JP6832660B2 - Route generation system - Google Patents

Description

The present invention relates to a route generation system. More specifically, the present invention relates to a route generation system that generates travel routes for these work vehicles when a plurality of work vehicles work in cooperation with each other.

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

Patent Document 1 states that it is possible to generate a traveling route that maintains the arrangement position of the second work vehicle with respect to the set first work vehicle.

Japanese Unexamined Patent Publication No. 2016-93125

However, in the configuration of the above-mentioned Patent Document 1, since only the traveling route constrained by the arrangement position of the second working vehicle with respect to the set first working vehicle is generated, it is not always possible to generate the traveling route according to the intention of the user. It wasn't limited.

The present invention has been made in view of the above circumstances, and an object of the present invention is to generate a traveling route in a fluid manner according to a user's intention without being constrained by the positional relationship of a plurality of work vehicles set. The purpose is to provide a route generation system that can be used.

Means and effects to solve problems

The problem to be solved by the present invention is as described above, and next, the means for solving this problem and its effect will be described.

From the viewpoint of the present invention, a route generation system having the following configuration is provided. That is, this route generation system includes a cooperative work mode setting unit, a positional relationship setting unit, a cooperative travel route generation unit, a lane marking setting unit, and a reference work setting unit. The cooperative work mode setting unit sets the cooperative work mode of the first work vehicle and the second work vehicle. The positional relationship setting unit sets the positional relationship of the second work vehicle with respect to the first work vehicle when the cooperative work mode is cooperative work in the same work area. The cooperative travel route generation unit sets a first travel route on which the first work vehicle travels and a second travel route on which the second work vehicle travels when the cooperative work modes are cooperative work in the same work area. Generate a cooperative driving route including. The division line setting unit is described when the work area has a first work area in which work is performed by the first work vehicle and a second work area in which work is performed by the second work vehicle. A line for separating the first work area and the second work area is set. The reference work setting unit sets the necessity of reference work by the first work vehicle in the second work area. When the reference work is essentially set by the reference work setting unit, the cooperative travel route generation unit performs the reference work by the first work vehicle in the second work area as the first travel route. A travel path including a travel path and a plurality of travel paths in which work is performed by the first work vehicle in the first work area is generated. As the second travel route, a travel route including a plurality of travel paths in which the work is performed by the second work vehicle is generated in the second work area excluding the region where the reference work is performed.

As a result, in the second work area, the reference work is performed by the first work vehicle, and the work is performed on a plurality of travel paths by the second work vehicle with reference to the travel path where the work was performed in the reference work. It can be carried out. Therefore, it is easy to work in an orderly manner on the work area .

The route generation system preferably has the following configuration. That is, when the reference work is unnecessarily set by the previous SL reference work setting unit, the coordination traveling route generation portion, said a first travel path, the line work by the first work vehicle in the first working area Generates a travel route that includes a plurality of travel routes. As the second travel route, a travel route including a plurality of travel paths in which the work is performed by the second work vehicle in the second work area is generated.

As a result, the different work areas can be shared by the first work vehicle and the second work vehicle, respectively, and the work can be performed efficiently as a whole .

The route generation system preferably has the following configuration. That is, the first traveling path and the second traveling path each include a plurality of traveling paths arranged in parallel. When the cooperative travel route that does not maintain the positional relationship is generated by the cooperative travel route generation unit, the vehicle is traveled by the first work vehicle next to the arbitrary travel path of the first travel route and the arbitrary travel path. The number of rows of the running roads arranged between the other running roads is maintained at a constant number .

As a result, if the maintenance of the set positional relationship between the first work vehicle and the second work vehicle is not prioritized, the vehicle is driven by the first work vehicle next to the arbitrary travel path of the first travel path and the arbitrary travel path. The number of rows of the traveling roads arranged between the other traveling roads, that is, the number of so-called skips of how many rows the first work vehicle skips and travels on the next traveling road is maintained at a constant number. .. In this case, since the turning method on the headland on one side and the headland on the other side of the field is fixed in a certain manner, the turning operation becomes easy .

The route generation system preferably has the following configuration. That is, this route generation system includes a reception unit that accepts whether or not to prioritize the maintenance of the positional relationship. When the reception unit receives the priority of maintaining the positional relationship, the cooperative travel route generation unit generates the cooperative travel route for maintaining the positional relationship, and the reception unit gives priority to the maintenance of the positional relationship. If is not accepted, the cooperative traveling route that does not maintain the positional relationship is generated .

As a result, it is possible to generate a coordinated traveling route in a fluid manner according to the intention of the user without being necessarily constrained by the set positional relationship between the first work vehicle and the second work vehicle.
In the route generation system, it is preferable that the travel path on which the reference work is performed is arranged adjacent to the division line.

