WO2017204052A1

WO2017204052A1 - Autonomous traveling system

Info

Publication number: WO2017204052A1
Application number: PCT/JP2017/018525
Authority: WO
Inventors: 松本　圭司; 信之荒木; 康平小倉; 恵大北野; 敏史平松
Original assignee: ヤンマー株式会社
Priority date: 2016-05-27
Filing date: 2017-05-17
Publication date: 2017-11-30
Also published as: JP2017211892A; JP6694328B2

Abstract

Provided is an autonomous traveling system that is capable of blocking autonomous traveling of a work vehicle in an area in which the autonomous traveling of the work vehicle should normally be prohibited. The present invention is provided with: a position information acquisition unit 32 that can acquire the position information of a work vehicle 1, specified by a satellite positioning system; a map information acquisition unit 33 that can acquire map information; an area specification unit 34 that can specify a traveling area on the basis of the traveling track of the work vehicle 1; a determination unit 35 that determines whether the traveling area specified by the area specification unit 34 includes a prohibition area in which autonomous traveling of the work vehicle 1 is prohibited in the map information; and a registration unit 36 that registers the traveling area as a registration area when the determination unit 35 determines that the traveling area does not include the prohibition area.

Description

Autonomous traveling system

The present invention relates to an autonomous traveling system in which a work vehicle autonomously travels within a registered area registered in advance.

The autonomous traveling system as described above is configured to acquire the current position of the work vehicle using, for example, a satellite positioning system, and autonomously travel the work vehicle along a target travel route or the like generated in the registration area. (For example, refer to Patent Document 1).

Regarding registration of the registration area, for example, in the area to be registered, the work vehicle is driven by the operator's operation or the like while acquiring position information of the work vehicle. And the positional information in each of the some reference point used as the reference | standard for registering a registration area | region is acquired, and the area | region specified from these some reference | standard points is registered as a registration area | region. For example, when the work vehicle is for agricultural work, a plurality of reference points that become corners of the farm field by using the corners of the farm field as reference points and running the work vehicle so as to go around the end side in the farm field. The location information of the point is acquired, and the region in the field surrounded by the line connecting the plurality of reference points is registered as the registration region.

JP 2002-354905 A

As described above, for example, when the work vehicle is for farm work, a registration area is usually registered in the farm field. However, if an area including a road outside the farm field is registered as a registration area due to a registration error or the like, the work vehicle autonomously travels in an area where the autonomous traveling of the work vehicle should be prohibited. It will end up. Therefore, there is a need for a measure for preventing the work vehicle from traveling autonomously in a region where the work vehicle should be prohibited from traveling autonomously.

In view of this situation, the main problem of the present invention is to provide an autonomous traveling system that can prevent the autonomous traveling of the work vehicle in an area where the autonomous traveling of the working vehicle should be prohibited.

A first characteristic configuration of the present invention is an autonomous traveling system that autonomously travels a work vehicle within a registered area registered in advance.
A position information acquisition unit capable of acquiring position information of the work vehicle specified by a satellite positioning system;
A map information acquisition unit capable of acquiring map information;
An area identifying unit capable of identifying a traveling area based on a traveling locus of the work vehicle;
A determination unit that determines whether the travel region specified by the region specifying unit includes a prohibited region in which autonomous traveling of the work vehicle is prohibited in the map information;
And a registration unit that registers the travel region as the registration region when the determination unit determines that the prohibited region is not included in the travel region.

According to this configuration, when registering the registration area, for example, in the area to be registered, the position information acquisition unit acquires the position information of the work vehicle and causes the work vehicle to travel by maneuvering the operator. be able to. By the traveling of the work vehicle, the region specifying unit can grasp the traveling locus of the working vehicle from the position information of the working vehicle acquired by the position information acquiring unit, and can specify the traveling region based on the traveling locus. . Then, the determination unit determines whether or not a prohibited area including a road or the like is included in the travel area, and the registration unit determines that the travel area does not include the prohibited area in the map information by the determination unit. The travel area is registered as a registration area. As a result, when the determination unit determines that the prohibited area is included in the travel area, the travel area is not registered as the registration area. Therefore, it is possible to prevent the prohibited area including the road or the like from being included in the registration area, and it is possible to prevent the autonomous traveling of the work vehicle in the area where the autonomous traveling of the working vehicle should be prohibited.

A second characteristic configuration of the present invention is an autonomous traveling system that autonomously travels a work vehicle within a pre-registered registration area,
A position information acquisition unit capable of acquiring position information of the work vehicle specified by a satellite positioning system;
A map information acquisition unit capable of acquiring map information;
Whether or not the current position of the work vehicle acquired by the position information acquisition unit is within the registration area, and whether or not the work vehicle is in a prohibited area where autonomous travel of the work vehicle is prohibited in the map information. A determination unit for determining
An autonomous travel prohibition unit that prohibits autonomous travel of the work vehicle when the determination unit determines that the current position of the work vehicle is within the registration region and the prohibition region. There is in point to do.

