Autonomous driving operation system and operation vehicle

Abstract

The present invention relates to an autonomous driving work system and a work vehicle. The autonomous driving work system comprises: a vehicle body, which can be equipped with a work machine; a position information acquisition unit, which acquires the position information of the vehicle body; an instruction output unit, which outputs an instruction to control the work machine to a working state or a non-working state; a work machine control unit, which controls the working state of the work machine according to the instruction; and a setting unit, which sets a reference position for switching the working state and the non-working state of the work machine under the control of the work machine control unit, wherein the reference position is set at a position away from a boundary between a working area and a non-working area by a predetermined distance, and the instruction is output by the instruction output unit when the vehicle body is located between the boundary and the reference position.

Description

[0001] This application is a divisional application of the invention patent application with application number 201880009614.2, application date March 23, 2018, and invention name “Work Vehicle”. Technical Field

[0002] The present invention relates to an autonomous driving working system and a working vehicle, which can drive and perform working while switching an attached working machine between a working state and a non-working state. Background Art

[0003] For example, such a working vehicle is disclosed in Patent Document 1. The agricultural working vehicle of Patent Document 1 is configured such that the vehicle body is autonomously driven based on an orientation sensor and a GPS receiving device, and a working machine lifting position sensor is provided to store the lowering action of the working machine mounted on the vehicle body, so that the target tillage start position of the working machine and the end position of the lowering action are consistent. In Patent Document 1, this structure can easily achieve good tillage work without omission of tillage, etc.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2002-354905 Summary of the invention

[0005] However, the structure of Patent Document 1 mentioned above takes the lowering motion of the working machine into consideration, but does not fully take the raising motion of the working machine into consideration.

[0006] Therefore, in the previous structure, when a path is set for performing work by using a work machine while moving back and forth in a specified direction in a certain area, a deviation sometimes occurs at the end of the interval where tillage work is performed at a specified depth between the stroke of the work vehicle traveling in a certain direction and the stroke of the work vehicle traveling in the opposite direction of the direction. From the perspective of achieving fine work with a more beautiful appearance, there is room for improvement.

[0007] The present invention has been made in view of the above circumstances, and an object thereof is to control, for a working vehicle, the state where the working body is working and the state where the working body is not working in a good manner, taking into account the position where the working body actually performs working in the working machine.

[0008] The problems to be solved by the present invention are as described above. Next, a method for solving the problems and its effects will be described.

[0009] According to the viewpoint of the present invention, a working vehicle of the following structure is provided. That is, the working vehicle comprises a vehicle body, a command output unit, a working machine control unit, a vehicle speed control unit, a setting unit and a distance acquisition unit. The vehicle body can be equipped with a working machine. The command output unit outputs a working command for controlling the working machine to a working state and a non-working command for controlling the working machine to a non-working state. The working machine control unit controls the working state of the working machine according to the working command or the non-working command. The vehicle speed control unit can switch the vehicle speed of the working vehicle. The setting unit sets a reference position for switching the working state of the working machine under the control of the working machine control unit. The distance acquisition unit acquires the distance from the working center position of the working machine to the reference position. The vehicle speed control unit switches the vehicle speed of the working vehicle from the first vehicle speed to the second vehicle speed according to the non-working command, and switches the vehicle speed of the working vehicle from the second vehicle speed to the first vehicle speed according to the working command. The command output unit controls output timing of the non-work command based on the first vehicle speed and the distance. The command output unit controls output timing of the work command based on the second vehicle speed, a speed change rate from the second vehicle speed to the first vehicle speed, and the distance.

[0010] Thus, when the working machine is switched from the working state to the non-working state, and when the working machine is switched from the non-working state to the working state, the command output unit can output the non-working command and the working command at appropriate timing. Thus, the error of the boundary between the part where the working machine is working and the part where the working machine is not working can be reduced.

[0011] The working vehicle is preferably configured as follows. That is, after the working machine control unit switches the working machine from the working state to the non-working state according to the non-working instruction, the vehicle speed control unit starts to execute the switching control from the first vehicle speed to the second vehicle speed. Before the working machine control unit switches the working machine from the non-working state to the working state according to the working instruction, the vehicle speed control unit starts to execute the switching control from the second vehicle speed to the first vehicle speed.

[0012] Thus, while the working machine is in the working state, the first vehicle speed can be maintained.

[0013] For the work vehicle, it is preferably configured as the following. That is, the work vehicle includes a measuring unit and a required time storage unit. The measuring unit measures the required time required to switch the work machine from the non-working state to the working state. The required time storage unit stores the required time measured by the measuring unit. The instruction output unit controls the output timing of the work instruction based on the storage content of the required time storage unit. When the required time is not measured by the measuring unit, the required time storage unit stores the initially set time. When the required time is measured by the measuring unit, the storage content of the required time storage unit is updated to the measured value.

[0014] Thus, by measuring and storing the time required for switching the working machine from the non-working state to the working state, and controlling the timing of outputting the working instruction based on the time, the working instruction can be output at an appropriate timing. In addition, for example, when switching from the non-working state to the working state for the first time, the measured value is not obtained in advance, but since the appropriate time is initially set in advance, the instruction output unit can output the working instruction at a substantially good timing.

[0015] The working vehicle is preferably configured as follows. That is, the settings of the first vehicle speed and the second vehicle speed can be changed by operating the vehicle speed setting unit. When the settings of the first vehicle speed and / or the second vehicle speed are changed, the instruction output unit controls the output timing of the working instruction or the non-working instruction based on the changed first vehicle speed and / or the second vehicle speed.

[0016] Thus, the vehicle speed can be changed according to the user's request, and the command output unit can output the work command and the non-work command at appropriate timing.

