WO2022138071A1 - 経路設定方法、自律走行方法、経路設定装置、自律走行システム、及び記憶媒体 - Google Patents
経路設定方法、自律走行方法、経路設定装置、自律走行システム、及び記憶媒体 Download PDFInfo
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- WO2022138071A1 WO2022138071A1 PCT/JP2021/044467 JP2021044467W WO2022138071A1 WO 2022138071 A1 WO2022138071 A1 WO 2022138071A1 JP 2021044467 W JP2021044467 W JP 2021044467W WO 2022138071 A1 WO2022138071 A1 WO 2022138071A1
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- work
- route
- area
- work vehicle
- departure
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- 238000000034 method Methods 0.000 title claims description 44
- 238000012790 confirmation Methods 0.000 claims description 38
- 238000004891 communication Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 239000000463 material Substances 0.000 description 9
- 238000012545 processing Methods 0.000 description 7
- 238000003306 harvesting Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 239000000284 extract Substances 0.000 description 1
- 230000004720 fertilization Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2107/00—Specific environments of the controlled vehicles
- G05D2107/20—Land use
- G05D2107/21—Farming, e.g. fields, pastures or barns
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
Definitions
- the present invention relates to a route setting method, an autonomous traveling method, a route setting device, an autonomous traveling system, and a storage medium.
- Patent Document 1 Japanese Unexamined Patent Publication No. 09-154315
- a position for replenishing materials and discharging harvested products is set in advance in the field, and a work vehicle working in the field is set based on the instructions of the worker.
- a control device that moves to a set position is disclosed.
- Patent Document 2 Japanese Unexamined Patent Publication No. 2019-174890 discloses an automatic traveling system for moving a work vehicle working in a field to a preset evacuation area based on an operator's instruction.
- the travelable area when moving to the replenishment position or the evacuation area, the travelable area is not set according to the type of work.
- the travelable area differs depending on the type of work being performed in the field. For example, in the work of sowing, the work vehicle should not travel in the work area. Also, in harvesting work, the work vehicle should not travel in unworked areas.
- one of the purposes of the present disclosure is to provide a route setting device that sets a travelable area according to the type of work.
- Other purposes can be understood from the following description and description of embodiments.
- the route setting method includes receiving an instruction to a work vehicle moving in the field along a preset work route and acquiring the position of the work vehicle. ..
- the route setting method is based on the instruction and the work machine used for work in the field by moving the work vehicle in the field, and the departure route for the work vehicle to leave the work area where the work is performed in the field. Includes producing.
- the autonomous traveling method according to the embodiment for achieving the above object includes the above-mentioned route setting method and automatically moving the work vehicle along the departure route or the work route.
- the route setting device includes a status confirmation unit and a departure route setting unit.
- the situation confirmation unit receives an instruction to the work vehicle moving in the field along the preset work route, and acquires the position of the work vehicle.
- the departure route setting unit sets a departure route for the work vehicle to leave the work area where the work is performed in the field, based on the instruction and the work machine used for the work in the field by the work vehicle moving in the field. Generate.
- the autonomous traveling system includes the above-mentioned route setting device and a work vehicle that automatically moves along the departure route or the work route.
- the non-temporary storage medium stores the routing program.
- the route setting program receives an instruction to the work vehicle moving in the field along the preset work route, acquires the position of the work vehicle, and causes the arithmetic unit to execute the instruction.
- the route setting program is a departure route for the work vehicle to leave the work area where the work is performed in the field, based on the instruction and the work machine used for the work in the field by the work vehicle moving in the field. Let the arithmetic unit execute to generate.
- the traveling vehicle can travel in an area according to the type of work.
- FIG. 1 is a schematic view of a field in one embodiment.
- FIG. 2 is a configuration diagram of an autonomous traveling system according to an embodiment.
- FIG. 3 is a functional block diagram of the autonomous traveling system according to the embodiment.
- FIG. 4 is a flowchart showing processing by the route setting program in one embodiment.
- FIG. 5A is a diagram for explaining the area division in one embodiment.
- FIG. 5B is a diagram for explaining the area division in one embodiment.
- FIG. 6 is a diagram for explaining a detachment position and a detachment direction in one embodiment.
- FIG. 7A is a flowchart showing a process of generating a departure route in one embodiment.
- FIG. 7B is a flowchart showing a process of generating a departure route in one embodiment.
- FIG. 7A is a flowchart showing a process of generating a departure route in one embodiment.