FIG. 5 is a side view showing a robot tractor and a manned tractor in which a cooperative traveling route is generated by a route generation system according to an embodiment of the present invention to perform cooperative work. A side view showing the overall configuration of a robot tractor. Top view of the robot tractor. The figure which shows the wireless communication terminal which is operated by a user and is capable of wireless communication with a robot tractor. A block diagram showing the main electrical configurations of a robot tractor and a wireless communication terminal. The block diagram which shows the main electrical composition which the work information setting part of a wireless communication terminal has. The figure which shows the display example of the input selection screen in the display of a wireless communication terminal. The figure which shows the display example of the work vehicle information input screen in the display of a wireless communication terminal. The figure which shows the display example of the field information input screen on the display of a wireless communication terminal. The figure which shows the display example of the work mode / positional relationship setting screen for setting the work mode and the positional relationship on the display of a wireless communication terminal. The figure which shows the display example of the priority setting window for setting whether or not to give priority to the maintenance of the positional relationship on the display of a wireless communication terminal. The figure which shows the display example of the section / standard work setting screen for setting the section and the necessity of standard work on the display of a wireless communication terminal. The figure which shows the display example of the overlap width setting screen for setting the overlap width in the display of a wireless communication terminal. The figure which shows the display example of the skip number setting screen for setting the skip number in the display of a wireless communication terminal. The figure which shows the display example of the non-work area width setting screen for setting the headland width and the width of a non-work area in the display of a wireless communication terminal. The figure which shows the display example of the autonomous driving monitoring screen on the display of a wireless communication terminal. The figure which shows the example of the travel path generated by the travel path generation unit when the accompanying (cooperative) work is selected, the maintenance of the positional relationship between vehicles is prioritized, and the one-row skip is selected. The solid line arrow indicates the first travel route, and the dotted arrow indicates the second travel route. The figure which shows the example of the travel path generated by the travel path generation unit when the accompanying (cooperative) work is selected, maintenance of the positional relationship between vehicles is not prioritized, and one row skip is selected. The solid line arrow indicates the first travel route, and the dotted arrow indicates the second travel route. The figure which shows the example of the travel path generated by the travel route generation part when a section is set and the reference work is set to "necessary". The solid line arrow indicates the first travel route, and the dotted arrow indicates the second travel route. The figure which shows the example of the travel route generated by the travel route generation unit when a section is set and the reference work is set to "unnecessary". The solid line arrow indicates the first travel route, and the dotted arrow indicates the second travel route.

Next, an embodiment of the present invention will be described with reference to the drawings. In the following, the same members may be designated by the same reference numerals in each of the drawings, and redundant description may be omitted. In addition, the names of members and the like corresponding to the same reference numerals may be simply paraphrased, or may be paraphrased by the names of superordinate concepts or subordinate concepts.

The present invention relates to a route generation system that generates a travel route for traveling a work vehicle when a plurality of work vehicles are traveled in a predetermined field to execute all or a part of agricultural work in the field. .. In the present embodiment, a tractor will be described as an example of a work vehicle, but the work vehicle includes a tractor, a rice transplanter, a combine harvester, a civil engineering / construction work device, a snowplow, and other passenger-type work machines, as well as a walking type work. Machines are also included. In the present specification, the autonomous driving means that the configuration related to the traveling provided by the tractor is controlled by the control unit (ECU) provided in the tractor, and the tractor travels along a predetermined route. It means that the configuration related to the work included in the tractor is controlled by the control unit provided in the tractor, and the tractor performs the work along a predetermined route. On the other hand, the manual traveling / manual work means that each configuration provided in the tractor is operated by the user to perform the traveling / working.

In the following description, a tractor that autonomously travels and works autonomously may be referred to as an "unmanned tractor" or a "robot tractor", and a tractor that manually travels and manually operates is referred to as a "manned tractor". Sometimes. If part of the farm work is carried out by an unmanned tractor in the field, the rest of the farm work is carried out by a manned tractor. Performing agricultural work in a single field with unmanned tractors and manned tractors may be referred to as cooperative work, follow-up work, accompanying work, etc. of agricultural work. In the present specification, the difference between the unmanned tractor and the manned tractor is the presence or absence of operation by the user, and it is assumed that each configuration is basically common. That is, even if it is an unmanned tractor, the user can board (board) and operate it (that is, it can be used as a manned tractor), or even if it is a manned tractor, the user gets off and autonomously travels. -It is possible to work autonomously (that is, it can be used as an unmanned tractor). In addition, as the cooperative work of agricultural work, in addition to "performing agricultural work in a single field with unmanned vehicles and manned vehicles", "unmanned vehicles and manned vehicles perform agricultural work in different fields such as adjacent fields at the same time. "To do" may be included.

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

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

First, a robot tractor (hereinafter, may be simply referred to as a “tractor”) 1 will be described mainly with reference to FIGS. 2 and 3.

The configuration of the tractor 1 will be described with reference to FIGS. 2 and 3. As shown in FIG. 1, the traveling body 2 of the tractor 1 is supported by a pair of left and right front wheels 7 and 7 and a rear portion supported by a pair of left and right rear wheels 8 and 8.

A bonnet 9 is arranged at the front portion of the traveling machine body 2. The engine 10 and the fuel tank (not shown), which are the drive sources of the tractor 1, are housed in the bonnet 9. The engine 10 can be configured by, for example, a diesel engine, but is not limited to this, and may be configured by, for example, a gasoline engine. Further, an electric motor may be adopted in addition to or instead of the engine 10 as a drive source.

Behind the bonnet 9, a cabin 11 for the user to board is arranged. Inside the cabin 11, a steering handle 12 for the user to steer, a seat 13 for the user to sit on, and various operating devices for performing various operations are mainly provided. However, the work vehicle is not limited to the one with the cabin 11, and may not be equipped with the cabin 11.

Examples of the operation device include the monitor device 14, the throttle lever 15, the main shift lever 27, a plurality of hydraulic operation levers 16, the PTO switch 17, the PTO shift lever 18, the auxiliary shift lever 19, and the work equipment elevating switch shown in FIG. 28 etc. can be mentioned as an example. These operating devices are arranged near the seat 13 or near the steering wheel 12.

