WO2018047500A1 - Autonomous travel system - Google Patents

Abstract

The purpose of the present invention is to change and set the turning mode of a work-vehicle in a turning path, according to, for example, a worker or other person's preferences or work content and the like. Provided is an autonomous travel system that causes a work vehicle 1 to travel autonomously following a travel path that includes a plurality of work paths on which work is performed by the work vehicle 1, and a turning path which connects each of the work paths and which causes the work vehicle 1 to turn, wherein provided is a turning mode setting unit 34 that sets the work-vehicle turning mode in a turning path to one turning mode selected from a plurality of mutually different turning modes.

Description

Autonomous traveling system

The present invention relates to an autonomous traveling system that generates a traveling route for autonomously traveling a work vehicle and causes the working vehicle to autonomously travel along the traveling route.

In the autonomous traveling system as described above, the traveling route is a route including a plurality of linear work routes on which work is performed by the work vehicle and a turning route for connecting the work routes and turning the work vehicle. (For example, refer to Patent Document 1).

When a work vehicle is turned on a turning route, a space for securing a turning radius or the like for turning the work vehicle is required. For example, when a turning path is generated so as to connect two adjacent work paths, a space (headland) for securing a turning radius or the like becomes a large space in the direction along the work path.

Therefore, in the system described in Patent Document 1, the turning path is generated so that a plurality of work paths are arranged between the work path and the next work path on which the work is performed next to the work path. Thereby, it is suppressed that the space for ensuring a turning radius etc. turns into a big space in the direction along a work path | route.

Japanese Patent Laid-Open No. 10-320045

However, in the system described in Patent Document 1, the turning path is generated so that a plurality of work paths are arranged between the work path and the next work path on which the work is performed next to the work path. There is a possibility that the length of the turn route becomes longer, the travel distance of the work vehicle becomes longer, and the work efficiency decreases, as compared with the case where the turn route is generated so as to connect two adjacent work routes.

In addition, depending on the preference of the operator and the work content, a turning route is generated so as to connect two adjacent work routes to improve work efficiency, and the work route and the work route are followed by the work route. There is a case where it is desired to generate a turning path so that a plurality of work paths are arranged between the next work path and the space for securing a turning radius and the like.

In view of this situation, the main problem of the present invention is to provide an autonomous traveling system that can change and set the turning mode of the work vehicle on the turning route according to, for example, the preference of the worker or the like and the work content.

According to a first characteristic configuration of the present invention, the work vehicle is arranged along a travel route including a plurality of work routes on which work is performed by the work vehicle and a turning route that connects the work routes and turns the work vehicle. An autonomous traveling system for autonomous traveling,
A turning mode setting unit is provided that sets the turning mode of the work vehicle on the turning route to one turning mode selected from a plurality of different turning modes.

According to this configuration, the turning mode setting unit sets the turning mode of the work vehicle on the turning route to one turning mode selected from a plurality of different turning modes. The turning mode of the work vehicle on the turning route can be changed and set by the turning mode setting unit. That is, when it is desired to improve work efficiency, the turning mode setting unit can set the turning mode such that the turning route is generated so as to connect two adjacent work routes. When it is desired to reduce the space for securing the turning radius, etc., the turning is performed so that a plurality of work paths are arranged between the work path and the next work path on which the next work is performed. The turning mode can be set to a turning mode that generates a route. Therefore, the turning mode of the work vehicle on the turning route can be set to a suitable turning mode according to, for example, the operator's preference, work content, etc., and a highly convenient autonomous traveling system can be obtained.

The second characteristic configuration of the present invention includes a confirmation unit that performs a predetermined notification for confirming which turning mode is the turning mode when the work vehicle is turned on the turning route in the travel route. ,
The turning mode setting unit is characterized in that the turning mode can be changed to another turning mode different from the set turning mode.

According to the present invention, the confirmation unit performs the predetermined notification indicating which turning mode is the turning mode when the working vehicle is turned on the turning route in the travel route. When autonomously traveling along the traveling route, it is possible to confirm in which turning mode the turning route is turned. Since the operator or the like may want to change the turning mode by this confirmation, the turning mode setting unit can change the turning mode to a turning mode different from the set turning mode. Thereby, while an operator etc. can confirm an actual turning aspect, it can respond flexibly also when changing a turning aspect by the confirmation.

