relationship setting screen 90, the work mode of the tractor 1 (and the manned tractor 1X) can be set. Moreover, when performing farm work with a plurality of tractors, the positional relationship between the tractors can be set. Specifically, when the manned tractor 1X travels accompanying (coordinated) with the robot tractor 1 and the work mode in which the manned tractor 1X travels diagonally to the left of the robot tractor 1 is selected, The 1-accompanying work selection unit 111 is operated. In the case where the manned tractor 1X is caused to travel accompanying (coordinated) with the robot tractor 1 and the work mode in which the manned tractor 1X is caused to travel diagonally right behind the robot tractor 1 is selected, the second accompanying work selection unit 112 is operated. When selecting a work mode in which the manned tractor 1X travels behind the robot tractor 1 (the robot tractor 1 and the manned tractor 1X travel on the same traveling path) and performs the follow-up work, the follow-up work selection unit 113 operates. Is done. When the robot tractor 1 performs farm work alone, the single work selection unit 114 is operated. When the robot tractor 1 and the manned tractor 1X cooperate to perform farm work on the traveling paths in different work areas, the separate zone cooperative work selection unit 115 is selected.

The first accompanying task selection unit 111, the second accompanying task selection unit 112, the follow-up task selection unit 113, the single task selection unit 114, and the separate section cooperative task selection unit 115 are configured as virtual buttons, and display of the buttons The position of the touch panel 39 corresponding to the area can be operated by the user touching with a finger or the like. The selected button is displayed with emphasis, for example, surrounded by a red bold frame (see FIG. 11). When the user operates the “set” button at the bottom of the work mode / position relationship setting screen 90 with any of the

selection units

111, 112,... 115 selected, the work mode is set in the work mode setting unit 101. The positional relationship is received by the positional relationship setting unit 102, the contents of the set work mode / position relationship are stored in the storage unit 32, and the setting of the work mode / position relationship is completed.

Either the first accompanying work selection unit 111 or the second accompanying work selection unit 112 is selected, and the “set” button at the bottom of the work mode / position relation setting screen 90 is operated to set the work mode / position relation. Is completed, a priority setting window 91 for selecting whether or not to give priority to maintaining the positional relationship between the robot tractor 1 and the manned tractor 1X is displayed when generating a route (see FIG. 11). When the user touches the “Yes” portion of the priority setting window 91 with a finger or the like, the priority receiving unit 103 receives that the maintenance of the positional relationship of the vehicle is prioritized and is stored in the storage unit 32. Thereby, subsequent route generation is performed with priority given to maintaining the positional relationship of the vehicle. On the other hand, when the user touches the “No” portion of the priority setting window 91 with a finger or the like, the priority receiving unit 103 receives that the maintenance of the positional relationship of the vehicle is not prioritized and is stored in the storage unit 32. In this case, the subsequent route generation is performed without necessarily being restricted by the vehicle positional relationship set on the work mode / positional relationship setting screen 90.

On the other hand, the separate zone cooperative work selection unit 115 is selected on the work mode / position relationship setting screen 90, and the “set” button at the bottom of the work mode / position relationship setting screen 90 is operated to set the work mode / position relationship. When the process is completed, a section / reference work setting screen 92 for setting sections and setting necessity / unnecessity of reference work is displayed (see FIG. 12). In the section / reference work setting screen 92 shown in FIG. 12, a partition line (vertical line) 116 for partitioning is displayed at the center of the rectangle virtually displaying the field (work area) (FIG. 12). 12). The user can change the ratio of division (ratio of the first work area and the second work area) by tapping the division line 116 and moving it left and right. In addition, virtual buttons “Yes” and “No” are displayed at the bottom of the section / reference work setting screen 92 together with a message “Do you need reference work?”. When the user selects “Yes”, a travel route for reference work is generated in the subsequent route generation. On the other hand, when the user selects “No”, the travel route for the reference work is not generated in the subsequent route generation.

The user places the dividing line 116 for the above-mentioned division at an appropriate position, and selects either the “Yes” or “No” button described above, and the “setting” at the bottom of the reference work setting screen 92 ”Button, the section setting unit 107 receives the position of the section, the reference work setting unit 108 determines whether the reference work is necessary, and the contents of the set section / reference work setting are stored in the storage unit 32. Completion of partition / standard work settings.