The monitoring device 14 is configured to be able to display various information of the tractor 1. The throttle lever 15 is an operating tool for setting the output rotation speed of the engine 10. The main speed change lever 27 is an operating tool for steplessly changing the traveling speed of the tractor 1. The flood control operating lever 16 is an operating tool for switching and operating the flood control external take-out valve (not shown). The PTO switch 17 is an operating tool for switching the transmission / cutoff of power to the PTO shaft (power transmission shaft) (not shown) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft to rotate the PTO shaft and drive the work equipment 3, while when the PTO switch 17 is in the OFF state, the power to the PTO shaft is cut off. Then, the PTO shaft does not rotate and the work machine 3 is stopped. The PTO shift lever 18 is for changing the power input to the work machine 3, and specifically, is an operating tool for changing the rotational speed of the PTO shaft. The auxiliary transmission lever 19 is an operating tool for switching the gear ratio of the traveling auxiliary transmission gear mechanism in the transmission 22. The work machine elevating switch 28 is an operating tool for raising and lowering the height of the work machine 3 mounted on the traveling machine body 2 within a predetermined range.

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

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

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

As the above controller, the tractor 1 includes at least an engine controller, a vehicle speed controller, a steering controller, and an elevating controller (not shown). Each controller can control each configuration of the tractor 1 according to an electric signal from the control unit 4.

The engine controller controls the rotation speed of the engine 10 and the like. Specifically, the engine 10 is provided with a governor device 41 provided with an actuator (not shown) for changing the rotation speed of the engine 10. The engine controller can control the rotation speed of the engine 10 by controlling the governor device 41. Further, the engine 10 is provided with a fuel injection device 52 for adjusting the injection timing and injection amount of fuel for injection (supply) into the combustion chamber of the engine 10. By controlling the fuel injection device 52, the engine controller can, for example, stop the supply of fuel to the engine 10 and stop the driving of the engine 10.

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

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

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

Since the plurality of controllers in the above-mentioned illustration control each part of the engine 10 and the like based on the signal input from the control unit 4, it is said that the control unit 4 substantially controls each part. Can be grasped.

The tractor 1 provided with the control unit 4 as described above controls each part of the tractor 1 (traveling machine 2, working machine 3, etc.) by the control unit 4 when the user gets on the cabin 11 and performs various operations. Therefore, it is configured so that farm work can be performed while traveling in the field. In addition, the tractor 1 of the present embodiment can be autonomously driven and autonomously operated by a predetermined control signal output from the wireless communication terminal 46 without the user boarding the tractor 1.

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

Next, a configuration included in the tractor 1 to enable autonomous traveling will be described in detail with reference to FIG. 5 and the like. Specifically, the tractor 1 of the present embodiment includes a positioning antenna 6, a wireless communication antenna 48, a storage unit 55, and the like. In addition to these, the tractor 1 is provided with a schematic inertial measurement unit (IMU) capable of specifying the posture (roll angle, pitch angle, yaw angle) of the traveling machine body 2.

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

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

The wireless communication antenna 48 receives a signal from the wireless communication terminal 46 operated by the user, and transmits a signal to the wireless communication terminal 46. As shown in FIG. 2, the wireless communication antenna 48 is attached to the upper surface of the roof 5 included in the cabin 11 of the tractor 1. The signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is signal-processed by the wireless communication unit 40 shown in FIG. 5 and input to the control unit 4. Further, the signal transmitted from the control unit 4 to the wireless communication terminal 46 is signal-processed by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

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

The vehicle speed sensor 53 detects the vehicle speed of the tractor 1, and is provided on the axle between the front wheels 7 and 7, for example. The fuel remaining amount sensor 54 detects the remaining amount of fuel in the fuel tank (not shown) mounted in the bonnet 9, and is provided in the fuel tank. The detection results obtained by the vehicle speed sensor 53 and the fuel level sensor 54 are signal-processed by the wireless communication unit 40 and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display the received detection result on the display 37.

The storage unit 55 alternately alternates between a linear or polygonal traveling path (work path for agricultural work) P1 and an arc-shaped connecting path (turning circuit) P2 for turning, which is a path for autonomously traveling the tractor 1. It is a memory that stores a traveling path (path) P connected to the tractor 1 and stores a transition (traveling locus) of a position of a tractor 1 (strictly speaking, a positioning antenna 6) during autonomous traveling. In addition, the storage unit 55 stores various information necessary for the tractor 1 to autonomously travel and work autonomously.

As shown in FIG. 4, the wireless communication terminal 46 is configured as a tablet-type personal computer. In the present embodiment, a user who operates a manned tractor 1X gets on a manned tractor 1X with a wireless communication terminal 46, and for example, the wireless communication terminal 46 is set on an appropriate support portion in the manned tractor 1X and operated. Alternatively, a user different from the operator who operates the manned tractor 1X holds the wireless communication terminal 46 outside the tractors 1 and 1X and operates the traveling route generation. The user can confirm by referring to the information displayed on the display 37 of the wireless communication terminal 46 (for example, the information from various sensors attached to the robot tractor 1). Further, the user operates the hardware key 38 arranged in the vicinity of the display 37, the touch panel 39 arranged so as to cover the display 37, and the like to control the tractor 1 by the control unit 4 of the tractor 1. Control signal can be transmitted. Here, as the control signal output by the wireless communication terminal 46 to the control unit 4, a signal related to the path of autonomous traveling / autonomous work, a start signal, a stop signal, an end signal, an emergency stop signal, and a temporary stop of autonomous traveling / autonomous work are used. A signal, a restart signal after a pause, and the like can be considered, but the present invention is not limited to this.