The third characteristic configuration of the present invention is characterized by comprising a skip number setting unit for setting the number of skips of the work route by the turning route based on the turning manner set by the turning manner setting unit. .

According to this configuration, the skip number setting unit sets an appropriate skip number in consideration of, for example, the turning radius and the work width of the work vehicle based on the turning mode set by the turning mode setting unit. Can do. Here, the number of skips indicates how many other work routes are arranged between the work route and the next work route on which the next work is performed. As described above, when the skip number setting unit sets an appropriate skip number, an appropriate turning route according to the skip number can be generated.

In the fourth feature configuration of the present invention, the skip number setting unit sets the skip number to be changeable,
The turning mode setting unit is characterized in that the turning mode can be changed to another turning mode different from the one turning mode according to the change in the number of skips.

According to this configuration, if the skip number is changed by the skip number setting unit, the turning mode setting unit can change the turning mode to another turning mode different from the one turning mode according to the change of the skip number. . Therefore, if you want to give priority to the number of skips over the turning mode, simply set the skip number by changing the number of skips in the skip number setting unit, and turn according to the number of skips in the turning mode setting unit. The mode can be changed.

According to a fifth characteristic configuration of the present invention, a non-work area width setting that sets a width of a non-work area surrounding the work area in which the plurality of work paths are generated according to the turning mode set by the turning mode setting unit. Part
The non-work area width setting unit includes a width of a first non-work area formed along a work direction in the work path, and a second non-work area excluding the first non-work area. It is characterized in that the width can be set to a different width.

According to this configuration, the non-working area width setting unit can set the width of the first non-working area and the width of the second non-working area. The width of the first non-working area and the width of the second non-working area can be changed and set. Therefore, the width of the first non-work area and the width of the second non-work area can be made suitable for the preference of the operator or the work content, and convenience can be improved.

Tractor side view Tractor control block diagram The figure which shows the driving | running route in the case of making one tractor autonomously drive The figure which shows the driving | running route in making two tractors drive autonomously Schematic diagram showing each of single work, cooperative tracking work, and cooperative accompanying work by tractor Schematic showing the turning mode of the tractor in the turning path The figure which shows the display screen when setting cooperative work mode information The figure which shows the display screen when setting turning mode information Diagram showing the display screen when setting overlap information Figure showing the display screen when setting skip count information The figure which shows the display screen when setting non-work area width information The figure which shows the display screen when setting division setting information

An embodiment of an autonomous traveling system according to the present invention will be described with reference to the drawings.
This autonomous traveling system is configured to generate a traveling route and to autonomously travel the tractor 1 as a work vehicle along the generated traveling route.

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. 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.

The engine 6 can be composed of, for example, a diesel engine, but is not limited thereto, and may be composed of, 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.

In the present embodiment, the tractor 1 will be described as an example of a work vehicle. As the work vehicle, in addition to a tractor, a rice-type machine, a combiner, a civil engineering / architecture work device, a snowplow, etc. Vehicles are 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.

As for the working machine 50, FIG. 1 illustrates a 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 can be controlled not only by the driver riding in the cabin 7 but also by the control unit 23 based on an instruction from the wireless communication terminal 30 even if the driver does not board the cabin 7. Thus, the tractor 1 is configured to be able to travel autonomously.

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. The steering device 24 may adjust the steering angle of the front wheel 3 of the tractor 1 instead of adjusting the rotation angle of the steering handle 8, and in this case, the steering handle 8 rotates even if the vehicle turns. do not do.

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 12 of the cabin 7.

The wireless communication antenna 26 is configured to transmit and receive various signals via a wireless communication network constructed with the wireless communication terminal 30 and the like. The radio communication antenna 26 is disposed on the upper surface of the roof 12 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, as a positioning method using the satellite positioning system, a reference station 60 installed at a predetermined reference point is provided, and satellite positioning information of the tractor 1 (mobile station) is corrected by correction information from the reference station 60. A positioning method for obtaining the current position of the tractor 1 can be applied. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. Incidentally, for the positioning method, independent positioning can be used without providing the reference station 60.