- FIG. 7B is a flowchart showing a process of generating a departure route in one embodiment
- FIG. 8A is a diagram for explaining a process of generating a first path in one embodiment.
- FIG. 8B is a diagram for explaining a process of generating a first path in one embodiment.
- FIG. 9 is a diagram for explaining a process of generating a withdrawal route in one embodiment.
- FIG. 10 is a diagram for explaining a process of generating a withdrawal route in one embodiment.
- FIG. 11 is a diagram for explaining a process of generating a withdrawal route in one embodiment.
- FIG. 12 is a diagram for explaining a process of generating a withdrawal route in one embodiment.
- the autonomous traveling system 100 according to the present embodiment of the present invention will be described with reference to the drawings.
- the field 10 in which the work, for example, plowing, leveling, fertilization, harvesting, etc., is performed using the work vehicle 130 surrounds the central work area 11 and the work area 11 as shown in FIG. It has a headland 12 and the like.
- the work area 11 represents an area where work is performed and crops are cultivated.
- the headland 12 is provided, for example, for the work vehicle 130 to turn.
- the work vehicle 130 includes a vehicle that pulls the work machine, such as a tractor, and a vehicle that is integrally formed with the work machine, such as a combine.
- the work vehicle 130 moves in the field 10 to perform work using the work machine in the field 10.
- the work vehicle 130 leaves the work area 11 and moves to the departure position 13 in order to replenish materials such as seedlings.
- the traveling area in which the work vehicle 130 can travel differs depending on the type of work. For example, when planting, the work vehicle 130 may not be able to enter the planted area. Also, when harvesting, the work vehicle 130 may not be able to enter the unharvested area. Therefore, the autonomous traveling system 100 according to the present embodiment generates a route to the departure position 13 according to the model of the work machine used for the work.
- the autonomous traveling system 100 includes a terminal 110 and a work vehicle 130.
- the terminal 110 creates a route for the work vehicle 130 to move in the field.
- the terminal 110 includes an input / output device 111, a communication device 112, a storage device 113, and an arithmetic unit 114.
- the terminal 110 includes, for example, a computer, a tablet, a mobile phone, and the like.
- Information for the arithmetic unit 114 to execute the process is input to the input / output device 111.
- the input / output device 111 outputs the result of the processing executed by the arithmetic unit 114.
- the input / output device 111 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like.
- the communication device 112 communicates with the communication device 131 of the work vehicle 130.
- the communication device 112 transfers each information acquired from the work vehicle 130 to the arithmetic unit 114. Further, the signal generated by the arithmetic unit 114 is transferred to the communication device 131 of the work vehicle 130.
- the communication device 112 includes various interfaces such as a wireless LAN (Local Area Network) transmitter / receiver, a NIC (Network Interface Card), and a USB (Universal Serial Bus).
- the storage device 113 stores various data for setting the route of the work vehicle 130, for example, the route setting program 200.
- the storage device 113 is used as a non-transitory tangible storage medium for storing the routing program 200.
- the route setting program 200 may be provided as a computer program product recorded on a computer-readable storage medium 1, or may be provided as a computer program product that can be downloaded from a server.
- the arithmetic unit 114 reads and executes the route setting program 200 from the storage device 113 to perform various data processing for setting the route of the work vehicle 130. By executing the route setting program 200, the arithmetic unit 114 realizes the work route setting unit 210, the status confirmation unit 220, the departure position setting unit 230, and the departure route setting unit 240, as shown in FIG. do.
- the arithmetic unit 114 includes a central processing unit (CPU; Central Processing Unit) and the like.
- the work route setting unit 210 generates a work route to which the work vehicle 130 moves when the work is performed in the field 10.
- the status confirmation unit 220 acquires the position of the work vehicle 130 in the field 10 at each time and confirms the work status in the field.
- the detachment position setting unit 230 sets the detachment position 13 at which the work vehicle 130 detaches from the work area 11 to the headland 12 and stops when replenishing materials.
- the departure route setting unit 240 generates a departure route when the work vehicle 130 moves to the departure position 13.
- the work vehicle 130 includes a communication device 131, a positioning device 132, and a control device 133.
- the communication device 131 communicates with the communication device 112 of the terminal 110.
- the communication device 131 transfers each information acquired from the arithmetic unit 114 of the terminal 110 to the control device 133. Further, the signal generated by the control device 133 is transferred to the communication device 112 of the terminal 110.