According to this configuration, when the work vehicle travels autonomously, the current position of the work vehicle is acquired by the position information acquisition unit, so the determination unit registers the current position of the work vehicle acquired by the position information acquisition unit. It can be determined whether or not the current position of the work vehicle acquired by the position information acquisition unit is within the prohibited area in the map information. The autonomous traveling prohibition unit prohibits the autonomous traveling of the work vehicle by, for example, stopping the traveling of the work vehicle when the determination unit determines that the current position of the work vehicle is within the registration region and the prohibited region. be able to. Therefore, even if the work vehicle enters the prohibited area while the work vehicle is traveling autonomously, the autonomous travel of the work vehicle in the area where the autonomous travel of the work vehicle should be prohibited is prohibited by prohibiting the autonomous travel. Can be prevented.

A third characteristic configuration of the present invention is that the position information acquisition unit is configured to be able to acquire the position information of the work vehicle by RTK positioning based on the position information of the base station.

According to this configuration, since the position information acquisition unit can acquire the position information of the work vehicle by RTK positioning based on the position information of the base station, the position information acquisition unit can acquire accurate position information as the position information of the work vehicle. Thereby, not only the autonomous traveling of the work vehicle can be appropriately performed, but also the determination by the determination unit described above can be accurately performed, and the autonomous traveling of the work vehicle in an area where the autonomous traveling of the working vehicle should be prohibited. Can be prevented appropriately.

According to a fourth characteristic configuration of the present invention, the position information acquisition unit can acquire position information of the work vehicle by a global geodetic system based on position information of a predetermined base station,
The map information is map information including position information by a Japanese geodetic system,
A geodetic conversion unit that performs geodetic conversion of the position information of the predetermined base station or the position information of the map information based on correction values of the world geodetic system and the Japanese geodetic system is provided.

According to this configuration, the position information acquisition unit can acquire the position information of the work vehicle by the world geodetic system, whereas the map information is the map information including the position information by the Japanese geodetic system. Since there is an error in the position information acquired between the world geodetic system and the Japanese geodetic system, if the above-described determination unit makes a determination with this error, an erroneous determination may occur. Therefore, by performing the geodetic conversion by the geodetic conversion unit, it is possible to eliminate the error and perform the determination by the above-described determination unit in a state where the error between the world geodetic system and the Japanese geodetic system is eliminated. Therefore, the determination by the above-described determination unit can be accurately performed, and the autonomous traveling of the work vehicle in the region where the autonomous traveling of the work vehicle should be prohibited can be appropriately prevented.

A fifth characteristic configuration of the present invention includes a storage unit that stores the correction value in association with each region,
The geodetic conversion unit is characterized in that the geodetic conversion is performed based on the correction value associated with an area to which the current position of the work vehicle belongs.

The magnitude of error between the world geodetic system and the Japanese geodetic system varies from region to region. So, according to this structure, a geodetic conversion part performs geodetic conversion based on the correction value matched with the area where the present position of a working vehicle belongs among the correction values memorize | stored in the memory | storage part. As a result, geodetic conversion can be performed appropriately according to the magnitude of the error that varies from region to region, and the position information of the predetermined base station and the position information of the map information are accurate when performing the determination by the determination unit described above. Position information can be acquired and more accurate determination can be performed.

A sixth characteristic configuration of the present invention includes a mode execution unit capable of executing a correction mode for correcting an error in position information in the geodetic conversion by the geodetic conversion unit,
A correction unit that corrects position information of the predetermined base station by independent positioning or RTK positioning based on position information of a base station different from the predetermined base station when the correction mode is executed by the mode execution unit; It is in the point characterized by providing.

When performing geodetic conversion by the geodetic conversion unit, it is conceivable that there is an error in the position information itself of a predetermined base station. Therefore, according to this configuration, the correction unit performs the positioning of a predetermined base station by single positioning or RTK positioning based on position information of a base station different from the predetermined base station when the correction mode is executed by the mode execution unit. Since the position information is corrected, there is no error in the position information of a predetermined base station, and accurate position information can be acquired. Therefore, the determination accuracy of the determination unit described above can be further improved, and autonomous traveling of the work vehicle in a region where the autonomous traveling of the work vehicle should be prohibited can be appropriately and more accurately prevented.

Overall side view of tractor Control block diagram of tractor, base station, and wireless communication terminal The figure which shows position information such as base station and map information before performing geodetic conversion The figure which shows position information such as base station after performing geodetic conversion and map information Figure showing RTK positioning using a base station and another base station Flow chart showing the procedure for registration area registration Flow chart showing operation during autonomous driving Figure showing a case where a prohibited area exists in the registered area

An embodiment of an autonomous traveling system according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, this autonomous traveling system is a system for autonomously traveling a tractor 1 as a work vehicle in a registered area registered in advance. As shown in FIG. 2, the autonomous traveling system includes a position information acquisition unit 32 that can acquire position information of the tractor 1, a map information acquisition unit 33 that can acquire map information, and the like. The communication terminal 30 is provided with an autonomous traveling system.