[0017] For the work vehicle, it is preferably configured as follows. That is, the work vehicle has an autonomous driving control unit, which can switch the work vehicle between a first mode and a second mode to perform autonomous driving. The first mode is a mode in which the autonomous driving can be ended without stopping the work vehicle by operating the speed operating member. The second mode is a mode in which the autonomous driving is ended by stopping the work vehicle by operating the speed operating member. When the work vehicle is in the first mode, the settings of the first vehicle speed and the second vehicle speed can be changed according to the operation of the vehicle speed setting unit provided in the work vehicle. When the work vehicle is in the second mode, the settings of the first vehicle speed and the second vehicle speed can be changed according to the operation of the vehicle speed setting unit of the wireless communication device that wirelessly communicates with the work vehicle.

[0018] Thus, in the first mode, a user on the work vehicle operates the vehicle speed setting unit on the work vehicle side, and in the second mode, a user outside the work vehicle operates the vehicle speed setting unit of the wireless communication device, thereby changing the vehicle speed.

[0019] For the work vehicle, it is preferably configured as the following structure. That is, the work vehicle includes a position information acquisition unit, an operating unit, and an autonomous driving control unit. The position information acquisition unit acquires the position information of the vehicle body. The operating unit is arranged on the vehicle body. The autonomous driving control unit causes the vehicle body to drive autonomously along a predetermined path. When the autonomous driving control unit causes the vehicle body to drive autonomously, the work machine control unit controls the working state of the work machine based on the working instruction or the non-working instruction output by the instruction output unit, or the operating unit instruction output along with the operation of the operating unit. Compared with the working instruction or the non-working instruction, the work machine control unit controls the working state of the work machine in priority according to the operating unit instruction.

[0020] This makes it possible to implement control that gives priority to the user's intention regarding switching between the working state and the non-working state of the working machine.

[0021] For the work vehicle, it is preferred that: when the work instruction or the non-work instruction is input when the work state of the work machine is controlled based on the operation unit instruction, the work machine control unit does not control the work state of the work machine based on the work instruction or the non-work instruction.

[0022] This makes it possible to achieve control that does not hinder the user's intention.

[0023] In the work vehicle, preferably, when the operating unit command is input while the working state of the work machine is being controlled based on the working command or the non-working command, the work machine control unit controls the working state of the work machine based on the operating unit command.

[0024] Thus, when control based on autonomous driving is previously performed, control that meets the user's intention can be performed by suspending the control. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a side view showing a state where a working machine mounted on a tractor according to an embodiment of the present invention is in a non-working state.

[0026] Figure 2 This is a top view of the tractor.

[0027] Figure 3 It is a plan view showing various operating devices arranged around the seat.

[0028] Figure 4 This is a block diagram showing the main electrical structure of the tractor.

[0029] Figure 5 This is a schematic diagram showing an example of an autonomous driving path when the tractor performs autonomous driving and autonomous work.

[0030] Figure 6 It shows the working machine from Figure 1 A side view of the situation where the state is lowered and changed into the working state.

[0031] Figure 7 This is a diagram for explaining the relationship between control timings when switching the working machine from a non-working state to a working state during autonomous driving or autonomous working.

[0032] Figure 8 This is a diagram for explaining the relationship between control timings when the working machine is switched from a working state to a non-working state during autonomous driving or autonomous working.

[0033] Fig. 9 This is a flowchart for explaining the processing performed by the working machine control unit.

[0034] Fig.10 This figure shows a wireless communication terminal used when the tractor performs autonomous driving or autonomous work without the user riding on the tractor.

[0035] Fig.11 It is a diagram showing a display example of an autonomous driving monitoring screen on a display of a wireless communication terminal. DETAILED DESCRIPTION

[0036] Next, the embodiments of the present invention will be described with reference to the accompanying drawings. In the following, the same components are sometimes marked with the same reference numerals in each of the drawings and repeated descriptions are omitted. In addition, the names of components corresponding to the same reference numerals are sometimes described in the form of abbreviations or by the names of superordinate concepts or subordinate concepts.

[0037] The present invention relates to the following working vehicles: one or more working vehicles are capable of traveling in a predetermined field and performing all or part of the agricultural work in the field. In the present embodiment, a tractor is used as an example of a working vehicle, but working vehicles other than tractors also include riding working machines such as rice transplanters, combine harvesters, civil engineering and construction working devices, snowplows, and walking working machines. In this specification, autonomous driving means that the control unit (ECU) of the tractor controls the driving-related structures of the tractor so that the tractor travels along a predetermined path, and autonomous working means that the control unit of the tractor controls the working-related structures of the tractor so that the tractor works along a predetermined path. In contrast, manual driving and manual working mean that the user operates the various structures of the tractor to perform driving and working.

[0038] In the following description, a tractor that performs autonomous driving and autonomous operation may be referred to as an "autonomous driving tractor", and a tractor that performs manual driving and manual operation may be referred to as a "manual driving tractor". Autonomous driving and autonomous operation include a case where a user rides on the tractor and performs autonomous driving and autonomous operation, and a case where a user does not ride on the tractor and performs autonomous driving and autonomous operation. On the other hand, in the case of manual driving and manual operation, the user rides on the tractor.

[0039] Next, embodiments of the present invention will be described with reference to the drawings. Figure 1 This is a side view showing a state in which the working machine 3 mounted on the tractor 1 according to the embodiment of the present invention is in a non-working state. Figure 2 is a top view of the tractor 1 . Figure 3 It is a plan view showing various operation devices arranged around the seat 13 . Figure 4 1 is a block diagram showing a main electrical configuration of the tractor 1 .

[0040] A tractor 1 according to an embodiment of the present invention is configured such that, although it can be used as a manual driving tractor, it has the function of being an autonomous driving tractor, and performs autonomous driving and autonomous operation according to an autonomous driving route (route) generated by a route generation system when a user is on board. However, the tractor 1 can also perform autonomous driving and autonomous operation when a user is not on board. First, mainly referring to Figure 1 and Figure 2 The tractor 1 will be described.