- the communication device 131 includes various interfaces such as a wireless LAN (Local Area Network) transmitter / receiver, a NIC (Network Interface Card), and a USB (Universal Serial Bus).
- the positioning device 132 measures the position of the work vehicle 130.
- the positioning device 132 is, for example, a receiver of a GNSS (Global Navigation Satellite System), receives a signal from an artificial satellite or a base station on the ground, and measures the position of the work vehicle 130 at each time.
- the position information representing the measured time and position is transmitted to the control device 133.
- GNSS Global Navigation Satellite System
- the control device 133 controls each part of the work vehicle 130 to realize the vehicle control unit 260 shown in FIG.
- the vehicle control unit 260 acquires the position information of the work vehicle 130 from the positioning device 132, operates the work vehicle 130, for example, accelerates, steers, and brakes, and along the path of acquiring the work vehicle 130 from the terminal 110. Move it. Further, the vehicle control unit 260 controls the operation of the work machine to perform the work in the field 10.
- the control device 133 includes an arithmetic unit such as a central processing unit (CPU).
- step S110 the work route setting unit 210 realized by the arithmetic unit 114 of the terminal 110 generates a work route and a work start signal indicating the start of work in the vehicle control unit 260 of the work vehicle 130.
- the vehicle control unit 260 controls the work vehicle 130 so as to automatically move along the work path represented by the work start signal. Further, the vehicle control unit 260 controls the operation of the work machine based on the work start signal.
- the work route is set before starting the work and is stored in the storage device 113 of the terminal 110.
- the status confirmation unit 220 acquires position information from the vehicle control unit 260 of the work vehicle 130, and determines a work area and an unworked area based on the acquired position information. Specifically, the vehicle control unit 260 transmits the position information measured by the positioning device 132 to the status confirmation unit 220.
- the status confirmation unit 220 acquires the position of the work vehicle 130 at each time from the acquired position information, and determines the area where the work is completed based on the acquired position of the work vehicle 130. For example, the status confirmation unit 220 determines the periphery of the acquired position of the work vehicle 130, for example, a range included in a predetermined distance from the acquired position as a work-completed area.
- the status confirmation unit 220 determines the area from the start position to the position of the work vehicle 130 in the work path as the area where the work is completed. Further, the status confirmation unit 220 determines the area from the position of the work vehicle 130 to the end position in the work path as an area where the work has not been completed.
- step S130 the status confirmation unit 220 determines whether the detachment operation for detaching the work vehicle 130 to the detachment position 13 has been input to the input / output device 111 of the terminal 110.
- the status confirmation unit 220 displays a withdrawal button on the input / output device 111 of the terminal 110 and accepts the withdrawal operation by the user.
- the status confirmation unit 220 determines that the withdrawal operation has been input.
- the status confirmation unit 220 determines that the withdrawal operation has not been input, the status confirmation unit 220 returns to the process of step S120 and repeats the process.
- the status confirmation unit 220 determines that the withdrawal operation has been input, the process proceeds to step S140.
- the departure route setting unit 240 determines the traveling area 300 in which the work vehicle 130 travels based on the work machine. Specifically, the departure route setting unit 240 selects one area division from a plurality of, for example, three area divisions, based on the type or model of the work machine, for example, the work machine.
- the area division represents a travelable area determined according to the work and is associated with the type or model of the work machine used for the work.
- the departure route setting unit 240 determines the traveling area 300 based on the selected area division.
- the type or model of the work machine may be input in advance by the user from the input / output device 111 of the terminal 110, or may be obtained from the vehicle control unit 260 of the work vehicle 130.
- the departure route setting unit 240 sets the unworked area as a travel prohibited area and sets the worked area and the headland 12 as a travelable area based on the type or model of the work machine used. Select the area division to be used. Therefore, based on the selected area division, the departure route setting unit 240 sets the unworked area as the traveling prohibited area 310 that prohibits the traveling of the work vehicle 130, as shown in FIG. 5A. Further, the work area, for example, the area around the track 140 to which the work vehicle 130 has moved, and the headland 12 are set to the travel area 300 in which the work vehicle 130 can travel.
- the departure route setting unit 240 sets the worked area as a travel prohibited area and sets the unworked area and the headland 12 as a travelable area based on the type or model of the work machine used. Select the area division to be used. Therefore, based on the selected area division, the departure route setting unit 240 sets the worked area as the traveling prohibited area 310 that prohibits the traveling of the work vehicle 130, as shown in FIG. 5B. Further, the unworked area and the headland 12 are set to the traveling area 300 in which the work vehicle 130 can travel.
