JP2022160546A - Work vehicle autonomous traveling method and autonomous traveling system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To implement improvement of work efficiency by mitigating a burden of work for disposing a work vehicle at a work start position.

SOLUTION: A work vehicle autonomous traveling method includes setting, in a field, a work start position at which work is to be started by a work vehicle using autonomous traveling. When an instruction to move to the work start position is received, the work vehicle moves from the current position to the work start position using autonomous traveling.

SELECTED DRAWING: Figure 6

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to an autonomous travel method and an autonomous travel system for a work vehicle.

Conventionally, work vehicles such as tractors are known to be capable of autonomous travel (unmanned travel) along a set route. The work vehicle disclosed in Patent Document 1 is provided with a control program that defines work paths in each of the work area (central part of the work site) and the area (peripheral part) excluding the work area where work is performed by the work vehicle. , the control program allows the work vehicle to autonomously travel along the work path, thereby automating the predetermined work.

JP-A-10-66405

However, in the conventional work vehicle capable of autonomous travel, such as that disclosed in Patent Document 1, it was necessary for the operator to drive the work vehicle up to the start position of the work. For this reason, conventionally, after the operator places the work vehicle at the work start position, it is necessary to return to another work vehicle that accompanies the operator, and there is a problem that the work cannot be started immediately after the work vehicle is placed. In addition, when the work vehicles are far apart, the labor required for the movement of the operator becomes large.

The present invention has been made in view of such current problems, and is a work vehicle capable of reducing the burden of arranging a work vehicle at a work start position (work start point) and improving work efficiency. The purpose is to provide an autonomous driving method and an autonomous driving system.

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

That is, in an autonomous traveling method for a work vehicle according to one aspect of the present invention, a work start position is set in a field at which a work vehicle starts work by autonomous traveling, and the work vehicle moves to the work start position. When instructed, it autonomously moves from the current position to the work start position.
Further, an autonomous traveling system for a work vehicle according to another aspect of the present invention sets a work start position in a field at which the work vehicle starts work by autonomous traveling, and moves the work vehicle from the current position to the work start position. The work vehicle is provided with an operation device for instructing, and when an instruction to move to the work start position is given by the operation device, the work vehicle moves from the current position to the work start position by autonomous traveling.

According to the autonomous traveling method and autonomous traveling system for a work vehicle according to the present invention, it is no longer necessary for the operator to drive the work vehicle to the work start position (work start point), and the efficiency of the work performed using the work vehicle is improved. can do better.

1 is a schematic side view of an autonomous traveling work vehicle and a traveling work vehicle; FIG. FIG. 2 is a control block diagram of the autonomous working vehicle; The figure which shows the initial screen of a remote control. The figure which shows a field setting when using an autonomously traveling work vehicle. The figure which shows the area|region of a field. FIG. 4 is a diagram showing a situation when the autonomous traveling work vehicle starts autonomous traveling; The figure which shows the relationship between the driving|running|working start position of an autonomous driving|working vehicle, and an agricultural field. FIG. 4 is a diagram showing a determination situation based on an azimuth angle when the autonomously traveling work vehicle starts autonomously traveling to the work start position; The figure which shows the autonomous traveling condition (when deviation (alpha) is below a threshold value) to the work start position of an autonomous traveling working vehicle. The figure which shows the autonomous traveling condition (when the deviation (alpha) exceeds the threshold value) to the work start position of an autonomous traveling working vehicle. FIG. 4 is a diagram showing a setting state of an autonomous travel start position in an autonomous travel work vehicle; FIG. 4 is a diagram showing a setting state of an autonomous traveling start position in consideration of an azimuth angle and a deviation in an autonomous traveling work vehicle; The figure which shows the setting shape of an autonomous driving|running|working start position, (A) circle, (B) rectangle, (C) shape which width becomes narrow toward a work area side.

A configuration of an autonomously traveling working vehicle, which is a working vehicle according to an embodiment of the present invention, will be described with reference to FIGS. 1 to 5. FIG. As shown in FIG. 1, an unmanned and autonomously traveling autonomous working vehicle (hereinafter sometimes referred to as an unmanned vehicle) 1, and a manned vehicle operated by a worker in cooperation with the autonomous traveling working vehicle 1. The traveling working vehicle (hereinafter sometimes referred to as a manned vehicle) 100 is a tractor, and the autonomous traveling working vehicle 1 and the traveling working vehicle 100 are each equipped with a rotary tillage device as a working machine. However, the work vehicle is not limited to a tractor, and may be a combine harvester, etc., and the work machine is not limited to a rotary tillage device, and may be a ridge maker, a mower, a rake, a seeding machine, a fertilizer applicator, or the like. may

In this specification, the term "autonomous travel" means that the tractor travels along a predetermined route under the control of a configuration related to travel provided in the tractor by a control unit (ECU) provided in the tractor. Execution of agricultural work in a single field by unmanned vehicles and manned vehicles is sometimes referred to as cooperative work, follow-up work, accompaniment work, and the like of agricultural work. In addition to "executing agricultural work in a single field by unmanned vehicles and manned vehicles" as cooperative work of agricultural work, "agricultural work in different fields such as adjacent fields can be performed at the same time by unmanned vehicles and manned vehicles." may include "perform".