[0041] The tractor 1 has a traveling machine body 2 as a vehicle body portion that autonomously travels in a field. For example, various working machines such as a tiller (management machine), a plow, a fertilizer spreader, a mower, and a seed drill can be selected and mounted on the traveling machine body 2. In this embodiment, a rotary tiller is mounted as the working machine 3.

[0042] The structure of the tractor 1 is described in more detail below. Figure 1 As shown, the front portion of the traveling body 2 of the tractor 1 is supported by a pair of left and right front wheels 7, 7, and the rear portion thereof is supported by a pair of left and right rear wheels 8, 8.

[0043] An engine hood 9 is disposed at the front of the traveling machine body 2. In the present embodiment, an engine 10 or the like as a driving source of the tractor 1 is housed in the engine hood 9. The engine 10 may be, for example, a diesel engine, but is not limited thereto, and may be, for example, a gasoline engine. In addition, as a driving source, an engine 10+an electric motor may be used, or an electric motor may be used instead of the engine 10. Furthermore, the fuel tank may be disposed outside the engine hood 9.

[0044] A cab 11 for a user to ride in is arranged behind the engine hood 9. The cab 11 is mainly provided with a steering wheel 12 for a user to perform steering operations, a seat 13 for a user to sit on, and various operating devices for performing various operations. However, the work vehicle is not limited to a structure having a cab 11, and may also be a structure without a cab 11.

[0045] As the above-mentioned operating device, as an example, there can be cited Figure 3 The monitoring device 70, throttle lever 15, reversing lever 26, main gear lever (gear shift operating member) 27, speed rotation speed selection switch 29, speed rotation speed setting change dial (vehicle speed setting unit) 14, dial setting switch 16, auxiliary gear lever 19, PTO switch 17, PTO gear lever 18, work machine lifting switch (operating unit) 28 and work machine lowering speed adjustment knob 75 are shown. The above-mentioned operating devices are arranged near the seat 13 or near the steering wheel 12.

[0046] The monitoring device 70 is configured to be able to display various information on the tractor 1. The monitoring device 70 is also provided with input components such as buttons and dials, and a user can input various instructions to the tractor 1 by operating the input components.

[0047] The throttle lever 15 is an operating member for setting the output speed of the engine 10 .

[0048] The direction-changing lever 26 is an operation member for switching the tractor 1 between forward, reverse, and stop. The main speed lever 27 is an operation member for steplessly changing the speed at which the tractor 1 travels in the direction indicated by the direction-changing lever 26 .

[0049] The speed rotation speed selection switch 29 is an operating member for alternately switching the selection when the tractor 1, which is performing manual driving or manual operation, is in a mode of driving by selecting from two combinations of the vehicle speed of the tractor 1 and the rotation speed of the engine 10 that are preset (hereinafter referred to as the setting selection driving mode). The speed rotation speed setting change dial 14 is an operating member for adjusting the setting values ​​of the vehicle speed of the tractor 1 and the rotation speed of the engine 10, respectively, for the two settings selected in the setting selection driving mode. The dial setting switch 16 is an operating member for switching between whether the speed rotation speed setting change dial 14 changes the setting value of the vehicle speed of the tractor 1 or changes the setting value of the rotation speed of the engine 10.

[0050] However, when the user is riding on the tractor 1 for autonomous driving or autonomous operation, the speed setting change dial 14 and the dial setting changeover switch 16 are also used to indicate the settings of the vehicle speed and engine speed during operation and non-operation as described later.

[0051] The auxiliary transmission lever 19 is an operating member for switching the speed ratio of the auxiliary transmission gear mechanism in the transmission 22 .

[0052] The PTO switch 17 is an operating member for switching on and off the transmission of power to a PTO shaft (power transmission shaft) (not shown) protruding from the rear end of the transmission 22. The PTO shift lever 18 is an operating member for changing the rotation speed of the PTO shaft.

[0053] The work machine lifting switch 28 is an operating member for raising or lowering the height of the work machine 3 mounted on the travel body 2 within a predetermined range. The work machine descending speed adjustment knob 75 is an operating member for adjusting the speed at which the work machine 3 descends.

[0054] like Figure 3As shown in FIG. 1 , a seat sensor (detection unit) 13a for detecting whether a user is seated in the seat is provided in the seat 13. The seat sensor 13a may be configured to utilize a membrane switch, for example.

[0055] like Figure 1 As shown, a chassis 20 of the tractor 1 is provided at the lower part of the traveling body 2. The chassis 20 is configured to include a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

[0056] The machine frame 21 is a supporting member of the front part of the tractor 1, and supports the engine 10 directly or through a vibration-proof member or the like. The transmission 22 changes the power from the engine 10 and transmits the power to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

[0057] like Figure 4 As shown, the tractor 1 is provided with a control unit 4 for controlling the movement of the traveling body 2 (forward, backward, stop, and turn, etc.) and the movement of the working machine 3 (lifting, driving, and stopping, etc.). The control unit 4 is configured to have a CPU, ROM, RAM, I / O, etc., which are not shown in the figure, and the CPU can read various programs from the ROM and execute them. The ROM stores operating programs, application programs, and various data. Through the cooperation of the above hardware and software, the control unit 4 can perform actions as a storage unit 38, a path generation unit (path generation system) 39, and an autonomous driving control unit 32. By also providing various structures such as a positioning antenna 6 on the tractor, the tractor can be made to drive and work autonomously.

[0058] The control unit 4 is electrically connected to a controller or the like for controlling each component (for example, the engine 10 ) included in the tractor 1 .

[0059] The tractor 1 includes at least an engine controller, a vehicle speed controller, a steering controller, a lift controller, and a PTO controller (not shown) as the controllers. Each controller can control each structure of the tractor 1 based on an electrical signal from the control unit 4 .