The wireless communication terminal 46 is not limited to a tablet-type personal computer, and instead, for example, a notebook-type personal computer can be configured. Alternatively, for example, the monitor device 14 mounted on the manned tractor 1X can be used as a wireless communication terminal.

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

Specifically, the user alternately performs a straight or polygonal traveling path P1 and an arc-shaped connecting path P2 connecting the ends of the traveling path by making various settings using the wireless communication terminal 46. It is possible to generate a traveling route P as a series of routes connected to. Then, by inputting (transferring) the information of the traveling route (path) P generated in this manner to the control unit 4 and performing a predetermined operation, the tractor 1 is controlled by the control unit 4, and the tractor 1 is controlled. It is possible to carry out farm work by the work machine 3 while autonomously traveling along the travel path P.

As shown in FIG. 1, in the present embodiment, manned along the second travel path P'in cooperation with a robot tractor (first work vehicle) that autonomously travels and performs autonomous work along the first travel path P. Tractor (second work vehicle) 1X performs manual running and manual work. Specifically, for example, of two adjacent travel paths P1 and P1', the robot tractor 1 travels on one travel path P1 and the manned tractor 1X travels on the other travel path P1'. Work may be done within the area. The travel path P1 is a travel path included in the first travel path P, and the travel path P1'is a travel path included in the second travel path P'.

In this collaborative work, the robot tractor 1 may travel on the leading side and the manned tractor 1X may travel on the trailing side so that the user on board the manned tractor 1X can easily visually recognize the robot tractor 1. It is common. In other words, in a general cooperative work mode in which the robot tractor 1 and the manned tractor 1X are used, the manned tractor 1X travels diagonally to the right or diagonally behind the robot tractor 1. The user on board the manned tractor 1X performs manual travel / manual work, monitors the robot tractor 1 on the preceding side, operates the wireless communication terminal 46 as necessary, and autonomously travels / autonomously with respect to the robot tractor 1. Give work instructions.

Hereinafter, the configuration of the wireless communication terminal 46 including the main components of the route generation system 99 according to the embodiment of the present invention will be described in more detail with reference to FIGS. 4 to 16. FIG. 6 is a block diagram showing a main electrical configuration included in the work information setting unit 47 of the wireless communication terminal 46. FIG. 7 is a diagram showing a display example of an input selection screen on the display 37 of the wireless communication terminal 46. FIG. 8 is a diagram showing a display example of the work vehicle information input screen 70 on the display 37 of the wireless communication terminal 46. FIG. 9 is a diagram showing a display example of the field information input screen 80 on the display 37 of the wireless communication terminal 46. FIG. 10 is a diagram showing a display example of a work mode / positional relationship setting screen 90 for setting a work mode and a positional relationship on the display 37 of the wireless communication terminal 46. FIG. 11 is a diagram showing a display example of a priority setting window 91 for setting whether or not to prioritize the maintenance of the positional relationship on the display 37 of the wireless communication terminal 46. FIG. 12 is a diagram showing a display example of a section / reference work setting screen 92 for setting a section and setting a reference work on the display 37 of the wireless communication terminal 46. FIG. 13 is a diagram showing a display example of the overlap width setting screen 93 for setting the overlap width on the display 37 of the wireless communication terminal 46. FIG. 14 is a diagram showing a display example of a skip number setting screen 94 for setting the skip number on the display 37 of the wireless communication terminal 46. FIG. 15 is a diagram showing a display example of a non-working area width setting screen 96 for setting a headland width and a non-working area width on the display 37 of the wireless communication terminal 46. FIG. 16 is a diagram showing a display example of the autonomous travel monitoring screen 100 on the display 37 of the wireless communication terminal 46.

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

Specifically, as described above, the wireless communication terminal 46 is configured as a computer and includes a CPU, ROM, RAM, etc. (not shown). Further, a control application for controlling the tractor 1 is pre-installed in the wireless communication terminal 46. Then, by the cooperation of the hardware and software described above, the wireless communication terminal 46 is converted into the display control unit 31, the field shape acquisition unit 33, the travel route generation unit 35, the work vehicle information setting unit 36, the field information setting unit 45, and the work. It can be operated as an information setting unit 47, a storage unit 32, and the like.

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

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

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

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

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

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

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

Next, the operation performed by the user using the wireless communication terminal 46 when the work vehicle information, the field information, and the work information are set and the travel paths P and P'are generated will be described in detail.

At the stage before the user starts setting the work vehicle information, the field information, and the work information, the display 37 of the wireless communication terminal 46 has an input selection screen created by the display control unit 31 as shown in FIG. 60 is displayed as an initial screen (menu screen). On the input selection screen 60, a work vehicle information input operation unit 61, a field information input operation unit 62, a work information input operation unit 63, a travel route generation / transfer operation unit 64, and a farm work start operation unit 65 are displayed. It is mainly displayed.

Each of these operation units is configured as a virtual button (so-called icon) displayed on the display 37. However, at the stage where none of the work vehicle information, the field information, and the work information is set, the work vehicle information input operation unit 61, the field information input operation unit 62, the work information input operation unit 63, and the travel route generation / transfer operation. Of the unit 64 and the farm work start operation unit 65, only the work vehicle information input operation unit 61 can be operated. That is, the field information input operation unit 62, the work information input operation unit 63, the travel route generation / transfer operation unit 64, and the farm work start operation unit 65 are initially invalidated (for example, grayed out) and touched. Cannot be operated.