1 and 2, the overall configuration of a tractor that serves as an autonomous working vehicle 1 will be described. The body part 2 of the tractor has an engine 4 installed in a bonnet 3, a dashboard 14 provided in a cabin 12 at the rear of the bonnet 3, and a steering handle 5 serving as steering operation means on the dashboard 14. is provided. When the steering handle 5 is turned, the front wheels 10 are turned through the steering device. A steering actuator 40 that operates the steering system is connected to a steering controller 301 that constitutes the control unit 30 . A steering direction of the autonomous traveling work vehicle 1 is detected by a steering sensor 20 . The steering sensor 20 is an angle sensor such as a rotary encoder, and is arranged at the rotation base of the front wheel 10 . However, the detection configuration of the steering sensor 20 is not limited as long as the steering direction can be recognized, and the rotation of the steering wheel 5 or the operation amount of the power steering may be detected. A detection value obtained by the steering sensor 20 is input to the steering controller 301 of the control unit 30 .

The control unit 30 includes a steering controller 301, an engine controller 302, a gear shift controller 303, a horizontal controller 304, a work controller 305, a positioning controller 306, an autonomous travel controller 307, etc., each of which has a CPU (Central Processing Unit). , RAM, ROM, and other storage devices, interfaces, etc. The storage device stores programs, data, etc. for operation, and can communicate so that information, data, etc. can be transmitted and received by CAN communication. Also, the autonomous driving controller 307 has a memory 309 as a storage unit in which programs, data, and the like are stored.

A driver's seat 6 is arranged behind the steering handle 5 , and a transmission case 7 is arranged below the driver's seat 6 . Rear axle cases 9, 9 are provided continuously on both left and right sides of the transmission case 7, and rear wheels 11, 11 are supported by the rear axle cases 9, 9 via axles. Power from the engine 4 is changed by a transmission (main transmission and sub-transmission) in the transmission case 7 to drive the rear wheels 11 and 11 . The speed change device is composed of, for example, a hydraulic continuously variable speed change device. The transmission means 44 is connected to the transmission control controller 303 of the control section 30 . The number of revolutions of the rear wheels 11 is detected by the vehicle speed sensor 27 and input to the transmission controller 303 as the running speed. However, the method of detecting the vehicle speed and the arrangement position of the vehicle speed sensor 27 are not limited.

A PTO clutch and a PTO transmission are housed in the mission case 7, and the PTO clutch is turned on and off by the PTO on/off means 45. It is connected so that it is possible to control the connection and disconnection of power to the PTO shaft. Further, when a seeding machine, a ridge coating machine, or the like is installed as a working machine, a working machine controller 308 is provided so as to be able to control the working machine uniquely. is connected to the work control controller 305 via the

A front axle case 8 is supported by the front frame 13 that supports the engine 4, front wheels 10 are supported on both sides of the front axle case 8, and power from the transmission case 7 can be transmitted to the front wheels 10 and 10. It consists of The front wheels 10, 10 are steered wheels, and are rotatable by rotating the steering handle 5. The front wheels 10, 10 are steered left and right by a steering actuator 40 consisting of a power steering cylinder serving as a driving means of the steering device. It is rotatable. The steering actuator 40 is connected to and controlled by a steering controller 301 of the control unit 30 .

An engine controller 302 serving as engine rotation control means is connected to an engine rotation speed sensor 61, a water temperature sensor, an oil pressure sensor, and the like, so that the state of the engine 4 can be detected. The engine controller 302 detects the load from the set rotation speed and the actual rotation speed, and controls it so that it does not become overloaded. ing.

In addition, a level sensor 29 for detecting the liquid level of the fuel is arranged in the fuel tank 15 arranged below the step and connected to the display means 49. The display means 49 is provided on the dashboard 14 of the autonomous traveling work vehicle 1, Displays the remaining amount of fuel. Then, the remaining amount of fuel is calculated by the autonomous traveling controller 307, and the information is transmitted to the remote control device 112 via the communication device 110, and the display device 113 of the remote control device 112 Workable time can be displayed. The display means for displaying the tachometer, fuel gauge, oil pressure, and abnormality may be configured separately from the display means for displaying the current position and the like.

On the dashboard 14, a display means 49 for displaying a tachometer, a fuel gauge, an oil pressure, a monitor indicating an abnormality, a set value, and the like is arranged. As with the remote control device 112, the display means 49 is of a touch panel type, and enables input and selection of data, switch operation, button operation, and the like.

Further, a working machine 24 is installed via a working machine mounting device 23 on the rear portion of the vehicle body 2 of the tractor so as to be able to move up and down. In this embodiment, a rotary tillage device is employed as the working machine 24, and an elevating cylinder 26 is provided on the transmission case 7. By extending and contracting the elevating cylinder 26, an elevating device constituting the working machine mounting device 23 is operated. By rotating the arm, the working machine 24 can be raised and lowered. The lifting cylinder 26 is expanded and contracted by the operation of the lifting actuator 25 , and the lifting actuator 25 is connected to the horizontal control controller 304 of the control section 30 . A tilting cylinder is provided on one of the right and left lift links of the working machine mounting device 23 , and a tilting actuator 47 for operating the tilting cylinder is connected to the horizontal control controller 304 .

A mobile GPS antenna 34 and a data reception antenna 38 are connected to the positioning control unit 306 serving as a position detection unit, and the mobile GPS antenna 34 and the data reception antenna 38 are provided on the cabin 12. . The positioning control unit 306 is provided with a position calculation means to calculate the latitude and longitude so that the current position can be displayed on the display means 49 or the display device 113 of the remote control device 112 . In addition to GPS (United States), a satellite positioning system (GNSS) such as a quasi-zenith satellite (Japan) or a Glonass satellite (Russia) can be used to achieve highly accurate positioning. explain.