[0060] The engine controller controls the rotation speed of the engine 10 and the like. The engine controller is electrically connected to a common rail device 41 which is a fuel injection device provided in the engine 10. The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, the fuel injection valves of the injectors for each cylinder of the engine 10 are opened and closed, thereby the high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is injected from each injector into each cylinder of the engine 10, thereby controlling the injection pressure, injection time, and injection period (injection amount) of the fuel supplied from each injector with high precision. The engine controller controls the common rail device 41, thereby, for example, being able to stop the fuel supply to the engine 10 and stop the driving of the engine 10.

[0061] The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with a transmission 42, which is, for example, a hydraulic continuously variable transmission with a movable swash plate. The vehicle speed controller changes the angle of the swash plate of the transmission 42 using an actuator (not shown), thereby changing the speed ratio of the transmission 22 to achieve a desired vehicle speed.

[0062] The steering controller controls the turning angle of the steering wheel 12. Specifically, a steering actuator 43 is provided at the midway portion of the rotation axis (steering shaft) of the steering wheel 12. According to this structure, when the tractor 1 (as an autonomous tractor) travels along a predetermined path, the control unit 4 calculates the appropriate turning angle of the steering wheel 12 for the tractor 1 to travel along the path, and sends a control signal to the steering controller so as to achieve the obtained turning angle. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4, and controls the turning angle of the steering wheel 12. In addition, the steering controller may adjust the steering angle of the front wheels 7 of the tractor 1 without adjusting the turning angle of the steering wheel 12. In this case, the steering wheel 12 does not rotate even when the tractor 1 is turning.

[0063] The lifting controller controls the lifting and lowering of the working machine 3. Specifically, the tractor 1 has a lifting actuator 44 composed of a well-known hydraulic lifting cylinder near the three-point linkage mechanism for connecting the working machine 3 to the traveling body 2. According to this structure, the lifting controller drives the lifting cylinder by opening and closing the electromagnetic valve not shown in the figure based on the control signal input from the control unit 4, thereby appropriately lifting and lowering the working machine 3. The lifting cylinder is set to a single-acting structure, and is constructed so that the working machine 3 rises by supplying working oil to the cylinder body, and the working machine 3 is discharged from the cylinder body to lower it by its own weight. Although not shown in the figure, a well-known descent speed adjustment valve is arranged on the discharge path of the working oil from the cylinder body, and the user uses it. Figure 3The speed at which the working machine 3 descends can be adjusted by operating the opening of the descent speed adjustment valve.

[0064] By using the lifting controller of the above structure, the working machine 3 can be supported at a required height such as a non-working height when no work is performed and a working height when work is performed. In addition, in the present embodiment, the working machine 3 mounted on the traveling body 2 is configured as a rotary tiller, so the work performed by the working machine 3 means tilling work.

[0065] The PTO controller controls the rotation of the PTO shaft. Specifically, the tractor 1 is provided with a PTO clutch 45 for switching the transmission / interruption of power to the PTO shaft (power transmission shaft). According to this structure, the PTO controller can switch the PTO clutch 45 based on the control signal input from the control unit 4, and drive the working machine 3 to rotate or stop rotating by means of the PTO shaft.

[0066] Furthermore, since the aforementioned plurality of controllers (not shown) control the engine 10 and other components based on signals input from the control unit 4 , it is possible to understand that the control unit 4 substantially controls the components.

[0067] The tractor 1 having the control unit 4 as described above is configured to function as a manually driven tractor. By having a user ride in the cab 11 and perform various operations, the control unit 4 can be used to control various parts of the tractor 1 (the traveling body 2, the working machine 3, etc.), and agricultural operations can be performed while the tractor 1 is driven in a field.

[0068] Furthermore, if Figure 4 As shown in the figures, the tractor of the first embodiment has various structures for functioning as an autonomous driving tractor. For example, the tractor 1 has a positioning antenna 6 and the like necessary for obtaining the position information of the tractor itself (driving machine body 2) based on the positioning system. According to such a structure, the tractor 1 can autonomously drive on the field (specific area) based on the position information of the tractor itself obtained by the positioning system.

[0069] Next, the structure provided for enabling the tractor 1 to realize autonomous driving and autonomous operation will be described. Figure 4 As shown, the tractor 1 of the present embodiment includes a positioning antenna 6 in addition to the aforementioned control unit 4 .

[0070] The positioning antenna 6 receives signals from positioning satellites constituting a satellite positioning system (GNSS). Figure 1 As shown in FIG. 1 , the positioning antenna 6 is mounted on the upper surface of the roof 5 of the cab 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the Figure 4The position information calculation unit (position information acquisition unit) 49 shown in the figure. The position information calculation unit 49 calculates the position information of the traveling body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 in the form of latitude and longitude information, for example. The position information acquired by the position information calculation unit 49 is used for autonomous driving executed by the control unit 4.

[0071] In addition, in this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but it is not limited to this, and other positioning systems may also be used. For example, it is conceivable to use a relative positioning method (DGPS) or a geostationary satellite-based satellite navigation augmentation system (SBAS).

[0072] The tractor 1 is provided with an inertial measurement device (not shown). The inertial measurement device is a known device including an angular velocity sensor and an acceleration sensor, and is configured to acquire the position of the tractor 1 even when radio waves cannot be received in the GNSS positioning.

[0073] A wireless communication antenna 48 is provided at an appropriate position outside the cab 11 of the tractor 1. The wireless communication antenna 48 is electrically connected to the wireless communication unit 40 of the tractor 1. When the tractor 1 is autonomously driven or operated without the user riding on the tractor 1, the wireless communication antenna 48 is used to communicate instructions and information with a remote control device of the user. The remote control device will be described in detail later.

[0074] Next, an autonomous driving route, which is a route that the tractor 1 travels when performing autonomous driving and autonomous work, will be described. Figure 5 1 is a schematic diagram showing an example of an autonomous travel path P when the tractor 1 performs autonomous travel and autonomous work.

[0075] When the user wants to make the tractor 1 autonomously travel or operate while riding on the tractor 1, Figure 3 The monitoring device 70 shown in FIG. 1 is operated to perform various settings, thereby generating Figure 5 The autonomous driving path P is shown.