- the departure route setting unit 240 selects an area division for setting the entire field 10 as a travelable area based on the type or model of the work machine used. Therefore, based on the selected area division, the departure route setting unit 240 sets the entire field 10 in the traveling area 300 in which the work vehicle 130 can travel. In this case, the departure route setting unit 240 may generate the shortest route from the position of the work vehicle 130 to the departure position 13 as the departure route.
- the departure position setting unit 230 selects the departure position 13 and the departure direction 350 indicating the traveling direction when the vehicle stops at the departure position 13, according to the input of the user. For example, as shown in FIG. 6, the user selects the departure position 13 on the map of the field 10 displayed on the input / output device 111 of the terminal 110. The detachment position setting unit 230 sets the selected detachment position 13 as the detachment position. Further, the user selects the departure direction 350 indicating the traveling direction when the work vehicle 130 stops at the departure position 13. The departure position setting unit 230 sets the selected departure direction 350 as the traveling direction when the work vehicle 130 reaches the departure position 13.
- step S160 the departure route setting unit 240 generates a departure route from the current work vehicle 130 to the departure position 13.
- the departure route is generated so that the entire route is included in the traveling area 300. The method of generating the withdrawal route will be described later.
- step S170 the departure route setting unit 240 generates a departure start signal indicating the departure route in the vehicle control unit 260 of the work vehicle 130.
- the vehicle control unit 260 controls the work vehicle 130 so as to automatically move along the departure route represented by the departure start signal.
- the status confirmation unit 220 acquires position information from the vehicle control unit 260 of the work vehicle 130. Specifically, the vehicle control unit 260 transmits the position information measured by the positioning device 132 to the status confirmation unit 220. The status confirmation unit 220 acquires the position of the work vehicle 130 at each time from the acquired position information.
- step S180 the status confirmation unit 220 confirms that the work vehicle 130 has reached the departure position 13 and has stopped.
- the process ends.
- the arithmetic unit 114 when the work vehicle 130 leaves the headland 12, the arithmetic unit 114 generates a departure route according to the type or model of the work machine.
- the vehicle control unit 260 moves the work vehicle 130 along the generated departure route. In this way, the work vehicle 130 can be separated from the work area by the autonomous traveling method.
- the arithmetic unit 114 of the terminal 110 executes the processes shown in FIGS. 7A and 7B to generate an exit route.
- the departure route setting unit 240 realized by the arithmetic unit 114 of the terminal 110 generates the first route 400 based on the position of the work vehicle 130 in step S205. Specifically, the departure route setting unit 240 is based on the area division selected in step S140 of FIG. 4 and the position of the work vehicle 130, starting from the current position of the work vehicle 130, and the traveling direction of the work vehicle 130. A first path 400 parallel to is generated.
- the departure route setting unit 240 starts from the position of the current work vehicle 130 as a starting point and is predetermined in the traveling direction as shown in FIG. 8A.
- a distance, for example, a line segment extending by 1 m is set as the first path 400.
- the first route 400 indicates that the work vehicle 130 moves forward along the first route 400.
- the departure route setting unit 240 starts from the position of the current work vehicle 130 in the opposite direction of the traveling direction, as shown in FIG. 8B.
- a line segment extending by a predetermined distance, for example, 1 m is set as the first route 400. In this case, the first route 400 indicates that the work vehicle 130 moves backward along the first route 400.
- the departure route setting unit 240 In step S210 shown in FIG. 7A, the departure route setting unit 240 generates the second route 410 based on the departure position 13. Specifically, as shown in FIG. 9, the departure route setting unit 240 sets a line segment extending by a predetermined distance, for example, 1 m in the direction opposite to the departure direction 350 as the second route 410 with the departure position 13 as the end point. .. The second route 410 indicates that the work vehicle 130 advances in the departure direction 350 along the set line segment.
- step S215 shown in FIG. 7A the departure route setting unit 240 determines whether the second starting point 411 of the second route 410 is adjacent to the work area 11 included in the traveling area 300. Specifically, the departure route setting unit 240 determines whether the work vehicle 130 can move directly from the work area 11 to the second start point 411 of the second route 410. For example, as shown in FIG. 9, when the work area 11 adjacent to the second start point 411 of the second route 410 is the travel prohibited area 310, the departure route setting unit 240 has the work vehicle 130 as the second route 410 of the second route 410. 2 It is determined that the starting point 411 cannot be moved directly from the work area 11, and the process of step S220 is executed.