After the above setting is completed, the display screen of the display 37 of the wireless communication terminal 46 is switched to the overlap width setting screen 93 shown in FIG. The overlap width setting screen 93 includes an overlapped setting unit 121 that is selected when the adjacent traveling roads overlap each other, and no overlap that is selected when the adjacent traveling roads are not overlapped (overlapped). The setting unit 122 is configured as a virtual button, and can be operated by the user touching the position of the touch panel 39 corresponding to the display area of the button with a finger or the like. When the overlap presence setting unit 121 is selected, this button is displayed with emphasis, for example, surrounded by a red bold frame, and the overlap width can be touch-inputted. On the other hand, when the non-overlap setting section 122 is selected, this button is displayed with emphasis, for example, by being surrounded by a red bold frame, and a touch space can be input for the width between adjacent travel paths.

When the user selects either the overlap setting unit 121 or the non-overlap setting unit 122, inputs the value of the above width, and presses the “set” button at the bottom of the overlap width setting screen 93, the overlap This information is received by the width setting unit 104, the set contents are stored in the storage unit 32, and the setting of the overlap width is completed.

After the above setting is completed, the display screen of the display 37 of the wireless communication terminal 46 is switched to the skip number setting screen 94 shown in FIG. The skip number setting screen 94 includes an arbitrary travel path P1 on the travel path (first travel path) P on which the robot tractor 1 travels, and a travel path P1 on which the robot tractor 1 travels next to the arbitrary travel path P1. A “don't skip” button 123 for selecting that the number of travel paths arranged between the two is zero is arranged as a virtual button. Further, on the right side of the “do not skip” button 123, the robot tractor 1 travels on an arbitrary travel path P1 of the travel path (first travel path) P on which the robot tractor 1 travels and next to the arbitrary travel path P1. A “one-line skip” button 124 for selecting that the number of travel paths arranged between the travel path P1 and the travel path P1 is one is arranged as a virtual button. Further, on the right side of the “one-line skip” button 124, the robot tractor 1 next to an arbitrary travel path P1 of the travel path (first travel path) P on which the robot tractor 1 travels and the arbitrary travel path P1. A “two-row skip” button 125 for selecting that the number of travel routes arranged between the travel route P1 and the travel route P1 is two rows is arranged as a virtual button. When the user selects any of these

buttons

123, 124, and 125 by touching the button, the button is highlighted and displayed, for example, surrounded by a red thick line frame. In this state, when the user presses the “set” button at the bottom of the skip number setting screen 94, this information is received by the skip number setting unit 105, the set contents are stored in the storage unit 32, and the skip number is set. Is completed.

After the above setting is completed, the display screen of the display 37 of the wireless communication terminal 46 is switched to the non-work area width setting screen 96 shown in FIG. On the non-work area width setting screen 96, the width of the headland where the robot tractor 1 (and the manned tractor 1X) turns or turns, and the non-work area (side margin) arranged along the traveling direction of the robot tractor 1 are displayed. Are displayed in a schematic image. In the above image of the non-work area width setting screen 96, the recommended width calculated based on the work width and overlap width preset by the user is displayed, but by performing a pull-down operation, For example, a value that is an integral multiple of the work width can be set as the headland width or the non-work area width. However, the present invention is not limited to this, and the user can input a desired width as a headland width or a non-working area width by touch input.

When the user selects or inputs the headland width and the non-working area width and presses the “set” button at the bottom of the non-working area width setting screen 96, the non-working area width setting unit 106 receives this information. Thus, the set contents are stored in the storage unit 32, and the setting of the headland width and the non-working area width is completed.

When the user finishes setting the work information and returns to the input selection screen of FIG. 7, the travel route generation / transfer operation unit 64 of the input selection screen 60 can be operated. In other words, the travel route generation / transfer operation unit 64 is in an inoperable state until the user finishes setting the work vehicle information, the field information, and the work information. That is, path generation / transfer is possible only when the field information and work information are input without omission.