First, the tractor 1 will be described with reference to FIG.
The tractor 1 includes a vehicle body portion 2 on which a work machine 50 can be mounted on the rear side, the front portion of the vehicle body portion 2 is supported by a pair of left and right front wheels 3, and the rear portion of the vehicle body portion 2 is a pair of left and right rear wheels 4. It is supported. A bonnet 5 is disposed in the front part of the vehicle body 2, and an engine 6 as a drive source is accommodated in the bonnet 5. The engine 6 can be configured by, for example, a diesel engine, but is not limited thereto, and may be configured by, for example, a gasoline engine. Further, an electric motor may be employed as a drive source in addition to the engine 6 or instead of the engine 6. A cabin 7 for a driver to board is provided on the rear side of the bonnet 5, and a steering handle 8 for a driver to steer and a driver's driving seat 9 are provided in the cabin 7. It has been. In this embodiment, the tractor 1 will be described as an example of a work vehicle. In addition to a tractor, the work vehicle may be a walking type vehicle, a rice transplanter, a combiner, a civil engineering / architecture work device, a snowplow, or the like. A type work vehicle is also included.

A three-point link mechanism including a pair of left and right lower links 10 and an upper link 11 is provided on the rear side of the vehicle body portion 2, and the working machine 50 can be mounted on the three-point link mechanism. Although not shown, a lifting device having a hydraulic device such as a lifting cylinder is provided on the rear side of the vehicle body 2, and this lifting device lifts and lowers the work implement 50 by lifting and lowering the three-point link mechanism. ing.

Here, with respect to the working machine 50, FIG. 1 illustrates the case where a tilling device is mounted, but not only the tilling device but various working machines such as a plow and a fertilizer can be applied.

As shown in FIG. 2, the tractor 1 includes a governor device 21 that can adjust the rotational speed of the engine 6, a transmission device 22 that shifts the rotational driving force from the engine 6 and transmits it to the drive wheels, the governor device 21, A control unit 23 and the like that can control the device 22 are provided. The transmission 22 is configured by combining, for example, a main transmission composed of a hydraulic continuously variable transmission and an auxiliary transmission composed of a gear type multi-stage transmission.

The tractor 1 not only allows the driver to travel in the cabin 7, but also allows the tractor 1 to travel autonomously based on a command from the wireless communication terminal 30 even if the driver does not enter the cabin 7. It is configured as possible.

As shown in FIG. 2, the tractor 1 includes a steering device 24, a positioning antenna 25, a wireless communication antenna 26, and the like, and autonomously acquires its current position information (position information of the vehicle body 2). It is configured to be able to run.

The steering device 24 is provided, for example, in the middle of the rotation shaft of the steering handle 8 and is configured to be able to adjust the rotation angle (steering angle) of the steering handle 8. When the control unit 23 controls the steering device 24, not only the straight traveling but also the turning angle of the steering handle 8 can be adjusted to a desired turning angle, and the turning turning with the desired turning radius can be performed.

As shown in FIG. 1, the positioning antenna 25 is configured to receive a signal from a positioning satellite 63 that constitutes a satellite positioning system (GNSS), for example. The positioning antenna 25 is disposed on the upper surface of the roof 13 of the cabin 7.

The radio communication antenna 26 is configured to be able to transmit and receive various signals to and from the radio communication terminal 30 and the like. The radio communication antenna 26 is disposed on the upper surface of the roof 13 of the cabin 7. As shown in FIG. 2, the signal received by the wireless communication antenna 26 can be input to the control unit 23, and the signal from the control unit 23 is transmitted to the wireless communication terminal 30 by the wireless communication antenna 26. It can be transmitted to the device 31 and the like.

Here, various positioning methods such as single positioning, DGPS (differential GPS positioning), and RTK positioning (real-time kinematic positioning) can be applied as positioning methods using the satellite positioning system.

In this embodiment, RTK positioning is applied, and as shown in FIGS. 1 and 2, the tractor 1 serving as a mobile station includes a positioning antenna 25 and a base station positioning antenna 61. A base station 60 is provided. The base station 60 is arranged at a position that does not interfere with the traveling of the tractor 1, for example, around a farm field, the position information of the base station 60 is known, and the known position information is set in advance. The base station 60 includes a base station wireless communication device 62 that can transmit and receive various signals to and from the wireless communication antenna 26 of the tractor 1, and various information can be transmitted and received between the base station 60 and the tractor 1. It is configured to be possible.

In the RTK positioning, the carrier phase from the positioning satellite 63 is measured by both the base station 60 for which position information is set in advance and the positioning antenna 25 of the tractor 1 serving as a mobile station for which position information is to be obtained. Measurement data measured at the station 60 is transmitted from the base station wireless communication device 62 to the wireless communication antenna 26 of the tractor 1. The control unit 23 of the tractor 1 corrects the measurement data measured by the positioning antenna 25 using the measurement data measured by the base station 60, the preset position information of the base station 60, etc. 1 position information is obtained. The control unit 23 obtains, for example, latitude information / longitude information as position information of the tractor 1.