In this embodiment, for example, RTK positioning is applied, and as shown in FIGS. 1 and 2, in addition to providing the positioning antenna 25 on the tractor 1 on the mobile station side, the reference station positioning antenna 62 is provided. A provided reference station 60 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the traveling of the tractor 1, for example, around the farm field. The position information of the reference point that is the installation position of the reference station 60 is set in advance. The reference station 60 is provided with a reference station wireless communication device 61 capable of wirelessly communicating various signals via a wireless communication network constructed by the wireless communication antenna 26 of the tractor 1 and the wireless communication device 31 of the wireless communication terminal 30. Various kinds of information can be transmitted and received between the reference station 60 and the tractor 1 and between the reference station 60 and the wireless communication terminal 30.

In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 63 is measured by both the reference station 60 installed at the reference point and the positioning antenna 25 of the tractor 1 on the mobile station side whose position information is to be obtained. is doing. The reference station 60 generates correction information including the measured satellite positioning information and reference point position information every time the satellite positioning information is measured from the positioning satellite 63 or every time the set period elapses, and the reference station wireless communication device The correction information is transmitted from 61 to the radio communication antenna 26 of the tractor 1. The control unit 23 of the tractor 1 obtains the current position information of the tractor 1 by correcting the satellite positioning information measured by the positioning antenna 25 using the correction information transmitted from the reference station 60. The control unit 23 obtains, for example, latitude information / longitude information as the current position information of the tractor 1.

In the autonomous traveling system, in addition to the tractor 1 and the reference station 60, a wireless communication terminal 30 capable of instructing the control unit 23 of the tractor 1 to autonomously travel the tractor 1 is provided. 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.

As shown in FIG. 2, the wireless communication terminal 30 includes a wireless communication device 31 capable of wireless communication between the wireless communication antenna 26 of the tractor 1 and the reference station wireless communication device 61 of the reference station 60, and the tractor 1 autonomously travels. And a route generation unit 32 that generates traveling routes K1, K2, and K3 (see FIGS. 3 and 4).

Incidentally, FIG. 3 shows an example of the planned work route K1 generated by the route generation unit 32 in the case of a single work in which one tractor 1 independently runs independently. FIG. 4 shows an example of scheduled work paths K2 and K3 generated by the path generation unit 32 in the case of cooperative work in which two tractors 1 of the tractor 1a and the tractor 1b cooperate to perform autonomous work. FIG. 4 shows the accompanying work in which the tractor 1a and the tractor 1b work on different work paths Ka in a form in which the tractor 1a starts the work first and the tractor 1b starts the work with a delay as the cooperative work. The planned work path corresponding to the tractor 1a (the path indicated by the solid line in the figure) is indicated by K2, and the planned work path corresponding to the tractor 1b (the path indicated by the dotted line in the figure) is indicated by K3. Yes. 3 and 4 are merely examples, and what route the route generation unit 32 generates as the scheduled work route can be appropriately changed.

As shown in FIGS. 3 and 4, the travel routes K1, K2, and K3 turn the tractor 1 from the work route Ka that performs the work such as tillage while the tractor 1 autonomously travels and the work route Ka to the next work route Ka. It is comprised as a path | route including the turning path | route Kb to be made. The work path Ka is generated for the work area R1, and the turning path Kb is generated for the non-work area R2 (headland). The work path Ka is a linear path that autonomously travels from one end side to the other end side in the work area R1 in the field H, and the straight path extends across the entire work area R1. It is generated so that a plurality are arranged adjacent to each other in the direction. The turning route Kb is generated as a route for turning the tractor 1 by connecting the ends of the two work routes Ka arranged in the width direction of the field H.

The wireless communication terminal 30 includes a work mode setting unit 33 that sets a work mode when the tractor 1 performs autonomous travel so that the route generation unit 32 generates the travel routes K1, K2, and K3. ing.

As shown in FIG. 2, the work mode setting unit 33 includes a turning mode setting unit 34, a skip number setting unit 35, and a non-work area width setting unit 36. As shown in FIGS. 3 and 4, the turning mode setting unit 34 is configured so that the turning mode of the tractor 1 in the turning path Kb can be set to one turning mode selected from a plurality of different turning modes. . The skip number setting unit 35 is configured to be able to set the skip number of the work route Ka by the turning route Kb. The number of skips indicates how many other work paths Ka are arranged between the work path Ka and the next work path Ka on which the work is performed next to the work path Ka. The non-work area width setting unit 36 is configured to be able to set the width of the non-work area R2, and the first non-work formed as the width of the non-work area R2, for example, along the work direction in the work path Ka. The width W1 of the area and the width W2 of the second non-work area excluding the first non-work area can be set.