- the departure route setting unit 240 moves the work vehicle 130 directly from the work area 11 to the second start point 411 of the second route 410. It is determined that it can be done, and the process of step S225 is executed.
- the departure route setting unit 240 extends the second route 410 from the second starting point 411 of the second route 410 along the headland 12 until it is adjacent to the work area 11 included in the traveling area 300.
- the withdrawal route setting unit 240 generates an extension route 412 along the headland 12 from the start point of the second route 410, as shown in FIG.
- the extension path 412 is extended from the end point of the extension path 412 to a position where the extension start point 413 of the extension path 412 is adjacent to the work area 11 included in the traveling area 300. Therefore, the extension start point 413 of the extension path 412 is set at a position where the work vehicle 130 can move directly from the work area 11.
- the departure route setting unit 240 performs the subsequent processing with the route obtained by adding the extension route 412 to the second route 410 as the second route 410.
- the departure route setting unit 240 generates a first circle 420 in contact with the second route 410, and generates a route for the work vehicle 130 to enter the second route 410.
- the departure route setting unit 240 uses the start point of the second path 410, in this case, the extension start point 413 of the extension path 412 which is an extension of the second path 410, as a contact point, and the second path 410, in this case, Generate a first circle 420 tangent to the extension path 412. More specifically, the first circle 420 is generated so as to be in contact with a straight line extending in the traveling direction of the work vehicle 130 at the extension start point 413 of the extension path 412. In the example of FIG.
- the work vehicle 130 moves clockwise along the circumference of the first circle 420 so as to change the traveling direction to the right along the circumference of the first circle 420. It moves along the extension path 412.
- the first circle 420 has a minimum turning radius that represents the minimum radius that the work vehicle 130 can turn.
- the departure route setting unit 240 has an angle formed by the first tangent line 430 that passes through the first end point 401 of the first route 400 and is in contact with the first circle 420, and the angle formed by the first path 400 is less than the threshold value. Determine if there is. Specifically, as shown in FIG. 9, the departure route setting unit 240 generates a first tangent line 430 that passes through the first end point 401 of the first route 400 and touches the first circle 420. Next, as shown in FIG. 10, the first angle 450 formed by the first path 400 and the first tangent line 430 is calculated.
- the departure route setting unit 240 compares the calculated first angle 450 with the threshold value, and executes the process of step S235 when the first angle 450 is smaller than the threshold value.
- the departure route setting unit 240 executes the process of step S240 when the first angle 450 is equal to or greater than the threshold value.
- the threshold value is determined based on an angle at which the turning radius can be ignored when the working vehicle 130 changes the traveling direction. For example, if the angle for changing the traveling direction of the work vehicle 130 is 45 degrees or less and the turning radius of the work vehicle 130 can be ignored, the threshold value is 135 degrees.
- the departure route setting unit 240 generates the second circle 440 having the first end point 401 of the first route 400 as a contact point so that the work vehicle 130 turns toward the first circle 420.
- the departure route setting unit 240 uses the first end point 401 of the first route 400 as a contact point, and generates a second circle 440 in contact with the first route 400. More specifically, the second circle 440 is generated so as to tangent to a straight line including the first path 400.
- the work vehicle 130 moves clockwise along the circumference of the second circle 440 so as to change the traveling direction to the right along the circumference of the second circle 440.
- the traveling direction of the work vehicle 130 is directed to the first circle 420.
- the second circle 440 has a minimum turning radius that represents the minimum radius that the work vehicle 130 can turn.
- step S240 the departure route setting unit 240 generates a second tangent line 460 that is in contact with the first circle 420 and the second circle 440.
- the second tangent line 460 represents the route when the work vehicle 130 moves from the second circle 440 to the first circle 420.
- the circumference of the second circle 440 is a path for the work vehicle 130 to move clockwise. Therefore, the departure route setting unit 240 generates the second tangent line 460 so that the second circle 440 is located to the right of the work vehicle 130 when the work vehicle 130 moves along the second tangent line 460.
- the circumference of the first circle 420 is also a path for the work vehicle 130 to move clockwise.
- the departure route setting unit 240 generates the second tangent line 460 so that the first circle 420 is located to the right of the work vehicle 130 when the work vehicle 130 moves along the second tangent line 460.