The autonomous traveling work vehicle 1 is equipped with a gyro sensor 31 for obtaining posture change information of the vehicle body 2 and an azimuth angle detection section 32 for detecting the traveling direction, and is connected to the control section 30 . However, since the traveling direction can be calculated from GPS position measurement, the azimuth angle detection unit 32 can be omitted. The gyro sensor 31 detects an angular velocity of tilt (pitch) in the longitudinal direction of the vehicle body 2, an angular velocity of tilt (roll) in the lateral direction of the vehicle body 2, and an angular velocity of turning (yaw). By integrally calculating the three angular velocities, it is possible to obtain the tilt angle of the vehicle body 2 in the longitudinal direction and the lateral direction, and the turning angle. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, a vibrating gyro sensor, and the like. The gyro sensor 31 is connected to the control unit 30 and inputs information on the three angular velocities to the control unit 30 .

The azimuth angle detection unit 32 detects the orientation (traveling direction) of the autonomous traveling work vehicle 1 . A specific example of the azimuth angle detection unit 32 is a magnetic azimuth sensor or the like. Information from the azimuth angle detector 32 is input to the autonomous travel controller 307 via CAN communication means.

In this way, the autonomous traveling controller 307 calculates the signals obtained from the gyro sensor 31 and the azimuth angle detection unit 32 by the attitude/azimuth calculation means, and determines the attitude (orientation, front-rear direction and left-right direction of the vehicle body 2) of the autonomous traveling work vehicle 1. directional inclination, turning direction).

The position information of the autonomous traveling work vehicle 1 is obtained using GPS (Global Positioning System). Positioning methods using GPS include various methods such as independent positioning, relative positioning, DGPS (differential GPS) positioning, and RTK-GPS (real-time kinematic-GPS) positioning, and any of these methods can be used. However, in this embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted.

RTK-GPS (real-time kinematic-GPS) positioning simultaneously performs GPS observations with a reference station whose position is known and a mobile station whose position is to be determined, and transmits the data observed at the reference station to the mobile station by wireless or other methods. , and based on the position result of the reference station, the position of the mobile station is determined in real time.

In this embodiment, a positioning control unit 306 serving as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are arranged in the autonomous traveling working vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36, and a data transmitting antenna. 39 is placed in place. In the RTK-GPS (real-time kinematic-GPS) positioning of the present embodiment, phase measurement (relative positioning) is performed by both the reference station and the mobile station. It transmits to the data receiving antenna 38 .

A mobile GPS antenna 34 arranged on the autonomous traveling work vehicle 1 receives signals from GPS satellites 37, 37 . . . This signal is transmitted to the positioning control unit 306 for positioning. At the same time, the fixed GPS antenna 36 serving as a reference station receives signals from the GPS satellites 37, 37 . Determine station location.

Thus, the autonomous traveling controller 307 is provided as autonomous traveling means for causing the autonomous traveling work vehicle 1 to autonomously travel. That is, the various information acquisition units connected to the autonomous traveling controller 307 acquire the traveling state of the autonomous traveling work vehicle 1 as various information, and the various control units connected to the autonomous traveling controller 307 acquire the autonomous traveling work vehicle. 1 autonomous driving. Specifically, radio waves transmitted from GPS satellites 37, 37, . Displacement information and azimuth information of the vehicle body 2 are obtained, and based on the position information, displacement information, and azimuth information, the steering actuator is operated so that the vehicle body 2 travels along a preset route (running route and work route) R. 40, a transmission means 44, an elevation actuator 25, a PTO switching means 45, an engine controller 302, etc. are controlled to autonomously travel and work automatically.

Further, an obstacle sensor 41 is arranged in the autonomous traveling working vehicle 1 and connected to the control unit 30 so that the autonomous traveling working vehicle 1 does not come into contact with an obstacle. For example, the obstacle sensor 41 is composed of a laser sensor, an ultrasonic sensor, or a camera, is arranged in the front part, the side part, or the rear part of the vehicle body part 2 and is connected to the control part 30 . It detects whether there is an obstacle on the side or behind the vehicle, and controls the vehicle to stop when the obstacle approaches within a set distance.

Further, the autonomous traveling working vehicle 1 is equipped with a camera 42</b>F for photographing the front and a camera 42</b>R for photographing the working machine at the rear and the condition of the field after work, and these are connected to the control unit 30 . Although the cameras 42F and 42R are arranged on the front and rear parts of the roof of the cabin 12 in this embodiment, the arrangement positions are not limited, and the cameras 42F and 42R are arranged on the front and rear parts inside the cabin 12 or on the one camera. 42 are arranged at the center of the vehicle body 2 and rotated about the vertical axis to photograph the surroundings, a plurality of cameras 42 are arranged at the four corners of the vehicle body 2 to photograph the surroundings of the vehicle body 2. There may be. Images captured by the cameras 42F and 42R are displayed on the display device 113 of the remote control device 112 provided in the traveling work vehicle 100. FIG.

The remote control device 112 sets a working route Ra and a traveling route Rb, which will be described later, of the autonomous traveling work vehicle 1, remotely operates the autonomous traveling working vehicle 1, and controls the traveling state of the autonomous traveling working vehicle 1 and the operation of the working machine. It monitors the state and stores work data, and includes a control device (CPU and memory), a communication device 111, a display device 113, and the like.

The traveling work vehicle 100, which is a manned traveling vehicle, is driven by a worker, and a remote control device 112 is mounted on the traveling work vehicle 100 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof will be omitted. It should be noted that the traveling work vehicle 100 (or the remote control device 112) may be configured to include a control unit for GPS.

The remote control device 112 is detachable from an operation unit such as a dashboard of the traveling work vehicle 100 and the autonomous traveling work vehicle 1 . The remote control device 112 can be operated while attached to the dashboard of the traveling work vehicle 100, or can be carried outside the traveling work vehicle 100 and operated. is also operable. The remote control device 112 can be composed of, for example, a notebook or tablet personal computer. In this embodiment, a tablet personal computer is used.