When the user selects the travel route generation / transfer operation unit 64, the first travel route P of the robot tractor 1 (and the second travel route P ′ of the manned tractor 1X, if applicable) is automatically generated. The travel route is stored in the storage unit 32. When the travel route is generated, a “path simulation” button is displayed on the display screen of the display 37 so as to be selectable. By selecting (operating) the “path simulation” button, an image representing the generated travel route with an arrow or a line is displayed. An animation display in which the tractor icon moves along the travel route may be performed.

After the “path simulation” is displayed, a “transfer data” button and a “return to input selection screen” button are displayed on the display screen of the display 37 in a selectable manner. When “transfer data” is selected, an instruction for transferring the travel route information to the control unit 4 of the tractor 1 can be given. When the “return to input selection screen” button is selected, the display screen is switched to the input selection screen 60.

As described above, in the route generation system 99 of the present embodiment, the information on the travel route generated on the wireless communication terminal 46 side can be transmitted to the control unit 4 of the tractor 1. The control unit 4 stores the information on the travel route (first travel route P) received from the wireless communication terminal 46 in the storage unit 55 electrically connected to the control unit 4.

Only after the first travel route P is stored in the storage unit 55, the farm work start operation unit 65 of the input selection screen 60 can be operated. The control unit 4 can issue an instruction to start work by the traveling machine body 2 and the work machine 3, and can issue an instruction to start until the first traveling route P is generated and input to the storage unit 55. The configuration is not possible.

When the user operates the farm work start operation unit 65 on the input selection screen 60, the control unit 4 performs the travel and farm work of the tractor 1 so that the tractor 1 autonomously travels and works along the first travel route P input. Control. With the start of this autonomous traveling, the display screen of the display 37 is switched to the autonomous traveling monitoring screen 100 shown in FIG.

On the left side of the autonomous traveling monitoring screen 100, a front camera display unit 131 that displays moving image data captured by the front camera 57 is arranged. A rear camera display unit 132 that displays moving image data captured by the rear camera 56 is disposed on the left side of the autonomous traveling monitoring screen 100 and below the front camera display unit 131.

A vehicle speed display unit 133 that displays the current vehicle speed of the tractor 1 is disposed at the upper part of the autonomous traveling monitoring screen 100. The vehicle speed display unit 133 displays the current vehicle speed of the tractor 1 acquired based on the data transmitted from the vehicle speed sensor 53.

A required fuel amount display unit 134 is arranged at the bottom of the autonomous traveling monitoring screen 100. In the fuel requirement display section 134, the amount of fuel required from the start of farm work to the end is displayed. The required amount of fuel can be calculated based on the length (distance) of the work path, the vehicle speed, the engine speed, and the like set by the user. In addition, the wireless communication terminal 46 obtains the detection result from the fuel remaining amount sensor 54, calculates the amount of fuel that is deficient based on the detection result, and displays the fuel requirement amount display unit 134 together with the amount of required fuel. indicate.

On the right side of the autonomous traveling monitoring screen 100, a traveling state display unit 109 that displays image data including the traveling path P1 or the connecting path P2 during traveling of the tractor 1 is arranged. For example, as shown in FIG. 9, the image data displayed on the running state display unit 109 displays the shape of the farm field and the shape of the work area superimposed on the map data, and the running of the tractor 1 thereon. The locus can be indicated by hatching. The traveling state display unit 109 of the present embodiment displays the first traveling route P of the robot tractor 1 and the second traveling route P ′ of the manned tractor 1X.

The user who steers the manned tractor 1X supports the autonomous communication monitoring screen displayed on the display 37 of the wireless communication terminal 46 by supporting the wireless communication terminal 46 on, for example, an appropriate support part of the traveling body 2 of the manned tractor 1X. With reference to 100, the manned tractor 1X can be caused to travel along the second travel route P ′ to perform farm work. Thereby, the cooperative work of the robot tractor 1 and the manned tractor 1X can be realized.

Hereinafter, the cooperative traveling route generated by the route generating system 99 will be described in detail.