Next, the autonomous traveling system provided in the wireless communication terminal 30 will be described with reference to FIG.
The wireless communication terminal 30 is composed of, for example, a tablet personal computer having a touch panel, and can display various information on the touch panel. Various information can also be input by operating the touch panel.

The autonomous traveling system is configured to register a registration area, generate a target traveling route in the registered registration area, and allow the tractor 1 to autonomously travel along the generated target traveling route.

The wireless communication terminal 30 includes a location information acquisition unit 32, a map information acquisition unit 33, a region specification unit 34, a determination unit 35, a registration unit 36, and the like for registering a registration region. The wireless communication terminal 30 is provided with a travel route calculation unit 37 in order to generate a target travel route that indicates how the tractor 1 travels within the registered area.

The control unit 23 provided in the tractor 1 is configured to transmit and receive various types of information to and from the wireless communication terminal 30 via wireless communication between the wireless communication antenna 26 and the wireless communication device 31. Yes. The wireless communication terminal 30 is configured to be able to transmit various types of information for causing the tractor 1 to autonomously travel, such as a target travel route, to the control unit 23 of the tractor 1. The control unit 23 of the tractor 1 controls the positioning antenna 25 so as to autonomously travel along the target travel route generated by the travel route calculation unit 37 in accordance with various information transmitted from the wireless communication terminal 30. The steering device 24 and the like can be controlled based on the current position information of the tractor 1 acquired from the received signal.

The position information acquisition unit 32 is configured to be able to acquire the position information of the tractor 1 specified by the world geodetic system based on the position information of the known base station 60 by applying the RTK positioning of the satellite positioning system described above. Yes. Here, the position information acquisition unit 32 may include the wireless communication device 31, the wireless communication antenna 26 of the tractor 1, and the control unit 23 of the tractor 1. By applying the RTK positioning of the satellite positioning system described above, the control unit 23 specifies the position information of the tractor 1 by the world geodetic system, and the position information acquisition unit 32 is connected to the radio communication antenna 26 of the tractor 1. The position information of the identified tractor 1 is acquired through wireless communication with the wireless communication device 31 of the wireless communication terminal 30.

The map information that can be acquired by the map information acquisition unit 33 is map information including position information by the Japanese geodetic system. The map information acquisition unit 33 acquires map information based on the Japanese geodetic system by input by an operator's touch panel operation or wireless communication with an external device using the wireless communication device 31. The map information may include information indicating what kind of area each position coordinate is. For example, the map information is divided into a plurality of areas, and what kind of area each divided area is. May be included. Examples of the area include public roads, farm roads, parks, public facilities, and farm fields. In addition, the map information may include information indicating whether the vehicle is a permitted region where autonomous traveling by the tractor 1 is permitted or a prohibited region where autonomous traveling by the tractor 1 is prohibited. It is set as a permitted area, and areas other than farm fields (public roads, agricultural roads, parks, public facilities, etc.) are set as prohibited areas. The operator may be able to arbitrarily set which area is the permitted area and which area is the prohibited area. However, from the viewpoint of safety, it is desirable to place certain restrictions on setting areas other than fields as permitted areas. For example, even if the field is not a field on the map information, When there is a difference between the area and the area, it is desirable that the area can be set as a permission area by changing the area to a field.

When registering the registration area, for example, the tractor 1 is caused to travel by the operator's operation, and the registration area can be registered based on the travel area of the tractor 1 at that time. Therefore, the region specifying unit 34 is configured to be able to specify the travel region based on the travel locus of the tractor 1. Since the position information when the tractor 1 is traveled is acquired by the position information acquisition unit 32, the region specifying unit 34 obtains the travel trajectory of the tractor 1 from the acquired position information of the tractor 1, The traveling area of the tractor 1 is specified.

Whether the determination unit 35 includes part or all of the prohibited region where the autonomous traveling of the tractor 1 is prohibited in the map information acquired by the map information acquisition unit 33 in the travel region specified by the region specifying unit 34 Whether or not can be determined.

The registration unit 36 is configured to be able to register the travel region as a registration region when the determination unit 35 determines that the travel region does not include the prohibited region. Thereby, a registration area can be registered without including a prohibition area that should normally prohibit autonomous traveling of the tractor 1 such as a public road.

Here, in this embodiment, in the determination by the determination unit 35, the travel area of the tractor 1 is based on the position information of the tractor 1 specified by the world geodetic system, whereas the map information is Japanese geodetic. It is acquired by the system. Therefore, since an error occurs between the position information acquired by the world geodetic system and the position information acquired by the Japanese geodetic system, the determination unit 35 performs the travel region of the tractor 1 by the world geodetic system and the map by the Japanese geodetic system. A simple comparison with information may result in a false determination.