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

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

In addition, on the first selection screen, it is possible to select whether to newly set (register) the tractor information or change the tractor information set in the past (however, only when the tractor information set in the past exists). ) Is displayed as selectable. When the user selects new registration, the display screen of the display 37 is switched to the work vehicle information input screen 70 shown in FIG.

On the work vehicle information input screen 70, it is possible to input work vehicle information regarding the traveling machine 2 and the working machine 3 mounted on the traveling machine 2. Specifically, on the work vehicle information input screen 70, the model of the tractor 1, the mounting position of the positioning antenna 6 with respect to the traveling machine 2, the width of the tractor 1 and the work machine 3, and the three-point link mechanism are displayed on the work vehicle information input screen 70. The distance from the rear end (rear end of the lower link) to the rear end of the work equipment 3, the offset amount (distance) of the center line of the work equipment 3 from the center line of the tractor 1, the vehicle speed during work on the outward route, and the return route. Vehicle speed when working in, vehicle speed in headland (when turning), engine speed when working on the outward route, engine speed when working on the return route, engine speed when working on the headland (when turning), etc. The fields to be specified are arranged respectively. Although only a part of the above-mentioned fields is displayed on the work vehicle information input screen 70 shown in FIG. 8, the remaining fields can be displayed by performing an operation of scrolling the screen downward from the state of FIG. Can be done.

When the specification for all the items on the work vehicle information input screen 70 is completed, the "Vehicle setting confirmation" button shown in the figure is displayed. When the user operates the "Vehicle setting confirmation" button, the setting confirmation screen shown in the figure is displayed, and the contents specified in each column are displayed for confirmation. When the user operates the "confirm" button shown in the figure on this setting confirmation screen, the contents of the work vehicle information are stored in the storage unit 32, and the setting of the work vehicle information is completed. When the setting (registration) of the work vehicle information is completed, the "Edit / Add field information" button and the "Return to input selection screen" button are displayed at the bottom of the display screen so as to be selectable. When "Edit / Add field information" is selected, the field information can be set in the same manner as when the field information input operation unit 62 is operated on the input selection screen 60. When "Return to input selection screen" is selected, the display screen is switched to the input selection screen 60.

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

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

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

In addition, on the second selection screen, it is possible to select whether to newly set (register) the field information or change the field information set in the past (however, only when the field information set in the past exists). ) Is displayed as selectable. When the user selects new registration, the display screen of the display 37 is switched to the field information input screen 80 shown in FIG.

On the field information input screen 80, it is possible to input information regarding a traveling area (field) in which the traveling machine 2 travels. Specifically, on the field information input screen 80, a plane display unit 81 that graphically (graphically) shows the shape of the field is arranged. Further, on the field information input screen 80, buttons for "start recording" and "redo" are arranged in the fields of "position / shape of the outer circumference of the field" and "position / shape of obstacle". Further, on the field information input screen 80, buttons for "setting" and "redo" are arranged in the respective fields of "work start position", "work end position", and "work direction".

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

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

When the "setting" button of the "work start position" is operated, the shapes of the fields and obstacles acquired as described above are superimposed and displayed on the map data on the plane display unit 81 of the field information input screen 80. In this state, the user can select an arbitrary point in the vicinity of the contour of the field, and the position information in the vicinity of the selected point can be set as the work start position. The "work end position" can be set in the same manner as the "work start position".

When the "setting" button of the "work direction" is operated, the shape, work start position, and work end position of the field and obstacles acquired as described above are displayed on the flat display unit 81 of the field information input screen 80 as map data. Is superimposed and displayed. In this state, the user can set the direction of the straight line connecting the two points as the working direction by selecting, for example, any two points on the contour of the field.

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

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

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

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

On the work mode / positional relationship setting screen 90, the work mode of the tractor 1 (and the manned tractor 1X) can be set. In addition, when farming with a plurality of tractors, the positional relationship between the tractors can be set. Specifically, in the case where the manned tractor 1X is driven along with (coordinated with) the robot tractor 1, and the work mode in which the manned tractor 1X is run diagonally to the left of the robot tractor 1 is selected, the first step is 1 The accompanying work selection unit 111 is operated. When the manned tractor 1X is driven along (coordinated with) the robot tractor 1 and the work mode in which the manned tractor 1X is run diagonally to the right behind the robot tractor 1 is selected, the second accompanying work selection unit 112 is operated. When selecting a work mode in which the manned tractor 1X travels behind the robot tractor 1 (the robot tractor 1 and the manned tractor 1X travel on the same path) to perform the follow-up work, the follow-up work selection unit 113 operates. Will be done. When the robot tractor 1 performs farm work independently, the independent work selection unit 114 is operated. When the robot tractor 1 and the manned tractor 1X cooperate to perform farm work on travel paths in different work areas, the separate section cooperative work selection unit 115 is selected.

The first accompanying work selection unit 111, the second accompanying work selection unit 112, the follow-up work selection unit 113, the independent work selection unit 114, and the separate section cooperative work selection unit 115 are configured as virtual buttons, and the display of the buttons is displayed. The position of the touch panel 39 corresponding to the area can be operated by the user touching the position with a finger or the like. The selected button is highlighted, for example, surrounded by a thick red frame (see FIG. 11). When the user operates the "setting" button at the bottom of the work mode / positional relationship setting screen 90 with any of the selection units 111, 112, ... 115 selected, the work mode is set in the work mode setting unit 101. The positional relationship setting unit 102 receives each of the positional relationships, the contents of the set work mode / positional relationship are stored in the storage unit 32, and the setting of the work mode / positional relationship is completed.