The work mode setting unit 33 is configured to be able to set tractor information (work vehicle information), field information, and work information as work modes. The tractor information includes, for example, information indicating the model of the tractor 1, the size of the tractor 1 (full length and width), the type and size of the work implement 50 (width), the target vehicle speed and the target engine rotation speed when autonomously traveling, etc. It is. The field information includes, for example, the shape of the field, the work start position (position indicated by S1 in FIG. 3, the positions indicated by S2 and S3 in FIG. 4), the work end position (position indicated by G1 in FIG. 3, FIG. 4). , Positions indicated by arrows G2 and G3), work directions (directions indicated by arrows in FIGS. 3 and 4), presence / absence of obstacles, information indicating the positions of obstacles, and the like.

When setting the tractor information, for example, items that can be set as the tractor information such as the model and size of the tractor 1 are displayed on the display unit of the wireless communication terminal 30. This item can be displayed one by one for each item or a plurality of items can be displayed simultaneously. By displaying the items in this way, an operator or the like can operate the touch panel to input various information for each of the plurality of items. Similarly, when setting the farm field information, the settable items are displayed on the display unit of the wireless communication terminal 30, and various information about each of the plurality of items can be obtained by the operator operating the touch panel. Input is possible.

Here, as shown in FIG. 2, the wireless communication terminal 30 includes a storage unit 38 that stores various types of information, and the storage unit 38 stores the tractor information set by the work mode setting unit 33. And field information is stored. The storage unit 38 stores, for example, individual tractor information that associates the tractor 1 with the tractor information set for the tractor 1, and associates the field with the field information set for the field. I remember information. Thereby, when setting the tractor information and the farm field information, the tractor individual information and the farm field individual information stored in the storage unit 38 are read out and displayed on the display unit of the wireless communication terminal 30 so that the operator or the like Information and individual field information can be selected.

The work information is information including cooperative work mode information, turning mode information, overlap information, skip number information, non-work area width information, section setting information, and the like.

The cooperative work mode information is information indicating how the tractor 1 travels in the field H to perform the work. For example, whether the work is a single work, a cooperative follow-up work, or a cooperative accompanying work. It is information to show. In the single work, as shown in FIG. 5A, one tractor 1 works on the work path Ka. As shown in FIG. 5B, the cooperative follow-up work is a work in which a plurality of tractors 1 work together on the same work route Ka. As shown in FIG. 5 (c), the cooperative accompanying work is a work in which a plurality of tractors 1 cooperate to work on different work routes Ka.

The turning mode information is information indicating in what turning mode the tractor 1 turns in the turning route Kb (see FIGS. 3 and 4) in the traveling routes K1, K2, and K3. This is information indicating whether to take a turning mode or a turning mode with reverse. In the turning mode without reverse, as shown in FIGS. 6 (a) and 6 (b), it turns from the end of the work path Ka to the end of the next work path Ka without going backward. . Incidentally, FIG. 6 (a) and FIG. 6 (b) have different turning radii, whereas the turning mode of FIG. 6 (a) has the turning radius within the first predetermined range. In the turning mode of FIG. 6B, the turning radius is set to a second predetermined range larger than the first predetermined range. In the turning mode with reverse travel, as shown in FIG. 6 (c), the vehicle travels diagonally forward from the end of the work path Ka, and once reverse travels to the next work path Ka.

In FIG. 3 and FIG. 4, the overlap information is information indicating the overlap width between the work route Ka and the work route Ka adjacent to the work route Ka in each of the plurality of work routes Ka.

The skip number information indicates how many other work paths Ka are arranged between the work path Ka and the next work path Ka on which the work is performed next to the work path Ka in FIGS. 3 and 4. For example, it is information indicating whether the number of skips = 0, the number of skips = 1, or the number of skips = 2. When the number of skips = 0, as shown in FIG. 3, there is no other work route Ka between the work route Ka and the next work route Ka, so the work route Ka and the next work route Ka Are adjacent paths.

The non-work area width information is information indicating the width of the non-work area R2 in FIGS. 3 and 4, for example, the width W1 of the first non-work area formed along the work direction in the work path Ka, and , Information indicating the width W2 of the second non-work area excluding the first non-work area.