Therefore, the wireless communication terminal 30 is provided with a geodetic conversion unit 39 that performs geodetic conversion of position information or map information of the base station 60 based on correction values of the world geodetic system and the Japanese geodetic system. The wireless communication terminal 30 includes a storage unit 40, a mode execution unit 41, and a correction unit 42 in order to perform geodetic conversion by the geodetic conversion unit 39.

Since the correction values for the world geodetic system and the Japanese geodetic system differ from region to region, the storage unit 40 is configured to be able to store the correction values for the world geodetic system and the Japanese geodetic system in association with each region. Yes. And the geodetic conversion part 39 is comprised so that geodetic conversion may be performed based on the correction value matched with the area where the present position of the tractor 1 belongs. The mode execution unit 41 is configured to be able to execute a correction mode for correcting an error in geodetic conversion by the geodetic conversion unit 39, and the correction unit 42 performs RTK positioning when the correction mode is executed by the mode execution unit 41. The position information of the base station 60 can be corrected.

The geodetic conversion by the geodetic conversion unit 39 will be described with reference to FIGS. FIGS. 3 and 4 show the position information of the traveling area Q and the position of the map information such as the roads K1, K2 when the road is set as the traveling area Q when the roads K1, K2 are adjacent to the field. Information is shown. FIG. 3 shows position information of the travel region Q and the roads K1, K2, etc. before the geodetic conversion by the geodetic conversion unit 39 is performed. FIG. 4 shows position information of the travel region Q and the roads K1, K2, etc. after the geodetic conversion by the geodetic conversion unit 39 is performed.

As shown in FIGS. 3 (a) and 3 (b), position information of roads K1, K2 adjacent to the periphery of the field is acquired as map information. For example, the road K1 is a road that passes through the point P1 (x1, y1) and the point P2 (x2, y2), and position information that the road width is W1 is acquired. The road K2 is a road that passes through the point P3 (x3, y3) and the point P4 (x4, y5), and position information that the road width is W2 is acquired.

On the other hand, in the field, the tractor 1 is driven by the operator's control, and the field specifying unit 34 specifies the field as the driving area Q based on the traveling locus of the tractor 1 at that time. For example, when the corner of the field is used as the reference point, the region specifying unit 34 determines the position information (u1, v1), (u2) at each of the plurality of reference points Q1, Q2, Q3, and Q4 from the travel locus of the tractor 1. , V2), (u3, v3), (u4, v4) are obtained, and an area surrounded by a line connecting a plurality of reference points Q1, Q2, Q3, Q4 is specified as the traveling area Q. The current position of the tractor 1 is (u6, v6), and the position of the base station 60 is (u0, v0).

The relationship between the position information of the travel area Q and the position information of the roads K1 and K2 is as follows. As shown by the dotted lines in FIGS. , K2 are adjacent to each other. However, since the roads K1 and K2 are based on the Japanese geodetic system, the travel area Q is based on the world geodetic system, and an error occurs between the world geodetic system and the Japanese geodetic system, the positional information on the travel area Q and the road K1 , K2 with respect to the positional information is deviated from the original relationship as shown by the solid lines in FIGS. 3 (a) and 3 (b). Incidentally, FIG. 3A shows a state shifted from the original relationship to the upper left side in the drawing, and FIG. 3B shows a state shifted from the original relationship to the lower right side in the drawing. .

Therefore, the geodetic conversion unit 39 performs geodetic conversion of the position information or map information of the base station 60 based on the correction values of the world geodetic system and the Japanese geodetic system. At this time, since the correction values of the world geodetic system and the Japanese geodetic system are associated with each region and stored in the storage unit 40, the geodetic conversion unit 39 determines which region the current position is based on the position information of the tractor 1 and the like. The position information of the base station 60 or the geodetic conversion of the map information is performed using the correction value associated with the area belonging to the current position. As a result, even if an error occurs due to the difference between the geodetic system of the world geodetic system and the Japanese geodetic system, the position information and map information of the base station 60 can be accurately acquired without the error. Can do.

In addition, when the geodetic conversion unit 39 performs geodetic conversion of the position information or the map information of the base station 60, not only errors due to different geodetic systems but also other errors can be considered. Considering this, more accurate position information is acquired.

First, since the map itself may have an error, the position information is corrected for any point on the map. As arbitrary positions on the map, for example, reference points Q1, Q2, Q3, and Q4 that are corners of the field, the position of the base station 60, and the like can be used. For example, the tractor 1 is moved to an arbitrary position on the map (for example, the reference point Q1), the position information of the tractor 1 at that time is acquired, and the arbitrary position on the map (for example, the reference point Q1) is the world The position information is corrected for an arbitrary point on the map so as to coincide with the position information of the tractor 1 specified by the geodetic system. Thereby, the error between the latitude / longitude of an arbitrary point on the map and the latitude / longitude of the actual point can be corrected, and accurate map information can be acquired.