[0076] The autonomous driving path P is generated by connecting the pre-specified work start position S and the work end position E. The autonomous driving path P is formed by alternately connecting a straight or broken line autonomous working path (a linear path for autonomous working) P1 and a U-shaped connecting path (a roundabout path including a circular arc portion for turning and turning back) P2 connecting the ends of the autonomous working path P1.

[0077] like Figure 5As shown in FIG. 1 , when the autonomous driving path P is generated, the headland and the non-cultivated land (side edge) are set as the non-operating area 62 where the working machine 3 does not operate in the target field, and the area other than the non-operating area 62 becomes the working area 61. A plurality of the autonomous working roads (paths) P1, P1, ... are arranged in the working area 61, and the connecting roads P2, P2, ... are generated in such a manner as to be arranged in the non-operating area 62 (headland). In addition, in the present embodiment, the area obtained by merging the non-operating area 62 and the working area 61 is sometimes referred to as a specific area 60.

[0078] exist Figure 5 In the example of , the autonomous working roads P1, P1, ... are generated in a straight line, and the connecting roads P2, P2, ... are generated in a U-shape. In addition, each of the autonomous working roads P1, P1, ... is configured to pass through the working area 61, and the connecting road P2 is configured to connect the ends of adjacent P1, P1 to each other at the end of the field which is the non-working area 62. In the autonomous driving path P thus created, a 180° direction change is performed in each connecting road P2, so that the driving direction of the tractor 1 between a certain autonomous working road P1 and the autonomous working road P1 adjacent thereto is in the opposite direction to each other.

[0079] The information about the autonomous driving path P may be generated by inputting data generated by an external computer (which may be a wireless communication terminal 81 described later) into the control unit 4 through appropriate means such as communication, instead of using the path generation unit 39. Then, the user performs a predetermined operation on the tractor 1, thereby controlling the tractor 1 by the control unit 4 (autonomous driving control unit 32), so that the tractor 1 can autonomously travel along the autonomous driving path P while performing agricultural work along the autonomous working path P1 using the working machine 3.

[0080] Next, refer to Figure 1 and Figure 6 The raising and lowering of the working machine 3 will be described below. Figure 6 The working machine 3 is shown Figure 1 A side view of the situation where the state is lowered and changed into the working state.

[0081] like Figure 1 As shown, a working machine 3 is mounted on the rear of the traveling machine body 2 of the tractor 1. As described above, a part of the driving force of the engine 10 is transmitted to the working machine 3 via the PTO shaft, thereby driving the working machine 3 to perform tillage work. A plurality of tillage claws (working bodies) 25 are provided at the lower part of the working machine 3, and the tillage claws 25 are driven to rotate around a horizontally arranged shaft.

[0082] Figure 1 and Figure 2The rotation axis 25c of the tilling claw 25 is shown in FIG. Figure 6 The working height shown in the figure can make the rotating tillage claw 25 contact the soil, so that the field can be cultivated at a predetermined depth corresponding to the working height. In addition, the rotation of the tillage claw 25 is stopped, or the working machine 3 is raised to Figure 1 The non-working height shown can stop the tillage work. The user can operate the working machine lifting switch 28 to lift the working machine 3, and the working machine control unit 34 can also perform automatic control.

[0083] Here, in the present embodiment, the "working state" of the working machine 3 means a state in which the working machine 3 is lowered to the working height and the tilling claw 25 is rotating. In addition, the "non-working state" means a state other than the above-mentioned working state, for example, a state in which the working machine 3 is raised to the non-working height and the tilling claw 25 stops rotating.

[0084] Furthermore, in the case of autonomous driving or autonomous operation, the tractor 1 of the present embodiment can pre-set the vehicle speed of the tractor 1 and the rotation speed of the engine 10 for the working state and the non-working state of the working machine 3. The setting is performed using the speed and rotation speed setting change dial 14 and the dial setting change switch 16. Furthermore, control is performed such that when the working machine 3 is switched between the working state and the non-working state when the tractor 1 is autonomous driving or autonomous operation, the vehicle speed of the tractor 1 and the rotation speed of the engine 10 are also switched between the above settings in conjunction with this.

[0085] Furthermore, the vehicle speed of the tractor 1 and the rotational speed of the engine 10 in the working state and the non-working state can be changed not only when the tractor 1 is stopped, but also when the tractor 1 is autonomously traveling or operating, the user can change the above settings by operating the speed setting change dial 14 or the like.

[0086] Next, refer to Figure 4 Next, the control unit 4 will be described. As described above, the control unit 4 includes the storage unit 38 , the route generation unit 39 , and the autonomous driving control unit 32 .

[0087] The storage unit 38 stores various information required for the tractor 1 to perform autonomous driving and autonomous operation. The contents stored in the storage unit 38 will be described in detail later.

[0088] The route generation unit 39 generates an autonomous driving route P for the tractor 1 to autonomously travel and perform autonomous operations based on various information stored in the storage unit 38 . Information on the autonomous driving route P generated by the route generation unit 39 is stored in the storage unit 38 .

[0089] The autonomous driving control unit 32 performs integrated control related to autonomous driving and autonomous operation. The autonomous driving control unit 32 is configured to switch between a manned autonomous driving mode (first mode) and an unmanned autonomous driving mode (second mode) to make the tractor 1 autonomously drive along the autonomous driving path P stored in the storage unit 38. The manned autonomous driving mode is a mode in which autonomous driving and autonomous operation are performed with a user on board, and the unmanned autonomous driving mode is a mode in which autonomous driving and autonomous operation are performed without a user on board.

[0090] The autonomous driving control unit 32 includes a command output unit 33 , a work machine control unit 34 , a vehicle speed control unit 35 , a steering control unit 36 ​​, and a remaining distance acquisition unit (distance acquisition unit) 37 .