The section setting information is information indicating whether or not the entire field included in the field information has been divided, and if divided, how many sections have been divided.

Describing the setting of work information, for example, it can be set in the order of cooperative work mode information, turning mode information, overlap information, skip number information, non-work area width information, and section setting information. The order of setting can be changed as appropriate.

First, when setting cooperative work mode information, as shown in FIG. 7, a setting screen for selecting any one of single work, cooperative follow-up work, and cooperative accompanying work is displayed on the display unit of the wireless communication terminal 30. . An operator or the like can operate the touch panel of the wireless communication terminal 30 to select any one of single work, cooperative follow-up work, and cooperative accompanying work. On the setting screen, the selected item is covered with a colored frame so that the operator or the like can recognize which item is selected. Then, the work mode setting unit 33 sets the cooperative work mode information based on the selection information by the worker or the like in the wireless communication terminal 30.

When the cooperative work mode information is set, next, as shown in FIG. 8, a setting screen for selecting one of the turning mode without reverse and the turning mode with reverse to set the turning mode information. Is displayed on the display unit of the wireless communication terminal 30. An operator or the like can operate the touch panel of the wireless communication terminal 30 to select one of a turning mode without reverse and a turning mode with reverse. Then, the turning mode setting unit 34 sets the turning mode information based on selection information by an operator or the like in the wireless communication terminal 30.

Here, as a turning mode without reverse, for example, as shown in FIG. 6A in which the turning radius is a first predetermined range, and as shown in FIG. 6B in which the turning radius is a second predetermined range. There is. Therefore, in the turning mode without reverse, either the turning mode shown in FIG. 6A or the turning mode shown in FIG. 6B can be selected. In this case, for example, when the width of the work machine 50 (work width) is smaller than the predetermined width, the turning mode shown in FIG. 6A is selected, and the width (work width) of the work machine 50 is set. When the size is larger than the predetermined width, the turning mode shown in FIG. 6B can be selected. That is, according to the size of the lateral width (working width) of the work machine 50, either the turning mode shown in FIG. 6A or the turning mode shown in FIG. 6B can be selected.

When the turning mode information is set, next, as shown in FIG. 9, a setting screen for selecting either an overlapping mode or a non-overlapping mode is set in order to set overlap information. It is displayed on the display unit of the terminal 30. An operator or the like can operate the touch panel of the wireless communication terminal 30 to select either an overlapping mode or a non-overlapping mode. In addition, an operator or the like can input the overlap amount in the overlapping mode and the interval of the work route Ka in the non-overlapping mode by operating the touch panel of the wireless communication terminal 30. Then, the work mode setting unit 33 sets overlap information based on selection information and input information by a worker or the like in the wireless communication terminal 30.

When the overlap information is set, next, as shown in FIG. 10, in order to set the skip number information, a mode that does not skip (skip number = 0), a mode that skips one example (skip number = 1), In addition, a setting screen for selecting one of the modes for skipping two columns (the number of skips = 2) is displayed on the display unit of the wireless communication terminal 30.

Here, the skip number setting unit 35 is configured to be able to set the skip number of the work route Ka by the turning route Kb based on the turning manner set by the turning manner setting unit 34. Thereby, in the setting screen when setting the number of skips, according to the turning mode set by the turning mode setting unit 34, a mode in which skipping is not performed (skip number = 0), a mode in which one example is skipped (skip number = 1) ) And a mode of skipping two columns (the number of skips = 2) is selected in advance by being surrounded by a colored frame. For example, when a mode without reverse is set as the turning mode state, a mode in which skipping is not performed (skip number = 0) is selected in advance as skip number information.

The worker can select the aspect of the skip number selected in advance as it is, and operates the touch panel of the wireless communication terminal 30 as an aspect different from the aspect of the skip number selected in advance. It is possible to select one of a mode not to skip, a mode to skip one example, and a mode to skip two columns. The skip number setting unit 35 sets skip number information based on selection information by an operator or the like in the wireless communication terminal 30.

Then, when the skip number setting unit 35 changes to a skip number mode different from the skip number mode selected in advance, the turning mode setting unit 34 sets the turning mode according to the change of the skip number mode. The turning mode can be changed to a different turning mode. Once the turning mode is set by the turning mode setting unit 34, the number of skips according to the turning mode is set in advance. In some cases, it is desired to change the number of skips. Therefore, the skip number setting unit 35 is changed to a skip number mode different from the skip number mode selected in advance so that the skip number can be prioritized. At this time, if it is necessary to change the turning mode by changing the mode of the number of skips, the turning mode setting unit 34 changes to a turning mode different from the turning mode in which the turning mode is set.