- the second tangent line 460 is generated according to the direction in which the work vehicle 130 turns when moving on the circumference of the first circle 420 and on the circumference of the second circle 440.
- the departure route setting unit 240 generates a departure route 500 that connects each of the generated circles and line segments.
- the departure route setting unit 240 has the first path 400, the circumference of the second circle 440, the second tangent line 460, the circumference of the first circle 420, the extension path 412, and the first.
- the route connecting the two routes 410 is set as the departure route 500.
- the contact point with the first path 400 (first end point 401) is the starting point, and the contact point with the second tangent line 460 is connected clockwise.
- the arc is set as part of the departure path 500 shown in FIG. Of the second tangents 460 shown in FIG.
- a line segment having a contact point with the second circle 440 as a starting point and a contact point with the first circle 420 as an ending point is set as a part of the departure path 500.
- an arc connected clockwise with the contact point with the second tangent line 460 as the start point and the contact point with the extension path 412 (extension start point 413) as the end point is set as a part of the departure path 500.
- the departure route setting unit 240 includes the first route 400, the arc set as the route in the second circle 440, the line segment set as the route in the second tangent line 460, and the first circle 420. Of these, a path connecting the arc set as the path, the extension path 412, and the second path 410 is generated as the departure path 500 shown in FIG.
- step S230 When NO is determined in step S230, specifically, when the first angle 450 formed by the first tangent line 430 and the first path 400 is equal to or greater than the threshold value, the departure route setting unit 240 uses the second circle 440. Does not generate. Therefore, the departure route setting unit 240 leaves the route connecting the generated first route 400, the first tangent line 430, the circumference of the first circle 420, the extension route 412, and the second route 410, for example. Generated as path 500.
- the departure route setting unit 240 sets the extension route 412. Do not generate. Therefore, the departure route setting unit 240, for example, includes the generated first route 400, the circumference of the second circle 440, the second tangent line 460, the circumference of the first circle 420, and the second route 410.
- the connecting route is generated as the exit route 500.
- step S250 the departure route setting unit 240 determines whether the generated departure route 500 passes through the travel prohibition area 310.
- the departure route setting unit 240 executes step S255 in order to change the departure route 500.
- the departure route setting unit 240 determines the generated departure route 500 as a route for the work vehicle 130 to leave at the departure position 13, and determines the departure route 500 as a route for the work vehicle 130 to leave the departure position 13. End the generation.
- the departure route setting unit 240 changes the route included in the travel prohibition area 310 among the generated departure routes 500 to a route along the boundary between the travel prohibition area 310 and the travel area 300. Specifically, the departure route setting unit 240 extracts from the position where the work vehicle 130 enters the travel prohibited area 310 as a starting point when the work vehicle 130 moves along the generated departure route 500, and from the travel prohibited area 310 to the travel area. The position of entering 300 is extracted as the end point. The departure route setting unit 240 generates a detour route connecting the extracted start point to the end point along the boundary between the travel prohibited area 310 and the travel area 300. The departure route setting unit 240 changes the route included in the travel prohibition area 310 among the departure routes 500 to the generated detour route.
- the departure route setting unit 240 determines the newly generated departure route 500 as a route for the work vehicle 130 to leave at the departure position 13, and ends the generation of the departure route 500.
- the autonomous travel system 100 when the work vehicle 130 leaves the work area 11, the autonomous travel system 100 generates a route to the departure position 13 according to the type or model of the work machine, and works along the generated route.
- the vehicle 130 can be moved. Further, by setting the departure direction 350, the autonomous traveling system 100 can stop the work vehicle 130 at the departure position 13 in a direction designated by the user, for example, a direction in which it is easy to get on and off the work vehicle 130. ..
- the configuration described in the embodiment is an example, and the configuration can be changed as long as the function is not impaired.
- the situation confirmation unit 220 has shown an example in which the work vehicle 130 is withdrawn from the work area 11 based on the input of the withdrawal operation, but the present invention is not limited to this.
- the situation confirmation unit 220 may separate the work vehicle 130 from the work area 11 based on a predetermined instruction.
- the situation confirmation unit 220 may withdraw the work vehicle 130 by a supply instruction indicating that materials mounted on the work vehicle 130, such as seedlings, fertilizers, pesticides, etc., are to be replenished.
- the status confirmation unit 220 acquires the amount of materials loaded from the work vehicle 130.