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

On the other hand, the separate section cooperative work selection unit 115 is selected on the work mode / positional relationship setting screen 90, and the "setting" button at the bottom of the work mode / positional relationship setting screen 90 is operated to set the work mode / positional relationship. When the above is completed, the section / standard work setting screen 92 for setting the section and setting the necessity of the standard work is displayed (see FIG. 12). In the division / reference work setting screen 92 shown in FIG. 12, a division line (vertical line) 116 for division is displayed in the central portion of a rectangle that virtually displays the field (work area) (FIG. 12). See 12). The user can change the division ratio (ratio of the first work area and the second work area) by tapping the division line 116 and moving it to the left or right. Further, at the lower part of the section / standard work setting screen 92, virtual buttons of "Yes" and "No" are displayed together with a message "Do you need standard work?". When the user selects "Yes", a travel path for reference work is generated in the subsequent route generation. On the other hand, when the user selects "No", the travel path for the reference work is not generated in the subsequent route generation.

With the division line 116 for the above-mentioned division arranged at an appropriate position and the above-mentioned "Yes" or "No" button selected, the "setting" at the bottom of the reference work setting screen 92 When the button is operated, the position of the section is received by the section setting unit 107, the necessity of the reference work is received by the reference work setting unit 108, and the contents of the set section / reference work setting are stored in the storage unit 32. The setting of the division / standard work is completed.

After the above settings are completed, the display screen of the display 37 of the wireless communication terminal 46 is switched to the overlap width setting screen 93 shown in FIG. On the overlap width setting screen 93, there is an overlap setting unit 121 selected when the adjacent running paths are overlapped (overlapping), and no overlap selected when the adjacent running paths are not overlapped (overlapping). The setting unit 122 is configured as a virtual button, and the user can operate the position of the touch panel 39 corresponding to the display area of the button by touching it with a finger or the like. When the overlap setting unit 121 is selected, this button is highlighted by being surrounded by a thick red frame, for example, and the overlap width can be touch-input. On the other hand, when the overlap non-setting unit 122 is selected, this button is highlighted by being surrounded by, for example, a thick red frame, and the width to be opened between adjacent traveling paths can be touch-input.

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

After the above setting is completed, the display screen of the display 37 of the wireless communication terminal 46 is switched to the skip number setting screen 94 shown in FIG. On the skip number setting screen 94, an arbitrary travel path P1 on the travel path (first travel path) P on which the robot tractor 1 travels, and a travel path P1 on which the robot tractor 1 travels next to the arbitrary travel path P1. The "do not skip" button 123 for selecting that the number of traveling paths arranged between the two is 0 columns is arranged as a virtual button. Further, on the right side of the "do not skip" button 123, the robot tractor 1 travels on an arbitrary travel path P1 on the travel path (first travel path) P on which the robot tractor 1 travels, and next to the arbitrary travel path P1. The "one-row skip" button 124 for selecting that the number of traveling paths arranged between the traveling path P1 and the traveling path P1 is one row is arranged as a virtual button. Further, on the right side of the "1 row skip" button 124, the robot tractor 1 is placed next to the arbitrary travel path P1 of the travel path (first travel path) P on which the robot tractor 1 travels and the arbitrary travel path P1. A "two-row skip" button 125 for selecting that the number of traveling paths arranged between the traveling path P1 and the traveling path P1 is two rows is arranged as a virtual button. When the user selects by touching any of these buttons 123, 124, 125, the button is highlighted, for example, surrounded by a thick red frame. When the user presses the "Set" button at the bottom of the skip number setting screen 94 in this state, this information is received by the skip number setting unit 105, the set contents are stored in the storage unit 32, and the skip number is set. Is completed.

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

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

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

When the user selects the travel route generation / transfer operation unit 64, the first travel route P of the robot tractor 1 (and, if applicable, the second travel route P'of the manned tractor 1X) is automatically generated. Then, this traveling route is stored in the storage unit 32. Further, when the traveling route is generated, the "path simulation" button is displayed on the display screen of the display 37 so as to be selectable. By selecting (operating) this "path simulation" button, an image representing the generated traveling route with arrows, lines, or the like is displayed. An animation display in which the tractor icon moves along the traveling route may be performed.

After the display of the "path simulation" is finished, the "transfer data" button and the "return to the input selection screen" button are selectably displayed on the display screen of the display 37. When "Transfer data" is selected, it is possible to give an instruction to transfer the travel route information to the control unit 4 of the tractor 1. When the "Return to input selection screen" button is selected, the display screen is switched to the input selection screen 60.

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

The farm work start operation unit 65 of the input selection screen 60 can be operated only after the first travel path P is stored in the storage unit 55. While the control unit 4 can give an instruction to start work by the traveling machine body 2 and the working machine 3, the control unit 4 can give a start instruction until the first traveling path P is generated and input to the storage unit 55. It is a configuration that cannot be done.

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

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

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

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

On the right side of the autonomous travel monitoring screen 100, a traveling state display unit 109 that displays image data including the traveling traveling path P1 or the connecting path P2 of the tractor 1 is arranged. As shown in FIG. 9, for example, the image data displayed on the traveling state display unit 109 is displayed by superimposing the shape of the field and the shape of the work area on the map data, and the traveling of the tractor 1 is displayed on the map data. The locus can be shown by hatching. The traveling state display unit 109 of the present embodiment displays the first traveling path P of the robot tractor 1 and the second traveling path P'of the manned tractor 1X.