[0091] On tractor 1 Figure 5 During driving along the autonomous driving path P in the field (specific area 60) shown, in order to use the work machine 3 to work on the portion corresponding to the work area 61, the instruction output unit 33 outputs, at appropriate timing, working instructions for controlling the work machine 3 to a working state and non-working instructions for controlling the work machine 3 to a non-working state.

[0092] Figure 4 The working machine control unit 34 shown controls the working machine 3 to switch from the non-working state to the working state according to the working command output by the command output unit 33, or controls the working machine 3 to switch from the working state to the non-working state according to the non-working command output by the command output unit 33. Specifically, the working machine control unit 34 sends a signal to the PTO clutch 45 to switch the transmission / cutoff of power to the PTO shaft, and also sends a signal to the lifting actuator 44 to control the lifting of the working machine 3.

[0093] The vehicle speed control unit 35 controls the vehicle speed of the traveling machine body 2 by sending a control signal to the transmission device 42 and the like. The vehicle speed control unit 35 controls the vehicle speed of the traveling machine body 2 to switch from the vehicle speed during non-operation to the vehicle speed during operation according to the operation command output by the command output unit 33, or controls the vehicle speed of the traveling machine body 2 to switch from the vehicle speed during operation to the vehicle speed during non-operation according to the non-operation command output by the command output unit 33. In addition, the vehicle speed during operation (first vehicle speed) refers to the vehicle speed when the operating machine 3 is in the operating state, and the vehicle speed during non-operation (second vehicle speed) refers to the vehicle speed when the operating machine 3 is in the non-operating state. As described above, the speed setting change dial 14 is used to set the vehicle speed during operation and the vehicle speed during non-operation.

[0094] The steering control unit 36 ​​sends a control signal to the steering actuator 43 , thereby causing the traveling body 2 to automatically steer so as to travel along the autonomous traveling path P.

[0095] The remaining distance acquisition unit 37 acquires the distance between the rotation axis 25c of the tilling claw 25 provided in the working machine 3 and a switching target position described later, and outputs the acquired distance to the command output unit 33. The remaining distance acquisition unit 37 will be described in detail later.

[0096] Next, the switching timing between the working state and the non-working state of the working machine 3 during autonomous driving and autonomous working will be described.

[0097] Regarding the timing of switching the working machine 3 from the working state or the non-working state to the non-working state or the working state when the tractor 1 is driven autonomously and the working machine 3 is used for working, for example, it can be considered that Figure 5 The tilling claw 25 is rotated and the working machine 3 is lowered to the working height when the tractor 1 traveling along the autonomous driving path P enters the working area 61 from the non-working area 62. In addition, it is conceivable that the tilling claw 25 stops rotating and the working machine 3 is raised from the working height when the tractor 1 comes from the working area 61 to the non-working area 62.

[0098] However, as described above, when the tractor 1 is autonomously traveling, the satellite positioning system (from Figure 4 The position information calculation unit 49) obtains its own position information. However, for example, Figure 1 As shown in FIG. 1 , in the tractor 1, the position of the tilling claw 25 of the working machine 3 (the position of the rotation axis 25c) is arranged to be rearward of the position where the positioning antenna 6 is installed. Therefore, there may be a deviation between the timing of the positioning antenna 6 entering and exiting the working area 61 and the timing of the tilling claw 25 actually acting on the soil to perform work entering and exiting the working area 61. Moreover, as described above, the tractor 1 travels in opposite directions between the two adjacent autonomous working roads P1 and P1. Therefore, if the following control is simply performed: the working machine 3 starts the tilling work at the timing when the position of the positioning antenna 6 enters the working area 61, and the tilling work is stopped at the timing when the position of the positioning antenna 6 leaves the working area 61, the end of the area where the working machine 3 actually performs the tilling work may not be aligned between the adjacent autonomous working roads P1 and P1. In this case, the appearance is poor in aesthetics, and it will be labor-intensive for the subsequent fine working process.

[0099] In addition, it is also possible to control the timing of starting / stopping the tillage operation based on the timing of the rear end of the work machine 3 entering and exiting the work area 61 instead of the positioning antenna 6 entering and exiting the work area. However, in this case, when a work machine with a long front-to-rear length (such as a tiller) is used, the area where the work is actually performed may also deviate greatly between the adjacent autonomous work paths P1, P1.

[0100] Therefore, the control unit 4 of the tractor 1 of the present embodiment controls the timing of starting / stopping the tilling operation based on the position of the rotation axis 25c of the tilling claw 25 performing the tilling operation as described below. Since the claw axis position divides the area in the front-rear direction of the machine body where the tilling claw 25 actually acts on the soil to perform the tilling operation into two equal parts, the claw axis position can be called the operation center position of the working machine 3.

[0101] First, the information stored in the storage unit 38 is described in detail. Figure 4 As shown, the storage unit 38 includes: a work machine distance storage unit (work machine distance acquisition unit) 51, an area storage unit 52, a path storage unit 53, a work edge distance storage unit 54, a vehicle speed setting storage unit 55 and a descent required time storage unit (required time storage unit) 56.

[0102] Working machine distance storage unit 51 pairs Figure 1 and Figure 2 The working machine horizontal distance L shown in the figure (i.e., the horizontal distance from the position of the rotation axis 25c of the tilling claw 25 to the position of the positioning antenna 6) is stored. In addition, in the following description, the position of the rotation axis 25c of the tilling claw 25 is sometimes referred to as the claw axis position, and the position of the positioning antenna 6 is sometimes referred to as the antenna position. The working machine horizontal distance L is input by the user before the tractor 1 starts autonomous driving. Specifically, if the user inputs the distance between the rotation axis 25c of the tilling claw 25 and the positioning antenna 6 using the monitoring device 70, for example, the working machine distance storage unit 51 stores the value of the distance as the working machine horizontal distance L.