In FIG. 17, the cooperative work for causing the manned tractor 1X to travel diagonally right behind the robot tractor 1 is selected, the priority is given to maintaining the positional relationship between the robot tractor 1 and the manned tractor 1X, and one column skip is performed. An example of travel routes P and P ′ generated by the travel route generator 35 when selected is shown. In the travel routes P and P ′, as shown in FIG. 17, the number of skips varies from 2 columns → 0 columns → 2 columns → 0 columns. On the other hand, in the travel routes P and P ′, as shown in FIG. 17, the positional relationship in which the manned tractor 1 </ b> X is disposed diagonally to the right of the robot tractor 1 is maintained regardless of whether it is the forward route or the return route. When such travel routes P and P ′ are adopted, the user of the manned tractor 1X may perform the steering operation with the intention of always running the manned tractor 1X diagonally right behind the robot tractor 1. There is an advantage that it is easy to work with the position of the tractor 1 as a guide.

In FIG. 18, the cooperative work in which the manned tractor 1X travels diagonally right behind the robot tractor 1 is selected, and it is selected that priority is not given to maintaining the positional relationship between the robot tractor 1 and the manned tractor 1X. An example of travel routes P and P ′ generated by the travel route generator 35 when selected is shown. In the travel routes P and P ′, as shown in FIG. 18, the number of skips is constant in one row. On the other hand, in the travel routes P and P ′, as shown in FIG. 18, the positional relationship in which the manned tractor 1X is disposed diagonally to the right of the robot tractor 1 is maintained in the outward path when viewed from the start position. However, in the return path, the manned tractor 1X is disposed behind the robot tractor 1 diagonally to the left (the set position relationship is not maintained). When such travel routes P and P ′ are adopted, the user of the manned tractor 1X may turn in the same turning mode (same turning radius, etc.) in the headland on one side and the headland on the other side. There is a merit that the operation becomes easy for a user who is unfamiliar with the operation.

FIG. 19 shows an example of travel routes P and P ′ generated by the travel route generator 35 when a section is set in the field and the reference work is set to “necessary”. In the travel routes P and P ′, as shown in FIG. 19, the second work area where the farm work is mainly performed by the manned tractor 1X is arranged adjacent to the boundary line (partition line) with the first work area. Only the traveling path P0 is autonomously traveled and autonomously performed by the robot tractor 1, and the traveling path P1 ′ of the other second work area is performed by the manned tractor 1X. On the other hand, in the first work area, all the traveling paths P1 are autonomously traveled and autonomously performed by the robot tractor 1. When such travel routes P and P ′ are adopted, the robot tractor 1 autonomously travels and works on the travel route P0 arranged adjacent to the boundary line with the first work area of the second work areas. Then, with this traveling road P0 as a reference (reference), it is possible to perform agricultural work on the traveling roads P1 ′, P1 ′,... By the manned tractor 1X in the second work area. Therefore, there is an advantage that it is easy to perform farming work in an orderly manner on the field.

FIG. 20 shows an example of travel routes P and P ′ generated by the travel route generator 35 when a section is set in the field and the reference work is set to “unnecessary”. In the travel routes P and P ′, as shown in FIG. 20, a first work area where the farm work is performed by the robot tractor 1 and a second work area where the farm work is performed by the manned tractor 1X are partitioned by a lane marking. Are arranged side by side. When such travel routes P and P ′ are adopted, the work area (field) can be divided into a plurality of parts and can be shared by the robot tractor 1 and the manned tractor 1X, so that the work can be efficiently performed as a whole. There is a merit that it can be done.

As described above, the route generation system 99 of the present embodiment includes the work mode setting unit (cooperative work mode setting unit) 101, the positional relationship setting unit 102, and the travel route generation unit (cooperative travel route generation unit) 35. And a priority reception unit (reception unit) 103. The work mode setting unit 101 sets a cooperative work mode of the robot tractor (first work vehicle) 1 and the manned tractor (second work vehicle) 1X. The positional relationship setting unit 102 sets the positional relationship between the robot tractor 1 and the manned tractor 1X when the cooperative work mode is cooperative work in the same work area. The traveling route generation unit 35 includes a first traveling route P on which the robot tractor 1 travels and a second traveling route P ′ on which the manned tractor 1X travels when the cooperative work mode is cooperative work in the same work area. Generate a route. The priority receiving unit 103 receives whether or not priority is given to maintaining the positional relationship. When priority is given to maintaining the positional relationship by the priority receiving unit 103, a cooperative traveling route (first traveling route P and second traveling route P ′) that maintains the positional relationship is generated (see FIG. 17). If priority for maintaining the positional relationship is not received by the priority receiving unit 103, a cooperative traveling route (first traveling route P and second traveling route P ′) that does not maintain the positional relationship is generated (see FIG. 18).