The user who steers the manned tractor 1X supports the wireless communication terminal 46 on, for example, an appropriate support portion of the traveling machine 2 of the manned tractor 1X, and the autonomous traveling monitoring screen displayed on the display 37 of the wireless communication terminal 46. With reference to 100, the manned tractor 1X can be run along the second travel path P'to carry out farm work. As a result, the cooperative work between the robot tractor 1 and the manned tractor 1X can be realized.

Hereinafter, the cooperative traveling route generated by the route generation system 99 will be specifically described.

In FIG. 17, the cooperative work of running the robot tractor 1 diagonally to the right behind the manned tractor 1X is selected, and priority is given to maintaining the positional relationship between the robot tractor 1 and the manned tractor 1X, and one row skip is performed. An example of travel paths P and P'generated by the travel route generation unit 35 when selected is shown. In the traveling paths P and P', as shown in FIG. 17, the number of skips fluctuates in the order of 2 rows → 0 rows → 2 rows → 0 rows. On the other hand, in the traveling paths P and P', as shown in FIG. 17, the positional relationship in which the manned tractor 1X is arranged diagonally to the right and behind the robot tractor 1 is maintained on both the outward route and the return route. When such traveling paths P and P'are adopted, the user of the manned tractor 1X may operate the manned tractor 1X while being aware that the manned tractor 1X always travels diagonally to the right and behind the robot tractor 1. There is an advantage that the work can be easily performed using the position of the tractor 1 as a guide.

In FIG. 18, the cooperative work of running the robot tractor 1 diagonally to the right behind the manned tractor 1X is selected, and it is selected that the maintenance of the positional relationship between the robot tractor 1 and the manned tractor 1X is not prioritized, and one row skip is performed. An example of travel paths P and P'generated by the travel route generation unit 35 when selected is shown. In the traveling paths P and P', as shown in FIG. 18, the number of skips is constant in one row. On the other hand, in the traveling paths P and P', as shown in FIG. 18, the positional relationship in which the manned tractor 1X is arranged diagonally to the right and behind the robot tractor 1 is maintained on the outward route when viewed from the start position. However, on the return trip, the manned tractor 1X is placed diagonally to the left of the robot tractor 1 (the set positional relationship is not maintained). When such traveling paths P and P'are adopted, the user of the manned tractor 1X may turn in the same turning mode (same turning radius, etc.) on both the headland on one side and the headland on the other side. There is an advantage that the operation is easy for a user who is unfamiliar with the operation.

FIG. 19 shows an example of travel paths P and P'generated by the travel route generation unit 35 when a section is set in the field and the reference work is set to "necessary". In the traveling paths P and P', as shown in FIG. 19, they are arranged adjacent to the boundary line (section line) with the first work area in the second work area where the agricultural work is mainly performed by the manned tractor 1X. Only the traveling path P0 to be operated is autonomously traveled and autonomously performed by the robot tractor 1, and the traveling path P1'in the other second work area is operated by the manned tractor 1X. On the other hand, in the first work area, the robot tractor 1 performs autonomous traveling and autonomous work on all the traveling paths P1. When such traveling paths P and P'are adopted, the robot tractor 1 autonomously travels and autonomously works on the traveling path P0 arranged adjacent to the boundary line with the first working area in the second working area. After that, with the travel path P0 as a reference (reference), it is possible to perform agricultural work on the travel paths P1', P1', ... By the manned tractor 1X in the second work area. Therefore, there is an advantage that it is easy to carry out farm work in an orderly manner on the field.

FIG. 20 shows an example of travel paths P and P'generated by the travel route generation unit 35 when a section is set in the field and the reference work is set to "unnecessary". In the traveling paths P and P', as shown in FIG. 20, a first work area where the agricultural work is performed by the robot tractor 1 and a second work area where the agricultural work is performed by the manned tractor 1X are partitioned by a lane marking. They are arranged side by side. When such traveling paths P and P'are adopted, the work area (field) can be divided into a plurality of work areas, and the work can be divided between the robot tractor 1 and the manned tractor 1X, and the work can be performed efficiently as a whole. There is a merit that it can be done.

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

As a result, the cooperative traveling route can be fluidly generated according to the user's intention without being bound by the positional relationship between the robot tractor 1 and the manned tractor 1X set by the positional relationship setting unit 102.

Further, in the route generation system 99 of the present embodiment, the first travel path P and the second travel path P'provide a plurality of travel paths P1 and P1'arranged in parallel, respectively. When the travel route generation unit 35 generates a coordinated travel route (first travel route P and second travel route P') that does not maintain the positional relationship, the arbitrary travel path P1 of the first travel route P and the arbitrary travel The number of rows of travel paths arranged between the road P1 and the other travel path P1 traveled by the robot tractor 1 is maintained at a constant number (see FIG. 18).

As a result, when the maintenance of the positional relationship between the set robot tractor 1 and the manned tractor 1X is not prioritized, the robot tractor 1 travels next to the arbitrary travel path P1 of the robot tractor 1 and the arbitrary travel path P1. The number of rows of travel paths arranged between the robot tractor 1 and the travel path P1, that is, the so-called skip number of how many rows the robot tractor 1 skips and travels on the next travel path P1 is maintained at a constant number. In this case, since the turning method (turning radius, etc.) between the headland on one side and the headland on the other side of the field is fixed in a certain manner, the turning operation becomes easy.