Further, in the global positioning system, the position information of the tractor 1 is specified using the position information of the base station 60, so it is considered that there is an error in the position of the base station 60 itself. Therefore, the mode execution unit 41 can execute a correction mode for correcting an error in position information in the geodetic conversion performed by the geodetic conversion unit 39, and the correction unit 42 can execute another correction mode when the correction mode is executed by the mode execution unit 41. The position information of the base station 60 is corrected by RTK positioning based on the base station 64.

As shown in FIG. 5, the correction unit 42 (corresponding to the base station position information acquisition unit) performs RTK positioning using the base station 60 as a mobile station and another base station 64 as a fixed station. The position information of the base station 60 is specified, the position information of the base station 60 is corrected, and the accurate position information of the base station 60 is acquired. Here, as another base station 64, various reference positions in which accurate position information is measured and set, such as an electronic reference point, a triangular point, a public reference point, and a virtual reference point (VRS), may be applied. it can. In addition, although the RTK positioning is used to acquire the position information of the base station 60, various positioning methods such as single positioning and DGPS (differential GPS positioning) are applicable without being limited to the RTK positioning. Further, when the position information can be acquired in a stable state by the positioning hygiene system, such as when the position information of the base station 60 can be obtained by a predetermined number or more of the positioning satellites 63, the base station 60 acquired by each positioning satellite 63. Based on the average value of the position information, accurate position information of the base station 60 can be acquired.

For example, when the position information of the base station 60 and the position information of another base station 64 are specified by independent positioning or DGPS, the set position information (x, y) = (x11, y11) of another base station 64 When the position information (x, y) = (x12, y12) of the specified another base station 64 and the position information (x, y) = (x13, y13) of the specified base station 60 are corrected The unit 42 can obtain accurate position information of the base station 60 as position information (x, y) = {x13− (x11−x12), y13− (y11−y12)} of the base station 60.

As described above, the geodetic conversion unit 39 performs geodetic conversion of the position information or map information of the base station 60 in consideration of the error of the map itself and the position information of the base station 60, as shown in FIG. In addition, it is possible to accurately acquire the position information of the travel region Q and the roads K1, K2, and the like. FIG. 4 shows a state where the geodetic conversion of the position information of the base station 60 is performed by the geodetic conversion unit 39. For each position information before geodetic conversion shown in FIG. 3, only the position obtained by geodetic conversion is shown as new position information as position information after geodetic conversion shown in FIG. That is, the position information of the base station 60 is (u10, v10), and the position information at each of the plurality of reference points Q1, Q2, Q3, Q4 is Q1 (u11, v11), Q2 (u12, v12), Q3 (u13). , V13), Q4 (u14, v14), and the current position of the tractor 1 is indicated by (u16, v16).

The geodetic conversion by the above-described geodetic conversion unit 39 can be performed before registering the registration area, but the timing can be changed as appropriate. Further, the correction of the position information of the base station 60 using the RTK positioning by the correction unit 42 can be performed at the beginning of the installation of the base station 60 or after the installation of the base station 60 separately from the geodetic conversion. For example, by correcting the position information of the base station 60 using RTK positioning by the correction unit 42 at the beginning of the installation of the base station 60, the position information of the base station 60 becomes accurate from the beginning of the installation of the base station 60. Thus, accurate position information of the tractor 1 can be acquired.

Hereinafter, the registration of the registration area after performing the geodetic conversion by the geodetic conversion unit 39 before the registration of the registration area to obtain the position information as shown in FIG. 4 is based on the flowchart of FIG. explain.

First, the tractor 1, which is a work vehicle, is driven by the operator's operation in the field to be registered (step # 1). At this time, the corner of the field is used as a reference point of the registration area, and the tractor 1 is caused to travel at least in the vicinity of each of the corners of the field by running around the end in the field. Yes.

The position information acquisition unit 32 acquires the position information of the tractor 1, obtains the travel locus of the tractor 1 when the tractor 1 is traveled, and acquires the position information of the reference point (step # 2). For example, in FIG. 4, the corners of the field are set as the reference points Q1, Q2, Q3, and Q4 of the registration area, and the position information at each of the reference points Q1, Q2, Q3, and Q4 is acquired from the traveling locus of the tractor 1. ing.

The region specifying unit 34 specifies the traveling region of the tractor 1 from the position information at each of the reference points Q1, Q2, Q3, and Q4 (step # 3). For example, in FIG. 4, an area surrounded by a line connecting the reference points Q1, Q2, Q3, and Q4 is specified as the traveling area Q.

Here, the identified travel area Q is compared with the acquired map information. For example, the travel area Q and the road information K1 and K2 are not adjacent to each other. If there is a deviation (for example, see FIG. 3), the geodetic conversion by the geodetic conversion unit 39 can be performed again. Thus, more accurate position information can be obtained by performing geodetic conversion by the geodetic conversion unit 39 again.