- the status confirmation unit 220 determines that a replenishment instruction for replenishing the material has been input. Further, by inputting an operation for replenishing the material by the user, the status confirmation unit 220 may determine that the replenishment instruction has been input.
- the situation confirmation unit 220 may separate the work vehicle 130 from the work area 11 based on the discharge instruction indicating that the harvested crop is discharged. For example, the status confirmation unit 220 acquires the amount of crops stored from the work vehicle 130. When the amount of the acquired crop is larger than the threshold value, the status confirmation unit 220 determines that the discharge instruction for discharging the crop has been input. Further, the status confirmation unit 220 may determine that the discharge instruction has been input by inputting the operation for replenishing the material by the user.
- the status confirmation unit 220 has shown an example of determining a work area when the work vehicle 130 is moving along a work path, but the present invention is not limited to this.
- the status confirmation unit 220 may be able to distinguish between the worked area and the unworked area when the withdrawal operation is input.
- the status confirmation unit 220 may distinguish between the worked area and the unworked area based on the position of the work vehicle 130 when the withdrawal operation is input.
- the status confirmation unit 220 determines the area from the start position to the position of the work vehicle 130 in the work path as the work area. Further, the status confirmation unit 220 determines the area from the position of the work vehicle 130 to the end position in the work path as an unworked area.
- the departure route setting unit 240 has shown an example of selecting one area division from three area divisions based on the type or model of the work machine, but the present invention is not limited to this.
- the departure route setting unit 240 may select one area division from two or more area divisions.
- the area division may be preset by the user.
- the user may set an area division in which a predetermined area in the field 10 is a travel prohibited area 310 and may be associated with the type or model of the work machine.
- the set area division is stored in the storage device 113.
- the positioning device 132 may be arbitrarily selected as long as it can measure the position of the work vehicle 130.
- the positioning device 132 may measure the position of the work vehicle 130 by acquiring the speed, the traveling direction, and the like of the work vehicle 130 and calculating the movement route of the work vehicle 130.
- the terminal 110 may be realized by a plurality of terminals 110, and the terminal 110 may be a route setting device including a status confirmation unit 220 and a departure route setting unit 240. Further, the terminal 110 may be an autonomous traveling system including a vehicle control unit 260.
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- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