Furthermore, the remote operation device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote operation device 112 are provided with communication devices 110 and 111 for communication, respectively. ing. The communication device 111 is integrated with the remote control device 112 . The communication means is configured to be able to communicate with each other, for example, through a wireless LAN or the like. The remote control device 112 is provided with a display device 113, which is a touch panel type operation screen that can be operated by touching the screen, on the surface of the housing, and houses the communication device 111, CPU, storage device 114, battery, etc. .

Next, a procedure for setting the work route Ra and the travel route Rb using the remote control device 112 will be described. The display device 113 of the remote control device 112 is of a touch panel type, and when the power is turned on to activate the remote control device 112, an initial screen appears. On the initial screen, as shown in FIG. 3, a tractor setting button 201, field setting button 202, route generation setting button 203, data transfer button 204, work start button 205, and end button 206 are displayed.

First, the tractor setting will be explained. When the tractor setting button 201 is touched, the name (model) of the tractor that has been set in the past is displayed if a tractor was previously used for work with the remote control device 112 . When multiple tractor names are displayed, touch the name of the tractor to be used this time to select it, and then return to the initial screen. When newly setting a tractor, the model of the tractor is specified. In this case, enter the model name directly. Alternatively, a list of a plurality of tractor models is displayed on the display device 113 so that a desired model can be selected.

When the model of the tractor is set, a screen for setting the mounting position of the mobile GPS antenna 34 appears. Since the mounting position of the mobile GPS antenna 34 varies depending on the tractor and may also differ depending on the technician who installs it, a plan view of the tractor is displayed to set the mounting position.

When the mounting position of the mobile GPS antenna 34 is set, a screen for setting the size, shape, and position of the working machine to be attached to the tractor appears. The position of the working machine is selected from the front, between the front and rear wheels, the rear, or offset. When the setting of the working machine is completed, a screen for setting the vehicle speed during work, the engine speed during work, the vehicle speed during turning, and the engine speed during turning appears. The vehicle speed during work can be set to different vehicle speeds for the outward and return trips. After setting the vehicle speed and the engine speed, the screen returns to the initial screen.

Next, field setting will be described. When the farm field setting button 202 is touched, the name of the farm field that has been set is displayed if the tractor has been used to work with the remote control device 112 in the past, that is, if there is a farm field that has been set in the past. By touching and selecting the field name to be worked on this time from among the displayed field names, it is possible to proceed to route generation setting, which will be described later, or to return to the initial screen. It is also possible to edit or newly set the set field.

If there is no registered farm field, a new farm field is set. When a new field setting is selected, as shown in FIG. 4, the tractor (autonomous working vehicle 1) is positioned at one corner A of the four corners in the field H, and the "start measurement" button is touched. After that, the tractor is caused to travel along the outer circumference of the field H, and the shape of the field is registered. Next, the operator registers the corner positions A, B, C, and D and the inflection point from the registered field shape to specify the field shape.

When the agricultural field H is specified, as shown in FIG. 5, the travel start position Sr, the working direction F, and the travel end position Gr are set. If there is an obstacle in the field H, move the tractor to the position of the obstacle, touch an obstacle setting button (not shown), travel around the obstacle, and set the obstacle. I do. If an obstacle exists in the vicinity of the field H, or if the obstacle is smaller than the minimum turning radius and becomes too large when traveling around it, it may be registered from the displayed map of the field. When the above work is completed, or when a field registered in the past is selected, a confirmation screen appears, and an OK (confirmation) button and an "edit/add" button are displayed. If there is a change in the field registered in the past, touch the "edit/add" button.

When the OK button is touched in the field setting, the path generation setting is performed. The route generation setting can also be set by touching the route generation setting button 203 on the initial screen. When the mode is shifted to the route generation setting mode, a selection screen for selecting the position at which the traveling work vehicle 100 travels relative to the autonomous traveling work vehicle 1 is displayed. That is, the positional relationship between the autonomous traveling work vehicle 1 and the traveling work vehicle 100 is set. Specifically, (1) the traveling work vehicle 100 is positioned to the left rear of the autonomous traveling work vehicle 1 . (2) The traveling work vehicle 100 is positioned to the right rear of the autonomous traveling work vehicle 1 . (3) The traveling work vehicle 100 is positioned directly behind the autonomous traveling work vehicle 1 . (4) The traveling work vehicle 100 does not run side by side (work is performed only by the autonomous traveling work vehicle 1). are displayed and can be selected by touching.

Next, the width of the work implement of the traveling work vehicle 100 is set. In other words, the width of the working machine is input by a number. Next, set the number of skips. That is, the number of routes to be skipped is set when the autonomous traveling work vehicle 1 reaches the edge of the field (headland) and moves from the first work road R1 to the second work road R2. Specifically, (1) do not skip. (2) Skip one row. (3) Skip two columns. Choose one. Next, set the overlap. That is, the overlapping amount of the working widths of the working path R2 adjacent to the working path R1 is set. Specifically, (1) do not overlap. (2) Overlap. to select. If you select "Overlap", a numerical input screen will be displayed, and you will not be able to proceed to the next step unless you enter a numerical value.

Next, perimeter setting is performed. That is, as shown in FIG. 5 , an area outside the work area HA in which work is performed by the autonomous traveling work vehicle 1 and the traveling work vehicle 100 or by the autonomous traveling work vehicle 1 is set. In other words, there are set the headland HB on which the vehicle turns and travels in a non-working state at the edge of the field, and the side marginal land HC as a non-working area in contact with the outer perimeter of the farm field on both left and right sides between the headland HB and the headland HB. . Therefore, farm field H=work area HA+headland HB+headland HB+side clearance land HC+side clearance land HC. Normally, the width Wb of the headland HB and the width Wc of the side clearance HC are two times or less than the width of the working machine mounted on the traveling work vehicle 100, and the autonomous traveling work vehicle 1 and the traveling work vehicle 100 After the side-by-side traveling work is completed, the worker gets into the traveling work vehicle 100 and manually makes two laps around the outer circumference, thereby finishing the work. However, it is also possible to work the outer circumference with the autonomously traveling working vehicle 1 .