[0103] However, convenience can be improved if it is configured as follows: the work machine that can be mounted on the traveling body 2 and the work center position of the work machine are pre-associated and stored in the control unit 4, etc., and the user only needs to select the model name of the work machine in the monitoring device 70 to automatically set the horizontal distance L of the work machine.

[0104] Figure 4 The illustrated area storage unit 52 stores information on the work area 61 set in advance by the user (specifically, information on the position and shape of the work area 61) and information on the remaining area, i.e., the non-work area 62. For example, the user can set the information on the work area 61 by appropriately operating the monitoring device 70 before starting autonomous driving or autonomous operation.

[0105] The route storage unit 53 stores information on an autonomous travel route P which is a route along which the tractor 1 performs autonomous travel and autonomous work.

[0106] The working edge distance storage unit 54 stores the following edge distance M, which is the edge distance of performing unnecessary work on the non-working area 62 along the connecting road P2 before and after working on the autonomous working road P1 when the tractor 1 is autonomously traveling and working, so that even if errors occur in the lifting and lowering of the working machine 3, no work will be missed at the edge of the working area 61 (near the boundary with the non-working area 62). Figure 5 As shown, for each path of the autonomous working path P1 arranged in the working area 61, a point away from the edge distance M along the connecting path P2 toward the non-working area 62 from the upstream end and the downstream end (in other words, the boundary between the working area 61 and the non-working area 62) is set as a point at which the working machine 3 should be switched between the working state and the non-working state, that is, a switching target position (reference position). Therefore, the working edge distance storage unit 54 can be called a setting unit for setting the switching target position.

[0107] The user can change the setting value of the edge distance M stored in the working edge distance storage unit 54 by operating the monitoring device 70 of the tractor 1, for example. In addition, the edge distance M may be configured such that the setting value at the time of shipment cannot be changed, for example.

[0108] The edge distance M is the same between the switching target position set before entering the working area 61 from the non-working area 62 and the switching target position set after entering the non-working area 62 from the working area 61. Furthermore, although a plurality of switching target positions are set on the autonomous driving path P, the edge distance M is constant on all autonomous driving paths P. Therefore, for example, Figure 5 As shown, when the working area 61 is set to a rectangular shape, between the stroke of making the tractor 1 travel in a certain direction and the stroke of making the tractor 1 travel in the opposite direction, it is possible to control so that the ends of the portion where the work is actually performed are aligned, thereby achieving a good appearance.

[0109] The vehicle speed setting storage unit 55 stores the values ​​set by the speed setting change dial 14 for the vehicle speed during operation and the vehicle speed during non-operation described above.

[0110] The required descent time storage unit 56 stores the time from when the working machine 3 at the non-working height starts to descend until it reaches the working height.

[0111] In this structure, in order to enable the work machine control unit 34 to control the lifting of the work machine 3 at an appropriate timing, the instruction output unit 33 calculates the claw axis position based on the position of the positioning antenna 6 calculated by the position information calculation unit 49 and the work machine horizontal distance L stored in the work machine distance storage unit 51.

[0112] Furthermore, when the tractor 1 enters the working area 61 from the non-working area 62, the command output unit 33 controls the lifting actuator 44 and the like with the help of the working machine control unit 34, so that the timing at which the claw shaft position obtained reaches the switching target position before entering the working area 61 is changed to a state where the working machine 3 descends to the working height and the tilling claw 25 rotates (the working machine 3 changes to the aforementioned working state). In addition, when the tractor 1 comes to the non-working area 62 from the working area 61, the command output unit 33 controls the lifting actuator 44 and the like with the help of the working machine control unit 34, so that the tilling claw 25 stops rotating and the working machine 3 starts to rise from the working height (the working machine 3 changes to the aforementioned non-working state) at the timing at which the claw shaft position obtained reaches the switching target position after entering the non-working area 62.

[0113] Furthermore, the switching target position can be obtained by calculation based on the information of the work area 61 stored in the area storage unit 52 , the information of the autonomous driving path P stored in the path storage unit 53 , and the edge distance M stored in the work edge distance storage unit 54 .

[0114] Next, the control performed by the autonomous travel control unit 32 and the work machine control unit 34 when the travel machine 2 and the work machine 3 move from the non-work area to the work area will be described. Figure 7 This is a diagram for explaining the relationship between control timings when the working machine 3 is switched from a non-working state to a working state during autonomous driving or autonomous working.

[0115] As described above, when the tractor 1 is autonomously traveling and operating and the traveling body 2 and the operating machine 3 are traveling in the non-operating area 62 (connecting road P2), Figure 1 As shown, the working machine 3 rises to the non-working height (specifically, the highest height), and the tilling claw 25 is in a non-rotating state (non-working state) because the PTO clutch 45 is disconnected. In addition, at this time, the working machine control unit 34 is in a mode (lifting mode) for maintaining the above-mentioned non-working height. Therefore, the tilling claw 25 is stationary without contacting the ground and does not perform tilling work.

[0116] When the traveling machine body 2 has almost finished traveling along the connecting road P2 and the working machine 3 is close to the switching target position, Figure 7 As shown in (a), a control signal (work command) for instructing the work machine 3 to switch to the work state is output from the command output unit 33 to the work machine control unit 34 and the vehicle speed control unit 35. The timing at which the command output unit 33 outputs the work command will be described in detail later.

[0117] If a job instruction is entered, Figure 7As shown in (b), the work machine control unit 34 sends a signal to the PTO clutch 45 to indicate the intention to release the stop of the PTO. However, at this time, the work machine control unit 34 is configured to send an instruction to release the PTO stop after waiting for a certain period of time from the time when the work instruction is input, based on reasons such as ensuring the preparation time for control. It can be considered to set the waiting time TW1 to a specified time between 50 milliseconds and 500 milliseconds, for example. If the PTO clutch 45 receives the instruction to release the PTO stop, it will be changed to the engaged state, and along with this, the tilling claw 25 starts to rotate.