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Abstract
Description
本発明の本実施の形態による自律走行システム100を、図面を参照して説明する。本実施の形態において、作業車両130を用いて作業、例えば耕起、整地、施肥、収穫などが行われる圃場10は、図1に示すように、中央の作業領域11と、作業領域11を囲むように枕地12とを有する。作業領域11は、作業を行って作物を栽培する領域を表す。枕地12は、例えば作業車両130が旋回するために設けられている。作業車両130は、作業機械を牽引する車両、例えばトラクターと、作業機械と一体に形成された車両、例えばコンバインとを含む。作業車両130は、圃場10内を移動することで、圃場10において作業機械を使用した作業を行う。作業車両130は、圃場10で作業を行っているとき、資材、例えば苗を補給するために、作業領域11から離脱して離脱位置13に移動する。このとき、作業の種類に応じて、作業車両130が走行できる走行領域が異なる。例えば、植付を行っている場合、作業車両130は、植付済みの領域に立ち入ることができない場合がある。また、収穫を行っている場合、作業車両130は、未収穫の領域に立ち入ることができない場合がある。このため、本実施の形態による自律走行システム100は、作業に使用される作業機械の機種に応じて、離脱位置13までの経路を生成する。
自律走行システム100は、図2に示すように、端末110と、作業車両130とを備える。端末110は、作業車両130が圃場内で移動する経路を生成する。
作業車両130が圃場10での作業を開始する位置に移動して、ユーザ、例えば圃場10の所有者や生産者が端末110に作業を開始するための操作を入力すると、端末110は、経路設定方法である図4に示す処理を実行する。ステップS110において、端末110の演算装置114で実現される作業経路設定部210は、作業車両130の車両制御部260に作業経路と、作業の開始とを表す作業開始信号を生成する。車両制御部260は、作業開始信号を受信すると、作業開始信号に表された作業経路に沿って自動で移動するように作業車両130を制御する。また、車両制御部260は、作業開始信号に基づき、作業機械の操作を制御する。なお、作業経路は、作業を開始する前に設定されて、端末110の記憶装置113に格納されている。
次に、離脱経路の生成方法を説明する。端末110の演算装置114は、図7A、7Bに示す処理を実行して、離脱経路を生成する。端末110の演算装置114で実現される離脱経路設定部240は、ステップS205において、作業車両130の位置に基づき、第1経路400を生成する。具体的には、離脱経路設定部240は、図4のステップS140において選択された領域区分と、作業車両130の位置に基づき、現在の作業車両130の位置を始点として、作業車両130の進行方向に平行な第1経路400を生成する。
実施の形態において説明した構成は一例であり、機能を阻害しない範囲で構成を変更することができる。状況確認部220は、離脱操作の入力に基づき、作業車両130を作業領域11から離脱する例を示したが、これに限定されない。状況確認部220は、所定の指示に基づき、作業車両130を作業領域11から離脱させてもよい。例えば、状況確認部220は、作業車両130に搭載された資材、例えば苗、肥料、農薬などを補給することを表す補給指示により、作業車両130を離脱させてもよい。この場合、状況確認部220は、作業車両130から搭載されている資材の量を取得する。取得した資材の量が閾値より小さいとき、状況確認部220は、資材を補給するための補給指示が入力されたと判定する。また、ユーザが資材を補給するための操作を入力することで、状況確認部220は、補給指示が入力されたと判断してもよい。
Claims (13)
- 予め設定された作業経路に沿って圃場を移動している作業車両への指示を受け付け、前記作業車両の位置を取得することと、
前記指示と、前記作業車両が前記圃場内を移動することにより前記圃場において作業に使用される作業機械とに基づき、前記作業車両が前記圃場において作業を行う作業領域から離脱するための離脱経路を生成することと、
を含む経路設定方法。 - 前記離脱経路を生成することは、前記作業機械に基づき、前記圃場内に前記作業車両が走行可能な走行領域を表す複数の領域区分から1つを選択し、
前記離脱経路の全経路は、前記走行領域に含まれる
請求項1に記載の経路設定方法。 - 前記複数の領域区分のうちの第1領域区分は、前記指示を受け付けたときに前記作業が終了している領域を前記走行領域に含む
請求項2に記載の経路設定方法。 - 前記第1領域区分は、前記作業経路のうち、開始位置から前記指示を受けたときの前記作業車両の位置までの領域を前記作業が終了している領域と決定する
請求項3に記載の経路設定方法。 - 前記複数の領域区分のうちの第2領域区分は、前記指示を受け付けたときに前記作業が終了していない領域を前記走行領域に含む
請求項2から4のいずれか1項に記載の経路設定方法。 - 前記第2領域区分は、前記作業経路のうち、前記指示を受けたときの前記作業車両の位置から終了位置までの領域を前記作業が終了していない領域と決定される
請求項5に記載の経路設定方法。 - 前記複数の領域区分のうちの第3領域区分は、前記圃場内の全域を前記走行領域に含む
請求項2から6のいずれか1項に記載の経路設定方法。 - 前記離脱経路を生成することは、前記第3領域区分を選択したとき、前記指示を受けたときの前記作業車両の位置から前記作業領域から離脱する離脱位置までの最短経路を前記離脱経路として生成する
請求項7に記載の経路設定方法。 - 前記離脱経路を生成することは、前記離脱経路の終点において、前記作業車両が設定された離脱方向を向くように前記離脱経路を生成する
請求項1から8のいずれか1項に記載の経路設定方法。 - 請求項1から9のいずれか1項に記載の経路設定方法と、
前記離脱経路または前記作業経路に沿って自動で前記作業車両を移動させることと、
を含む自律走行方法。 - 予め設定された作業経路に沿って圃場を移動している作業車両への指示を受け付け、前記作業車両の位置を取得する状況確認部と、
前記指示と、前記作業車両が前記圃場内を移動することにより前記圃場において作業に使用される作業機械とに基づき、前記作業車両が前記圃場において作業を行う作業領域から離脱するための離脱経路を生成する離脱経路設定部と、
を備える経路設定装置。 - 請求項11に記載の経路設定装置と、
前記離脱経路または前記作業経路に沿って自動で移動する前記作業車両と、
を備える自律走行システム。 - 予め設定された作業経路に沿って圃場を移動している作業車両への指示を受け付け、前記作業車両の位置を取得することと、
前記指示と、前記作業車両が前記圃場内を移動することにより前記圃場において作業に使用される作業機械とに基づき、前記作業車両が前記圃場において作物を行う作業領域から離脱するための離脱経路を生成することと、
を演算装置に実行させる経路設定プログラムを記憶する非一時的記憶媒体。
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