When the input of the various settings described above is completed, a confirmation screen appears, and when confirmation is touched, the work route Ra and the travel route Rb are automatically generated. The work route Ra is a route generated within the work area HA, is a route that travels while performing work, and is a straight route. However, if the work area HA is not rectangular, it may protrude. The travel route Rb is a route generated in an area (headland HB and side clearance land HC) other than the work area HA, is a route for traveling without performing work, and is a route combining straight lines and curves. , the path for turning at the headland HB.

A working route Ra and a traveling route Rb are generated for the autonomous traveling work vehicle 1 and the traveling working vehicle 100, respectively. After generating the route, if the user wants to see the route, by touching the route generation setting button 203, a simulation image is displayed and can be confirmed. Note that the work route Ra and the travel route Rb are generated even if the route generation setting button 203 is not touched. When the work route Ra and the travel route Rb are automatically generated, the work start position Sw and the work end position Gw are set. The work start position Sw and the work end position Gw are set to corresponding positions closest to the travel start position Sr and the travel end position Gr registered in the field setting. Further, when each item of the route generation setting is set, the route generation setting is displayed, and at the bottom thereof, "route setting button", "transfer data", and "return to home" are displayed so as to be selectable.

When transferring the information, it can be transferred by touching the data transfer button 204 provided on the initial screen. Since this transfer is performed by the remote control device 112 , it is necessary to transfer the set information to the control device of the autonomous traveling work vehicle 1 . For this transfer, there are (1) a method of transferring using a terminal and (2) a method of transferring wirelessly. The control device of the traveling work vehicle 1 is directly connected, or the data is temporarily stored in a USB memory and then connected to the USB terminal of the autonomous traveling work vehicle 1 for transfer. Also, in the case of wireless transfer, the transfer is performed using a wireless LAN.

Here, a method for autonomously traveling the autonomously traveling work vehicle 1 according to one embodiment of the present invention to the work start position Sw will be described. As shown in FIG. 1, an autonomous working vehicle 1 according to one embodiment of the present invention includes a vehicle body 2 and a working machine 24 attached to the vehicle body 2. As shown, a mobile GPS antenna 34 is provided as a position detector capable of detecting position information of the vehicle body 2 . Further, the autonomous traveling work vehicle 1 includes a control unit 30 capable of controlling the traveling of the vehicle body 2 and the work performed by the working machine 24 in the farm field H, which is the travel area. A memory 309 is provided as a storage unit capable of storing the shape, position, size, etc. of the farm field H as the travel area. Note that FIG. 2 will be referred to when the control unit 30 appears in the following description.

The data of the work route Ra and the travel route Rb generated by the remote control device 112 are transferred to the control unit 30 and stored in the memory 309 of the autonomous traveling work vehicle 1 . It is configured as a working vehicle capable of autonomously traveling along the working route Ra and the traveling route Rb while detecting the current position N of the . Note that the current position N of the autonomous traveling work vehicle 1 normally coincides with the position of the mobile GPS antenna 34 .

The autonomous traveling work vehicle 1 shown in this embodiment has a substantially rectangular farm field H as shown in FIG. In the headland HB and the side clearance land HC, it is configured to be able to travel autonomously. The traveling work vehicle 100 follows (or accompanies) the autonomous traveling work vehicle 1 that autonomously travels in the agricultural field H, which is a travel area, and travels under the control of the operator.

The autonomously traveling work vehicle 1 is configured to be able to autonomously travel by the control unit 30 when the current position N is located within the field H. As shown in FIG. On the other hand, the autonomously traveling work vehicle 1 is configured so that it cannot autonomously travel outside the field H (public roads, etc.) by the control unit 30 .

Further, the autonomous traveling work vehicle 1 is configured to be able to autonomously travel by the control unit 30 when the current position N is located at the travel start position Sr.

Then, when the current position N of the autonomous traveling work vehicle 1 is located at the travel start position Sr on the headland HB, the operator presses the work start button 205 (see FIG. 3) to "start work". 6, the control unit 30 autonomously travels from the current position N to the work start position Sw, and after reaching the work start position Sw, the work machine 24 ( 1 and 2).

As described above, the autonomous traveling work vehicle 1 is configured to start autonomous traveling at a position away from the work start position Sw. In addition, the labor required for the operator to move can be reduced, and the efficiency of work using the autonomous traveling work vehicle 1 can be improved.

The remote control device 112 generates the work route Ra and the traveling route Rb based on the setting results of the tractor setting, the field setting, and the route generation setting described above. By the way, the remote control device 112 generates a route R including a work route Ra and a travel route Rb from the travel start position Sr set in the field setting to the travel end position Gr, and transmits the information of the route R to the autonomous travel work vehicle 1. can be sent to Then, the autonomous traveling work vehicle 1 (control unit 30) that has acquired the information on the route R compares the current position N and azimuth angle of the autonomous traveling work vehicle 1 with the travel start position Sr and the work direction F, and Autonomous driving can be initiated if the difference is within a predetermined deviation.

Here, as shown in FIG. 7, the entrance of the farm field H is located near the center of the left-right width of the farm field H, and the user (operator) sets the traveling start position Sr in setting the farm field to substantially the center of the left-right width of the farm field H. A case where a nearby point Sa is selected and a point Sb is selected as the travel end position Gr will be described below.