Thus, the coordinated travel route can be fluidly generated according to the user's intention without necessarily being restricted by the positional relationship between the robot tractor 1 and the manned tractor 1X set by the positional relationship setting unit 102.

Further, in the route generation system 99 of the present embodiment, the first travel route P and the second travel route P ′ each include a plurality of travel routes P1, P1 ′ arranged in parallel. When a cooperative travel route (first travel route P and second travel route P ′) that does not maintain the positional relationship is generated by the travel route generation unit 35, the arbitrary travel route P1 of the first travel route P and the arbitrary travel The number of rows of travel roads arranged between the road P1 and the other travel road P1 traveled by the robot tractor 1 is maintained at a constant number (see FIG. 18).

As a result, when priority is not given to maintaining the set positional relationship between the robot tractor 1 and the manned tractor 1X, the robot tractor 1 travels after the arbitrary traveling path P1 of the robot tractor 1 and the arbitrary traveling path P1. The number of rows of travel routes arranged between the travel route P1, that is, the so-called skip number indicating how many rows the robot tractor 1 skips and travels on the next travel route P1 is maintained at a constant number. In this case, the turning method (turning radius or the like) between the headland on one side of the field and the headland on the other side is fixed in a fixed manner, so that the turning operation is facilitated.

Further, the route generation system 99 of the present embodiment is a cooperative work in different work areas, and the first work area is worked by the robot tractor 1 and the second work area is worked by the manned tractor 1X. In addition, a reference work setting unit 108 is provided for setting whether or not the reference work by the robot tractor 1 in the second work area is necessary. As the first travel path P, a travel path including a travel path P0 in which the reference work is performed by the robot tractor 1 in the second work area and a plurality of travel paths P1 in which the work is performed by the robot tractor 1 in the first work area. Is generated. As the second travel route P ′, a travel route including a plurality of travel routes P <b> 1 ′ on which work is performed by the manned tractor 1 </ b> X in the second work area excluding the area where the reference work is performed is generated (see FIG. 19).

As a result, in the second work area, the robot tractor 1 performs the reference work (work along the travel path P0), and the manned tractor 1X uses the manned tractor 1X with reference to the travel path P0 on which the work is performed in the reference work. The operation can be performed on the travel path P1 ′. Therefore, it is easy to orderly work on the work area.

Further, the route generation system 99 of the present embodiment generates a travel route including a plurality of travel routes P1, P1,... On which work is performed by the robot tractor 1 in the first work area as the first travel route P. . As the second travel route P ′, a travel route including a plurality of travel routes P1 ′, P1 ′,... In which work is performed by the manned tractor 1X in the second work area is generated.

Thereby, different work areas can be shared by the robot tractor 1 and the manned tractor 1X, and the work can be efficiently performed as a whole.

Although a preferred embodiment of the present invention has been described above, the above configuration can be modified as follows, for example.

In the cooperative work of the robot tractor 1 and the manned tractor 1X in the above embodiment, the robot tractor 1 travels on the leading side and the manned tractor 1X runs on the trailing side. The manned tractor 1X may be driven by the robot tractor 1 on the following side.

In the above embodiment, when the traveling route generation unit 35 generates a cooperative traveling route that does not maintain the positional relationship, the robot tractor 1 is located next to the arbitrary traveling route P1 of the first traveling route P and the arbitrary traveling route P1. It is assumed that the number of rows of traveling roads arranged between the other traveling roads P1 traveled by the above is kept constant. However, when there are fractions in the number of travel paths P1, the number of skips may not be constant in some travel paths P1.

In the example shown in FIG. 20, the first work area and the second work area are partitioned so as to have the same area. However, the present invention is not limited to this, and the first work area may be wider than the second work area, or the first work area may be narrower than the second work area. By appropriately moving the dividing line 116 shown in FIG. 12, for example, the number of rows of travel paths in the first work area and the number of rows of travel paths in the second work area are appropriately changed, so that the first work vehicle The headland where the work end position is arranged and the headland where the work end position of the second work vehicle is arranged can be the same headland.