The determination unit 35 determines whether or not the traveling region Q specified by the region specifying unit 34 includes a prohibited region, and the registration unit 36 registers the traveling region Q if the traveling region Q does not include the prohibited region. Register as an area (in the case of No in step # 4, step # 5). Moreover, the registration part 36 will not register a registration area, when the driving | running | working area Q contains a prohibition area (in the case of Yes of step # 4). For example, in FIG. 4, an area where roads K1 and K2 adjacent to the periphery of the field are located is a prohibited area K. If the traveling area Q is an area including only the gray area Q5, the traveling area Q is the prohibited area K. The travel area Q is registered as a registration area. On the other hand, if the traveling area Q is an area including the area Q6 surrounded by a dotted line in addition to the gray area Q5, the traveling area Q includes the prohibited area K, and the registration area is not registered. Incidentally, when the registration area is not registered, it can be displayed on the touch panel of the wireless communication terminal 30 so as to re-register the registration area.

As described above, even when the travel area Q includes the prohibited area K, the autonomous traveling of the tractor 1 in the prohibited area K can be prevented by not registering the area including the prohibited area K as the registration area. In this embodiment, as a measure for preventing autonomous traveling of the tractor 1 in the prohibited region K, not only a measure not to register the region including the prohibited region K as a registered region, but also when the tractor 1 is autonomously traveled, Since measures are taken to prevent the tractor 1 from traveling autonomously in the prohibited area K, the measures will be described.

The determination unit 35 determines whether or not the current position of the tractor 1 acquired by the position information acquisition unit 32 is within the registration region, and whether or not the map unit is within the prohibited region K where the autonomous traveling of the tractor 1 is prohibited. Whether or not can be determined. As shown in FIG. 2, the wireless communication terminal 30 prohibits autonomous traveling of the tractor 1 when the determination unit 35 determines that the current position of the tractor 1 is within the registration area and the prohibited area K. An autonomous traveling prohibition unit 38 is provided.

Hereinafter, countermeasures for this autonomous traveling will be described based on the flowchart of FIG.
When the tractor 1 is allowed to autonomously travel, the control unit 23 acquires the current position of the tractor 1, and therefore the position information acquisition unit 32 via wireless communication between the wireless communication antenna 26 and the wireless communication device 31. Has acquired the current position of the tractor 1 (step # 11). The determination unit 35 determines whether or not the acquired current position of the tractor 1 is within the registration area, and whether or not the acquired current position of the tractor 1 is within the prohibited area K (step # 12, step # 13).

If the current position of the tractor 1 is outside the registration area T (see FIG. 8) as determined by the determination unit 35, the autonomous traveling prohibition unit 38 stops traveling and prohibits autonomous traveling (in step # 12). If No, step # 14). FIG. 8 shows a case where the prohibited area K exists in the registration area T. If the current position of the tractor 1 is within the registration region T, even if the current position of the tractor 1 is within the prohibited region K, the autonomous traveling prohibition unit 38 prohibits the autonomous traveling by stopping the traveling of the tractor 1 (Step S38). In the case of # 12 Yes, in the case of Yes in Step # 13, Step # 14). When the autonomous traveling prohibition unit 38 prohibits the autonomous traveling of the tractor 1, the autonomous traveling prohibiting unit 38 transmits an instruction signal for prohibiting the autonomous traveling of the tractor 1 to the wireless communication device 31 and the wireless communication antenna 26. Is transmitted to the control unit 23 of the tractor 1 via wireless communication. Based on the instruction signal from the autonomous traveling prohibition unit 38, the control unit 23 controls the governor device 21, the transmission 22 and the like so as to stop the traveling of the tractor 1 and prohibit autonomous traveling. At this time, it can be displayed on the touch panel of the wireless communication terminal 30, the monitor unit of the tractor 1, and the like that the traveling is stopped due to the prohibition of autonomous traveling.

The autonomous traveling prohibition unit 38 continues the autonomous traveling of the tractor 1 when the current position of the tractor 1 is within the registration region T and the current position of the tractor 1 is outside the prohibited region K as determined by the determination unit 35. (In the case of Yes in Step # 12, in the case of No in Step # 13, Step # 15). At this time, an instruction signal is not transmitted from the autonomous traveling prohibition unit 38, and the autonomous traveling by the control unit 23 of the tractor 1 is continued.

Thus, not only when the current position of the tractor 1 deviates from the registration area T but also within the registration area T, the autonomous traveling of the tractor 1 can be prohibited if it is within the prohibited area K. Thus, for example, as shown in FIG. 8, even when the prohibited area K exists in the registration area T, if the current position of the tractor 1 falls within the prohibited area K, the tractor 1 stops traveling. Autonomous driving at K can be prevented. Moreover, since the determination unit 35 makes a determination every time the current position of the tractor 1 is acquired, the tractor 1 can be stopped traveling at an early stage when the tractor 1 enters the prohibited area K, and the autonomous operation in the prohibited area K can be performed. You can quickly stop running.