In this case, the remote control device 112 generates a route R from point Sa to point Sb. In general, the route R is generated from the point Sa to the point Sb, but if the point Sa is near the center of the horizontal width of the field H, it is necessary to generate a route from the point Sa to the opposite side of the point Sb. Yes, complicating route generation. Further, when the traveling work vehicle 100 works in cooperation with the autonomous traveling work vehicle 1, it is difficult for the operator operating the traveling work vehicle 100 to predict which route the work vehicle will take next.

Therefore, in the autonomous traveling work vehicle 1 according to one embodiment of the present invention, when a point other than the corner of the farm field H (for example, the point Sa) is designated as the travel start position Sr in the field setting, "from the point Sa to the point After performing autonomous driving without agricultural work up to Sc, it is configured to select whether or not to perform autonomous driving with agricultural work from point Sc toward point Sb. However, as shown in FIG. 6, only when the distance L between the point Sa and the point Sc is greater than or equal to a predetermined set value β (for example, the set value β=10 m), "agricultural work from point Sa to point Sc After performing autonomous driving without accompanying with, autonomous driving with agricultural work from point Sc to point Sb is selected. With such a configuration, the operator can make the autonomous traveling work vehicle 1 autonomously travel only by bringing the autonomous traveling work vehicle 1 into the farm field H near the entrance without driving the autonomous travel work vehicle 1 to the work start position Sw. The distance can be shortened and work efficiency can be improved.

On the other hand, when the distance L is less than the predetermined set value β, "After traveling from the point Sa to the point Sc by the operator's driving operation, autonomous traveling is performed from the point Sc to the point Sb with farm work" It is also possible to select either This is because the burden on the user is small when the distance L is short. The timing for making the above selection is not limited to the above timing (that is, when the field is set). It may be after presenting R (for example, displaying the above simulation image).

When the user selects “autonomously travel from point Sa to point Sc without farming, and then autonomously travel from point Sc to point Sb with farming”, the remote control device 112 operates as shown in FIG. 6, in addition to the work route Ra and the travel route Rb, a route R including a travel route Rc from the point Sa to the point Sc is generated.

On the other hand, when the user selects "run autonomously from point Sc to point Sb with farm work after traveling from point Sa to point Sc by operator's driving operation", the remote control device 112 A route R that includes the work route Ra and the travel route Rb but does not include the travel route Rc is generated.

That is, the autonomous traveling work vehicle 1, which is a work vehicle according to one embodiment of the present invention, includes a vehicle body portion 2, a working machine 24 mounted on the vehicle body portion 2, and a position detection device capable of detecting position information of the vehicle body portion 2. a mobile GPS antenna 34 as a unit, a memory 309 as a storage unit capable of storing a field H as a travel area in which the vehicle body 2 travels, and a control unit capable of controlling the travel of the vehicle body 2 in the farm field H and the work performed by the working machine. 30, the farm field H includes a work area HA that is a first area including a work path Ra on which work is performed by the work machine 24, and a headland HB that is a second area set around the work area HA. When instructed to start work by the work implement 24 on the headland HB, the control unit 30 moves the vehicle body 2 from the current position N of the vehicle body 2 to the work start position, which is the start point of the work path Ra. After traveling to Sw, it is possible to start the work by the working machine 24 . With such a configuration, the autonomous traveling work vehicle 1 does not need to be driven by the operator to reach the work start position Sw, and the efficiency of work performed using the autonomous traveling work vehicle 1 can be improved.

Further, when autonomously traveling along the route R including the traveling route Rc, as shown in FIG. Any point Sd on the imaginary starting line s and the angle θb (90 degrees in this embodiment) formed by the line segment connecting the point Sa and the point Sc are compared, and the difference is It is possible to adopt a configuration in which autonomous driving is started when the difference is within a predetermined deviation. Here, the predetermined deviation means, for example, that the distance L1 between the current position N and the point Sd is within a predetermined set value α (for example, a predetermined set value α=1 m), and the difference between the azimuth angle θa and the angle θb is a predetermined set value ε (for example, a predetermined set value ε=15 degrees).

Next, when the point Sc is selected as the travel start position Sr in the field setting, or when the operator selects the point Sa as the travel start position Sr and travels from the point Sa to the point Sc by the operator's driving operation. The start of automatic driving will be explained.

Conventionally, no consideration has been given to the influence of the orientation of the work vehicle at the work start position Sw on the travel accuracy of the work vehicle (and thus the work accuracy). For this reason, conventionally, depending on the orientation of the work vehicle at the work start position Sw, the actual travel locus of the work vehicle may deviate from the set travel route Rb. It was difficult to secure.

The autonomous traveling work vehicle 1 according to one embodiment of the present invention considers that the orientation (azimuth angle) of the autonomous traveling work vehicle 1 affects the traveling accuracy (and thus the work accuracy) when the control unit 30 generates the route. It is configured to

When the current position N of the autonomously traveling work vehicle 1 is located at the travel start position Sr on the headland HB, and an instruction to start work is given, the control unit 30 controls the autonomous traveling work vehicle 1 to move to the current position N. Considering the azimuth angle of the traveling work vehicle 1, it is configured to be able to determine whether to start autonomous traveling.

In the autonomous traveling work vehicle 1, as shown in FIG. It is configured to be able to calculate an angle difference dθ from the angle θ2, and when the calculated angle difference dθ is less than a predetermined threshold value, autonomous travel from the current position N to the work start position Sw is permitted. configured to be able to

When the operator presses the work start button 205 (see FIG. 3) with the current position N located in the headland HB, the autonomous traveling work vehicle 1 assumes an azimuth angle θ1 relative to the reference azimuth X at the current position N. is detected by the azimuth angle detection unit 32 (see FIG. 2), the control unit 30 calculates the azimuth angle θ2 from the current position N to the work start position Sw, and calculates the angle difference dθ between both azimuth angles θ1 and θ2. do.