Further, when the cooperative accompanying work is set as the cooperative work mode information, the mode that is not skipped cannot be selected as the skip number information. Instead of this, it is possible to select whether to give priority to setting the cooperative accompanying work as the cooperative work mode information or to set to set the mode not skipped as the skip number information. By the way, when priority is given to setting a mode in which skipping is not performed as skip count information, the necessity of performing collision avoidance control for avoiding collision between tractors 1 increases. Notification can be performed.

When the skip number information is set, next, as shown in FIG. 11, in order to set the non-work area width information, the width W1 of the first non-work area and the second non-work area (headland) Is displayed on the display unit of the wireless communication terminal 30. An operator or the like can input the width W1 of the first non-work area and the width W2 of the second non-work area by operating the touch panel of the wireless communication terminal 30. The non-work area width setting unit 36 sets the width W1 of the first non-work area and the width W2 of the second non-work area based on information input by the worker or the like in the wireless communication terminal 30. At this time, the non-working area width setting unit 36 can also set the width W1 of the first non-working area and the width W2 of the second non-working area to be the same, and the width W1 of the first non-working area. It is also possible to set the width W2 of the second non-working area to a different width.

When the non-work area width information is set, next, as shown in FIG. 12, in order to set the section setting information, a setting for selecting one of a mode in which the field is not divided and a mode in which the field is divided is selected. A screen is displayed on the display unit of the wireless communication terminal 30. An operator or the like can operate the touch panel of the wireless communication terminal 30 to select either the mode in which the farm field is not sorted or the mode in which the farm field is sorted. In addition, when the worker or the like selects a mode of dividing the farm field, the operator operates the touch panel of the wireless communication terminal 30 to change the position of the lane marking P on the setting screen to change the division ratio, The number of sections to be partitioned by newly adding a partition line P can be changed. Then, the work mode setting unit 33 sets partition setting information based on selection information and input information by a worker or the like in the wireless communication terminal 30.

When the cooperative work mode information, the turning mode information, the overlap information, the skip number information, the non-work area width information, and the section setting information are sequentially set in this way, the route generation unit 32 is as shown in FIGS. 3 and 4. In addition, the work mode set by the work mode setting unit 33, the turning mode information set by the turning mode setting unit 34, the skip number information set by the skip number setting unit 35, and the non-work area width setting unit Based on the non-work area width information set at 36, the travel routes K1, K2, and K3 on which the tractor 1 autonomously travels are generated.

In the travel route K1 shown in FIG. 3, a single work is set as the cooperative work mode information, a mode that does not skip is set as the skip number information, and a mode that does not divide the field is set as the partition setting information. Is shown.

In the traveling routes K2 and K3 shown in FIG. 4, the cooperative accompanying work is set as the cooperative work mode information, the single-line skip mode is set as the skip number information, and the field is not divided as the section setting information. The case where it is set is shown.

As shown in FIG. 2, when the route generation unit 32 generates the travel routes K1, K2, and K3, the wireless communication terminal 30 turns the tractor 1 along the turn route Kb on the travel routes K1, K2, and K3. There is provided a confirmation unit 37 for performing a predetermined notification for confirming which turning mode is the turning mode. For example, a display screen showing which of the three turning modes shown in FIGS. 6A to 6C is used for turning the tractor 1 is displayed on the display unit of the wireless communication terminal 30. Display. Thereby, an operator etc. can confirm an actual turning mode.

に よ っ て This confirmation may cause the operator to change the turning mode. For example, as shown in FIG. 8, when the turning mode without reverse is set in the turning mode setting unit 34, the actual turning mode is as shown in FIG. 6A and in FIG. 6B. It becomes one of the turning modes shown. At this time, if the actual turning mode becomes the turning mode shown in FIG. 6B, the width W2 of the second non-working area (headland) is increased in FIGS. 3 and 4, so it is desired to change the turning mode. There is a case. In such a case, the turning mode setting unit 34 sets the turning mode by causing the setting screen illustrated in FIG. 8 to be displayed again on the display unit of the wireless communication terminal 30 and the operator or the like operating the touch panel. It is possible to change to a turning mode (for example, a turning mode with reverse driving) different from the turning mode (for example, turning mode without reverse driving).