Further, in the route generation system 99 of the present embodiment, the cooperative work is a cooperative work in different work areas, and the robot tractor 1 works on the first work area and the manned tractor 1X works on the second work area. A reference work setting unit 108 for setting the necessity of reference work by the robot tractor 1 in the second work area is provided. The first travel path P includes a travel path P0 in which the reference work is performed by the robot tractor 1 in the second work area, and a plurality of travel paths P1 in which the work is performed by the robot tractor 1 in the first work area. To generate. As the second travel path P', a travel path including a plurality of travel paths P1'in which the work is performed by the manned tractor 1X in the second work area excluding the area where the reference work is performed is generated (see FIG. 19).

As a result, in the second work area, the robot tractor 1 performs the reference work (work along the travel path P0), and with reference to the travel path P0 in which the work was performed in the reference work, a plurality of manned tractors 1X are used. Work can be performed on the traveling path P1'. Therefore, it is easy to work in an orderly manner on the work area.

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

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

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

In the cooperative work of the robot tractor 1 and the manned tractor 1X in the above embodiment, the robot tractor 1 runs on the leading side and the manned tractor 1X runs on the trailing side. The manned tractor 1X may travel on the trailing side, and the robot tractor 1 may travel on the trailing side.

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

In the example shown in FIG. 20 above, it is assumed that the first work area and the second work area are partitioned so as to have the same area. However, the present invention is not limited to this, and the first work area may be wider than the second work area, or the first work area may be narrower than the second work area. By appropriately moving the dividing line 116 shown in FIG. 12, for example, the number of rows of the traveling path in the first work area and the number of rows of the traveling path in the second work area are appropriately different from each other, and the first working vehicle It is possible to make the headland on which the work end position of the second work vehicle is arranged and the headland on which the work end position of the second work vehicle is arranged be the same side.

In the above embodiment, the reference work is performed on the traveling path on the second work area side adjacent to the lane marking. With such a configuration, there is an advantage that the boundary between the first work area and the second work area becomes easy to understand visually, and the user who steers the manned tractor 1X can easily perform the work. However, the reference work is not necessarily limited to this, and the reference work may be performed on any of the traveling paths in the second work area. For example, the reference work may be performed on the traveling path located at the end opposite to the side where the division line of the second work area is arranged.

The display screens (input screens, etc.) shown in each figure are merely examples, and the display layout and the design of each icon (button) are not limited to those shown.

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

A device having a function corresponding to the wireless communication terminal 46 may be provided in the traveling machine 2 of the manned tractor 1X traveling along with the tractor 1 in a non-removable manner. In this case, the wireless communication terminal 46 can be omitted.

In the above embodiment, the second work vehicle is a manned tractor 1X steered and operated by the user. However, the present invention is not limited to this, and the second work vehicle is also an unmanned tractor like the first work vehicle, and autonomously transfers the second travel path P'generated by the travel route generation unit 35 to this tractor. It may be run.

1 (Robot) Tractor (1st work vehicle)
1X manned tractor (second work vehicle)
35 Travel route generation unit (cooperative travel route generation unit)
99 Route generation system 101 Work mode setting unit (Cooperative work mode setting unit)
102 Positional relationship setting unit 103 Priority reception department (reception department)
108 Standard work setting unit

Claims (5)

A cooperative work mode setting unit that sets the cooperative work mode of the first work vehicle and the second work vehicle,
A positional relationship setting unit that sets the positional relationship of the second work vehicle with respect to the first work vehicle when the cooperative work mode is cooperative work in the same work area.
Coordination to generate a coordinated travel path including a first travel path on which the first work vehicle travels and a second travel path on which the second work vehicle travels when the cooperative work modes are cooperative work in the same work area. Travel route generator and
When the work area has a first work area in which work is performed by the first work vehicle and a second work area in which work is performed by the second work vehicle, the first work area and the first work area are described. 2 A division line setting unit that sets a division line that separates the work area,
A reference work setting unit that sets the necessity of reference work by the first work vehicle in the second work area, and
Equipped with a,
When the reference work is essentially set by the reference work setting unit, the cooperative travel route generation unit
As the first travel path, a travel path in which the reference work is performed by the first work vehicle in the second work area, and a plurality of travel paths in which the work is performed by the first work vehicle in the first work area. Generate a driving route including,
As the second travel route, a route including a plurality of travel paths in which the work is performed by the second work vehicle in the second work area excluding the region where the reference work is performed is generated. Generation system. The route generation system according to claim 1.
If the reference work is unnecessarily set by the previous SL reference work setting unit, the coordination traveling route generation portion,
As the first travel route, a travel route including a plurality of travel paths in which the work is performed by the first work vehicle in the first work area is generated.
A route generation system, characterized in that, as the second travel route, a travel route including a plurality of travel paths in which work is performed by the second work vehicle in the second work area is generated. The route generation system according to claim 1.
The first travel path and the second travel route each include a plurality of travel paths arranged in parallel.
When the cooperative travel route that does not maintain the positional relationship is generated by the cooperative travel route generation unit, the vehicle is traveled by the first work vehicle next to the arbitrary travel path of the first travel route and the arbitrary travel path. A route generation system characterized in that the number of rows of travel paths arranged between other travel paths is maintained at a constant number. The route generation system according to any one of claims 1 to 3.
It is equipped with a reception section that accepts whether or not to prioritize the maintenance of the positional relationship.
The cooperative travel route generation unit
When the reception unit receives the priority of maintaining the positional relationship, the cooperative traveling route for maintaining the positional relationship is generated.
A route generation system characterized in that when the priority of maintaining the positional relationship is not received by the receiving unit, the cooperative traveling route that does not maintain the positional relationship is generated. The route generation system according to any one of claims 1 to 4.
A route generation system characterized in that the traveling path on which the reference work is performed is arranged adjacent to the lane marking line.

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