Then, when the angle difference dθ is less than a predetermined threshold value (for example, less than 10°), the autonomous traveling work vehicle 1 is controlled by the control unit 30 to move the autonomous traveling work vehicle 1 from the current position N to the work start position Sw. It can be configured to permit autonomous travel.

That is, the autonomous traveling work vehicle 1, which is a work vehicle according to one embodiment of the present invention, includes an azimuth detection unit 32 capable of detecting the azimuth angle of the vehicle body 2, and the control unit 30 detects the azimuth angle of the vehicle body 2. If the angle difference dθ between θ1 and the azimuth angle θ2 from the current position N to the work start position Sw is not within a predetermined threshold value, the vehicle body 2 is not moved from the current position N to the work start position Sw. In this way, when the angle difference dθ with respect to the azimuth angle θ1 and the azimuth angle θ2 of the vehicle body portion 2 is within a predetermined threshold value, the vehicle body portion 2 is configured to autonomously travel. An error in the position N can be suppressed.

Further, the autonomous traveling work vehicle 1 uses the control unit 30 to specify a virtual extension line f extending the first work path R1 including the work start position Sw toward the headlands HB as shown in FIG. The autonomous traveling work vehicle 1 can be permitted to travel autonomously by the control unit 30 when the current position N with respect to the extension line f is within a predetermined deviation. The imaginary extension line f is oriented in the working direction F at the work start position Sw and coincides with the direction of the first working path R1. Further, the "deviation" here is the amount of deviation of the current position N with respect to the imaginary extension line f, specifically, the distance of the current position N with respect to the imaginary extension line f.

In other words, when the current position N of the autonomous traveling work vehicle 1 is located within the headland HB and an instruction to start work is given, the control unit 30 controls the current position N of the virtual extension line f. It is configured to be able to determine whether or not to start autonomous driving in consideration of the deviation.

Specifically, in the autonomous traveling work vehicle 1, as shown in FIG. 9, when the deviation of the current position N from the virtual extension line f is within a predetermined deviation α (for example, deviation α = within 1 m), the control The unit 30 can be configured to allow the autonomous traveling work vehicle 1 to autonomously travel from the current position N to the work start position Sw.

The autonomous traveling work vehicle 1 can be configured such that the controller 30 controls the travel of the vehicle body 2 so as to reduce the deviation α between the identified virtual extension line f and the current position N.

That is, in the autonomous traveling work vehicle 1, which is a work vehicle according to one embodiment of the present invention, the work route Ra includes the first work route R1 including the work start position Sw, and the control unit 30 performs the first work A virtual extension line f, which is a virtual route extending the road R1 to the headland HB, is specified, and if the current position N is within a predetermined deviation α from the virtual extension line f, the vehicle body 2 is adjusted to reduce the deviation. It is possible to control the travel to allow the vehicle body 2 to travel from the current position N to the work start position Sw. With such a configuration, it is possible to suppress the error of the current position N with respect to the work start position Sw when the vehicle body 2 reaches the work start position Sw.

Further, in the autonomous traveling work vehicle 1, as shown in FIG. 10, when the deviation of the current position N from the virtual extension line f is outside a predetermined deviation α (for example, deviation α>1 m), the control unit 30 The autonomous traveling work vehicle 1 can be configured so as not to be permitted to autonomously travel as it is.

When the deviation of the current position N with respect to the virtual extension line f is outside the predetermined deviation α, the autonomous traveling work vehicle 1 generates an additional travel route Rb from the current position N to the work start position Sw, and additionally generates It can be configured to permit autonomous travel along the travel route Rb.

That is, in the autonomous traveling work vehicle 1, which is a work vehicle according to one embodiment of the present invention, the work route Ra includes the first work route R1 including the work start position Sw, and the control unit 30 performs the first work A virtual extension line f, which is a virtual route extending the road R1 to the headland HB, is specified. It is possible to generate a route Rb and to run the vehicle body portion 2 along the running route Rb. With such a configuration, when the current position N of the vehicle body 2 and the work start position Sw are separated from each other, the autonomous traveling work vehicle 1 can be moved to the work start position Sw even if the operator does not have the manned travel to the work start position Sw. This saves the operator the trouble of arranging the autonomous traveling work vehicle 1 at the work start position Sw.

In order to reduce the deviation α of the current position N with respect to the virtual extension f, the longer the path from the current position N to the work start position Sw, the more advantageous.

Here, a method for setting the travel start position Sr will be described. The autonomous traveling work vehicle 1 sets a traveling start position Sr, which is a position where the autonomous traveling work vehicle 1 can start autonomous traveling, in the field H by the control unit 30, as shown in FIG. can be done. The autonomous traveling work vehicle 1 is configured such that the control unit 30 permits the start of autonomous travel when the current position N matches the travel start position Sr.

Since the current position N of the autonomously traveling work vehicle 1 normally coincides with the position of the mobile GPS antenna 34, when the position of the mobile GPS antenna 34 coincides with the traveling start position Sr, the control unit 30 causes the autonomous traveling work vehicle 1 to start autonomously traveling. can be configured to start

The autonomous traveling work vehicle 1 is configured to be able to display the travel start position Sr and the current position N on the display device 113, and the operator can confirm the travel start position Sr and the current position N while checking the display device 113. By operating the autonomous traveling work vehicle 1 so that N matches, it is possible to easily position the autonomous traveling work vehicle 1 with respect to the travel start position Sr.