Thus, when the turning mode setting unit 34 changes the turning mode, for example, the non-work area width setting unit 36 can change the width W2 of the second non-work area (headland) as necessary. It is said.

In addition, once the above-described work information is set, the route generation unit 32 generates the travel routes K1, K2, and K3 based on the work information. At the stage where the travel routes K1, K2, and K3 are generated. It is also possible to change the work information. In this case, the route generation unit 32 generates the travel routes K1, K2, and K3 again based on the changed work information.

Incidentally, the route generation unit 32 is not limited to generating one travel route, and can also generate a plurality of travel routes. When a plurality of travel routes are generated, an operator or the like can generate a plurality of travel routes. Thus, it is possible to select a travel route to be actually used.

In this way, when the travel routes K1, K2, and K3 are generated by the route generation unit 32, the wireless communication terminal 30 generates the travel routes K1, K2, and K3 generated by the route generation unit 32 and the start command for autonomous travel. For example, various information for autonomously running the tractor 1 can be transmitted to the control unit 23 of the tractor 1 through the wireless communication network. The control unit 23 of the tractor 1 is configured to start the autonomous traveling of the tractor 1 upon receiving information on the traveling routes K1, K2, K3 and the like from the wireless communication terminal 30 and receiving an autonomous traveling start command. Yes. Then, the control unit 23 of the tractor 1 acquires from the received signal of the positioning antenna 25 so that the tractor 1 autonomously travels along the travel routes K1, K2, and K3 generated by the route generation unit 32. The governor device 21, the transmission device 22, the steering device 24 and the like are controlled based on the current position information.

[Another embodiment]
(1) In the above embodiment, the turning mode setting unit 34 sets the same turning mode (see FIG. 8) for the plurality of turning paths Kb. It can also be set. For example, in FIGS. 3 and 4, a turning mode without reverse is set for the turning path Kb located on the upper side in the figure, and a turning mode with reverse is set for the turning path Kb located on the lower side in the figure. It can also be set.

(2) In the above embodiment, the wireless communication terminal 30 capable of instructing the autonomous traveling of the tractor 1 is provided. However, for example, at least some functions of the wireless communication terminal 30 such as the route generation unit 32 are controlled by the tractor 1 It is also possible to provide the unit 23 or an external control device.

The present invention can be applied to an autonomous traveling system that generates a traveling route for autonomously traveling a work vehicle and causes the working vehicle to autonomously travel along the traveling route.

1 Tractor (work vehicle)
34 Turning mode setting unit 35 Skip number setting unit 36 Non-working area width setting unit K1 Traveling route K2 Traveling route K3 Traveling route Ka Working route Kb Turning route R1 Working region R2 Nonworking region W1 First nonworking region width W2 Second Non-working area width

Claims (5)

An autonomous traveling system that autonomously travels the work vehicle along a travel route that includes a plurality of work routes on which work is performed by the work vehicle and a turning route that connects the work routes and turns the work vehicle. ,
An autonomous traveling system, comprising: a turning mode setting unit that sets a turning mode of the work vehicle on the turning route to one turning mode selected from a plurality of different turning modes. A confirmation unit that performs predetermined notification for confirming which turning mode the turning mode when turning the work vehicle on the turning route in the travel route;
The autonomous traveling system according to claim 1, wherein the turning mode setting unit can change the turning mode to another turning mode different from the set turning mode. The autonomous traveling system according to claim 1 or 2, further comprising: a skip number setting unit that sets a skip number of work routes by the turning route based on the turning manner set by the turning manner setting unit. The skip number setting unit sets the skip number to be changeable,
The autonomous traveling system according to claim 3, wherein the turning mode setting unit can change the turning mode to another turning mode different from the one turning mode according to the change in the number of skips. A non-work area width setting unit that sets a width of a non-work area surrounding a work area in which the plurality of work paths are generated according to the turn mode set by the turning mode setting unit;
The non-work area width setting unit includes a width of a first non-work area formed along a work direction in the work path, and a second non-work area excluding the first non-work area. 5. The autonomous traveling system according to claim 1, wherein the width can be set to a different width.

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