In the above embodiment, the reference work is performed on the traveling path on the second work area side adjacent to the lane marking. When comprised in this way, the boundary of a 1st work area | region and a 2nd work area | region becomes easy to understand visually, and there exists a merit that the user who steers the manned tractor 1X will work easily. However, the present invention is not necessarily limited to this, and the reference work may be performed on any of the travel paths in the second work area. For example, you may perform a reference | standard work with respect to the running path located in the edge on the opposite side to the side by which the division line of a 2nd work area | region is arrange | positioned.

The display screen (input screen etc.) shown in each figure is only an example, and the display layout and the design of each icon (button) are not limited to those shown in the figure.

In the above embodiment, the work mode setting unit 101, the positional relationship setting unit 102, the travel route generating unit 35, the priority receiving unit 103, and the reference work setting unit 108 are provided in the wireless communication terminal 46. Whether the configuration is provided in the tractor 1 or the wireless communication terminal 46 is not limited to this. Further, other components may be included in either the tractor 1 or the wireless communication terminal 46.

A device having a function corresponding to the wireless communication terminal 46 may be provided on the traveling machine body 2 of the manned tractor 1X traveling along with the tractor 1 so as not to be removable. In this case, the wireless communication terminal 46 can be omitted.

In the above embodiment, the second work vehicle is a manned tractor 1X that the user steers. However, the present invention is not limited to this, and the second work vehicle is also an unmanned tractor, like the first work vehicle, and autonomously transfers the second travel route P ′ generated by the travel route generation unit 35 to this tractor. It is good also as what makes it drive | work.

1 (Robot) Tractor (first work vehicle)
1X Manned tractor (second work vehicle)
35 Travel route generation unit (cooperative travel route generation unit)
99 route generation system 101 work mode setting unit (cooperative work mode setting unit)
102 Positional relationship setting unit 103 Priority receiving unit (receiving unit)
108 Standard work setting section

Claims

A collaborative work mode setting unit for setting a collaborative work mode of the first work vehicle and the second work vehicle;
A positional relationship setting unit that sets a positional relationship between the first work vehicle and the second work vehicle when the cooperative work mode is a cooperative work in the same work area;
Cooperation that generates a cooperative travel route including a first travel route on which the first work vehicle travels and a second travel route on which the second work vehicle travels when the cooperative work mode is a cooperative work in the same work area. A travel route generator,
An accepting unit for accepting whether to give priority to maintaining the positional relationship;
A route generation system comprising:
The cooperative travel route generation unit
When priority is given to maintaining the positional relationship by the reception unit, the cooperative travel route that maintains the positional relationship is generated,
The route generating system, wherein when the priority for maintaining the positional relationship is not received by the receiving unit, the cooperative traveling route that does not maintain the positional relationship is generated.
The route generation system according to claim 1,
Each of the first travel route and the second travel route includes a plurality of travel routes arranged in parallel,
When the cooperative traveling route that does not maintain the positional relationship is generated by the cooperative traveling route generation unit, the cooperative work route is traveled by the first work vehicle next to an arbitrary traveling route of the first traveling route and the arbitrary traveling route. A route generation system characterized in that the number of rows of travel routes arranged between other travel routes is maintained at a constant number.
The route generation system according to claim 2,
The cooperative work is a cooperative work in different work areas, and when the first work area is worked by the first work vehicle and the second work area is worked by the second work vehicle, the second work area A reference work setting unit for setting whether or not the reference work by the first work vehicle is necessary;
When the reference work is set to be essential by the reference work setting unit, the cooperative travel route generation unit is
As the first travel route, a travel path in which the reference work is performed by the first work vehicle in the second work area, and a plurality of travel paths in which work is performed by the first work vehicle in the first work area; Generate a travel route that includes
A route that generates a travel route including a plurality of travel routes on which work is performed by the second work vehicle in the second work region excluding the region on which the reference work is performed as the second travel route. Generation system.
The route generation system according to claim 3,
When the reference work is set to be unnecessary by the reference work setting unit, the cooperative travel route generation unit,
As the first travel route, a travel route including a plurality of travel routes in which work is performed by the first work vehicle in the first work area is generated,
A route generation system that generates a travel route including a plurality of travel routes in which work is performed by the second work vehicle in the second work area as the second travel route.