The travel start position Sr is preferably set on the headland HB as shown in FIG. Further, it is more preferable to set the travel start position Sr at a position on the headland HB and as far as possible from the work start position Sw.

If the travel start position Sr is separated from the work start position Sw as much as possible, the azimuth of the autonomous travel work vehicle 1 can be changed while the autonomous travel work vehicle 1 autonomously travels from the travel start position Sr to the work start position Sw. This is because there is a margin for correcting the angle and posture.

Further, it is more preferable that the travel start position Sr is specified by the control unit 30 on the imaginary extension line f and is set at a position on the imaginary extension line f and as far away as possible from the work area HA of the headland HB. .

If the autonomous traveling work vehicle 1 is placed on the imaginary extension line f, the direction of the autonomous traveling work vehicle 1 can be determined while the autonomous traveling work vehicle 1 autonomously travels from the travel start position Sr to the work start position Sw. This is because the angle and posture can be corrected more accurately.

Then, as shown in FIG. 12, the autonomous traveling work vehicle 1 determines the traveling start position Sr by the control unit 30 in consideration of the azimuth angles θ1 and θ2 and the deviation α of the current position N with respect to the virtual extension line f. It can be configured to be set. As a result, it is possible to adjust the azimuth angle and attitude of the autonomous traveling work vehicle 1 at the work start position Sw only by placing the autonomous traveling work vehicle 1 at the travel start position Sr, and the work accuracy of the autonomous traveling work vehicle 1 is improved. It is possible to improve

In the autonomous traveling work vehicle 1, in order to reliably reduce the deviation α between the specified virtual extension line f and the current position N, and to reliably reduce the angle difference dθ, the distance between the travel start position Sr and the work start position Sw is set. It is preferable to make the distance as large as possible.

Further, when setting the traveling start position Sr, the size and shape of the work machine 24 are taken into consideration, and the work machine 24 is set as far away from the work area HA in the headland HB as possible within a range where the work machine 24 does not protrude from the headland HB. It is preferable to set the travel start position Sr at the position

The control unit 30 sets the traveling route Rb so that the autonomous traveling work vehicle 1 travels on the headland HB between the travel start position Sr and the work start position Sw, thereby dividing the work area HA. The autonomous traveling work vehicle 1 can be placed at the work start position Sw without disturbing it.

As shown in FIGS. 11 and 13(A), the autonomous traveling work vehicle 1 sets the traveling start position Sr as a "region" having a predetermined area. If the travel start position Sr is set as a “point”, high positioning accuracy is required to match the current position N with the travel start position Sr. becomes difficult.

For this reason, in the autonomous traveling work vehicle 1, by setting the travel start position Sr as a “region”, the accuracy required for positioning is relaxed, and positioning of the autonomous travel work vehicle 1 to the travel start position Sr is facilitated. It is configured so that it can be performed

Specifically, in the autonomous traveling work vehicle 1, the traveling start position Sr can be set as a "circular area" as shown in FIG. 13(A). In this case, it is possible to easily set the "region" which is the travel start position Sr only by designating the center point and radius of the travel start position Sr. Also, the radius of the "circular area" in this case is preferably a radius equal to or less than the initial tolerance allowed at the work start position Sw, thereby ensuring positioning accuracy at the work start position Sw.

The "area" set as the travel start position Sr is set as a "circular area" having a predetermined radius centered on a point designated by the operator, and the mobile GPS antenna 34 of the autonomous traveling work vehicle 1 is positioned within the "area". When the autonomous traveling work vehicle 1 is positioned, it is determined that the autonomous traveling work vehicle 1 is positioned at the travel start position Sr. With such a configuration, the autonomous traveling work vehicle 1 can be easily arranged at the traveling start position Sr.

Further, by setting the “area” set as the travel start position Sr within the headland HB, the autonomous travel work vehicle 1 can be prevented from autonomous travel outside the field H.

The shape of the "region" set as the travel start position Sr is not limited to a circle. For example, as shown in FIG. As shown in 13(C), the shape may be such that the left and right widths become narrower toward the work start position Sw side.

REFERENCE SIGNS LIST 1 Autonomous working vehicle 2 Vehicle body 24 Working machine 32 Azimuth detection unit 34 Mobile GPS antenna (position detection unit)
30 control unit 309 memory (storage unit)
H field (running area)
HA working area (first area)
HB headlands (second region)
Ra work route Rb travel route R1 first work route f imaginary extension line Sa travel start position Sw work start position N current position

Claims (6)

Set the work start position where the work vehicle starts work by autonomous driving in the field,
An autonomous traveling method for a work vehicle, wherein the work vehicle moves autonomously from a current position to the work start position when an instruction to move to the work start position is given. The autonomous traveling method for a work vehicle according to claim 1, wherein the work vehicle starts moving from the current position to the work start position on condition that permission conditions are satisfied. 3. The autonomous traveling method for a work vehicle according to claim 2, wherein said permission condition is that said work vehicle is directed to said work start position. If the angle difference between the azimuth angle of the work vehicle and the azimuth angle of the work vehicle from the current position to the work start point is less than a predetermined threshold, it is determined that the work vehicle is facing the work start position. The autonomous traveling method for a work vehicle according to claim 2 or 3, wherein said permission condition is satisfied. The autonomous traveling method for a work vehicle according to any one of claims 2 to 4, wherein the permission condition is that the current position of the work vehicle is located within the agricultural field. An operation device for setting a work start position where the work vehicle starts work by autonomous traveling in the field and instructing movement from the current position to the work start position,
An autonomous traveling system for a work vehicle, wherein the work vehicle autonomously travels from the current position to the work start position when an instruction to move to the work start position is given by the operation device.

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