In this embodiment, the above-described two measures are taken as measures for preventing the tractor 1 from traveling autonomously in the prohibited region K. For example, only the measure not registering the region including the prohibited region K as a registered region. It is also possible to take only a measure of prohibiting autonomous traveling when the current position of the tractor 1 is within the prohibited region K when the tractor 1 is autonomously traveling.

[Another embodiment]
(1) In the above embodiment, the position information acquisition unit 32 can acquire the position information of the tractor 1 by the world geodetic system based on the position information of the base station 60, whereas the map information is the position by the Japanese geodetic system. If it is map information including information and the geodetic system for acquiring the position information is different, but both the position information of the tractor 1 and the map information can be acquired by the same geodetic system by the world geodetic system or the Japanese geodetic system, Geodetic conversion by the conversion unit 39 may not be performed. In this case, apart from the geodetic conversion by the geodetic conversion unit 39, a configuration for eliminating an error in the map itself and an error in the position information of the base station 60 can be provided.

(2) In the above embodiment, the base station 60 is provided in order to obtain the position information of the tractor 1 by RTK positioning. However, instead of this base station 60, another base station 64 is provided, so that the RTK is provided. The position information of the tractor 1 can also be acquired by positioning. As described above, when another base station 64 is provided, not only RTK positioning but also various positioning methods such as DGPS (differential GPS positioning) can be applied.

(3) In the above embodiment, the case where the wireless communication terminal 30 includes the position information acquisition unit 32, the map information acquisition unit 33, and the like of the autonomous traveling system according to the present invention has been illustrated, but the autonomous traveling system according to the present invention Where the position information acquisition unit 32, the map information acquisition unit 33, and the like are provided can be changed as appropriate. For example, the position information acquisition unit 32 and the map information acquisition unit 33 of the autonomous traveling system according to the present invention can be provided in the control unit 23 of the tractor 1, and the autonomous control system according to the present invention can be provided in an external control device or the like. It is also possible to provide a travel system position information acquisition unit 32, a map information acquisition unit 33, and the like.

The present invention can be applied to various autonomous traveling systems in which a work vehicle autonomously travels within a registered area registered in advance.

1 Tractor (work vehicle)
32 position information acquisition unit 33 map information acquisition unit 34 area identification unit 35 determination unit 36 registration unit 38 autonomous travel prohibition unit 39 geodetic conversion unit 40 storage unit 41 mode execution unit 42 correction unit 60 base station 64 another base station

Claims

An autonomous traveling system for autonomously traveling a work vehicle within a pre-registered registration area,
A position information acquisition unit capable of acquiring position information of the work vehicle specified by a satellite positioning system;
A map information acquisition unit capable of acquiring map information;
An area identifying unit capable of identifying a traveling area based on a traveling locus of the work vehicle;
A determination unit that determines whether the travel region specified by the region specifying unit includes a prohibited region in which autonomous traveling of the work vehicle is prohibited in the map information;
An autonomous traveling system comprising: a registration unit that registers the traveling region as the registration region when the determination unit determines that the prohibited region is not included in the traveling region.
An autonomous traveling system for autonomously traveling a work vehicle within a pre-registered registration area,
A position information acquisition unit capable of acquiring position information of the work vehicle specified by a satellite positioning system;
A map information acquisition unit capable of acquiring map information;
Whether or not the current position of the work vehicle acquired by the position information acquisition unit is within the registration area, and whether or not the work vehicle is in a prohibited area where autonomous travel of the work vehicle is prohibited in the map information. A determination unit for determining
An autonomous travel prohibition unit that prohibits autonomous travel of the work vehicle when the determination unit determines that the current position of the work vehicle is within the registration region and the prohibition region. Autonomous driving system.
The autonomous traveling system according to claim 1 or 2, wherein the position information acquisition unit is configured to be able to acquire position information of the work vehicle by RTK positioning based on position information of a base station.
The position information acquisition unit can acquire position information of the work vehicle by a global geodetic system based on position information of a predetermined base station,
The map information is map information including position information by a Japanese geodetic system,
The geodetic conversion unit that performs geodetic conversion of the position information of the predetermined base station or the position information of the map information based on correction values of the world geodetic system and the Japanese geodetic system is provided. The autonomous traveling system of any one of Claims.
A storage unit that stores the correction value in association with each region;
5. The autonomous traveling system according to claim 4, wherein the geodetic conversion unit performs the geodetic conversion based on the correction value associated with an area to which a current position of the work vehicle belongs.
A mode execution unit capable of executing a correction mode for correcting an error in position information in the geodetic conversion by the geodetic conversion unit;
A correction unit that corrects position information of the predetermined base station by independent positioning or RTK positioning based on position information of a base station different from the predetermined base station when the correction mode is executed by the mode execution unit; The autonomous traveling system according to claim 4, wherein the autonomous traveling system is provided.