[0118] At the same time as the instruction to release the PTO stop, the work machine control unit 34 controls the work machine 3 to descend. Specifically, the pressure oil of the lifting actuator 44 (lifting cylinder) is discharged by opening the solenoid valve not shown, so that the lifting actuator 44 (lifting cylinder) is lowered. Figure 7 As shown in (d), the working machine 3 begins to descend by its own weight. Since the tilling claw 25 has begun to rotate, the working machine 3 changes to the working state when it descends and reaches the working height. In order for the working machine 3 at a non-working height to descend and reach the working height, a corresponding amount of time is required. The descent speed of the working machine 3 varies according to the opening of the aforementioned descent speed adjustment valve and the weight of the working machine 3. Therefore, the time until the working machine 3 descends and reaches the working height (the time required for descent TR1) varies according to the actual situation.

[0119] The weight of the working machine 3 varies due to the adhesion of soil, etc. The tractor 1 of this embodiment does not have a sensor that directly detects the weight of the working machine 3, so the estimation accuracy of the required descent time TR1 is not necessarily high. On the other hand, although not shown in the figure, the tractor 1 has a working machine height sensor (for example, a potentiometer) that detects the support height of the working machine 3, so the time from the start of the descent of the working machine 3 to the actual reaching of the working height can be measured by a timing circuit (measuring unit) that is omitted from the figure. Therefore, the instruction output unit 33 actually measures the required descent time TR1 when the working machine 3 is lowered in advance and stores it in the required descent time storage unit 56. When estimating the required descent time TR1 when the working machine 3 is lowered next time, the storage content of the required descent time storage unit 56 is used, thereby achieving improved accuracy. However, for example, when a new working machine 3 is mounted on the traveling machine body 2, the required descent time is unclear. Therefore, in this case, a predetermined initial value (initial setting time) is stored in the required descent time storage unit 56 and used for the initial estimation. The average required descent time may be investigated and the time may be appropriately initialized. Once the required descent time TR1 is measured, the storage content of the required descent time storage unit 56 is updated from the initial value to the measured value. Then, the storage content of the required descent time storage unit 56 is updated at any time using the latest measured value.

[0120] On the other hand, Figure 7 As shown in (f), if an operation instruction is input from the instruction output unit 33, the vehicle speed control unit 35 immediately starts to increase / decelerate so that the vehicle speed of the tractor 1 starts to approach the set value of the vehicle speed during operation from the current vehicle speed (usually roughly the same as the set value of the vehicle speed during non-operation). In this way, the vehicle speed change control starts almost at the same time as the instruction output unit 33 outputs the operation instruction, so that the vehicle speed of the tractor 1 is equal to the set value of the vehicle speed during operation at an appropriate time before the working machine 3 reaches the working height. In addition, it is possible to appropriately specify how the vehicle speed is changed in the process of changing from the vehicle speed during non-operation to the vehicle speed during operation. For example, it can be changed in a linear manner, or in a broken line or curve.

[0121] However, when the tractor 1 is traveling on the connecting road P2, the timing at which the claw shaft position of the working machine 3 reaches the switching target position can be estimated based on the distance from the current claw shaft position to the switching target position (hereinafter sometimes referred to as the remaining distance) and the vehicle speed of the traveling machine 2. The remaining distance acquisition unit 37 can obtain the above-mentioned remaining distance by calculation based on the position information of the traveling machine 2 (strictly speaking, the positioning antenna 6), the above-mentioned working machine horizontal distance L, and the switching target position.

[0122] In addition, during the period before the claw shaft position of the working machine 3 reaches the switching target position, the vehicle speed of the traveling machine body 2 (tractor 1) changes from the set value of the vehicle speed when the tractor 1 is not working to the set value of the vehicle speed when working. Therefore, the command output unit 33 considers the remaining distance, the set value of the vehicle speed when not working, the speed change rate from the set value of the vehicle speed when not working to the set value of the vehicle speed when working, the waiting time TW1, and the required time for descent TR1, and calculates the timing of outputting the working command so that the working machine 3 is changed to the working state at the timing when the claw shaft position of the working machine 3 reaches the switching target position. Therefore, even if the vehicle speeds when not working are the same, when the vehicle speed when working is greater than the vehicle speed when not working, the output timing of the working command will be advanced, and when the vehicle speed when working is less than the vehicle speed when not working, the output timing of the working command will be delayed. In addition, for example, the output timing of the operation instruction is different in the case where the vehicle speed increases or decreases at a constant rate from the non-operating speed to the operating speed, and in the case where the vehicle speed increases or decreases at a larger rate of change initially from the non-operating speed and increases or decreases at a smaller rate of change after approaching the operating speed. The instruction output unit 33 outputs the operation instruction at such a timing, so that the operation can be started by the operation machine 3 (cultivating claw 25) from the switching target position. In addition, in the present embodiment, the control is performed based on the claw shaft position of the operation machine 3, so that the end of the area where the cultivating claw 25 acts at a desired depth can be made consistent with the switching target position with high precision. Therefore, the appearance of the operation becomes good.

[0123] In addition, when viewed from the tractor 1 traveling on the connecting road P2, the switching target position is set to a position slightly in front of the boundary between the non-operating area 62 and the operating area 61. Due to the presence of this edge, even if the descending timing of the operating machine 3 is delayed, it is possible to prevent the non-operated portion from being generated in the operating area 61.

[0124] If the working machine 3 reaches the working height, Figure 7 As shown in (c), the work machine control unit 34 switches from the lifting mode to the automatic rotation mode, and performs control for maintaining the working height. Then, the claw shaft position of the work machine 3 enters the working area 61. The tractor 1 drives along the autonomous working road P1 in the working area 61 at a speed set to the vehicle speed during working while working with the tilling claws 25 of the work machine 3.

[0125] Next, control when the traveling body 2 and the working machine 3 move from the working area 61 to the non-working area 62 in the reverse direction of the above-mentioned operation will be described. Figure 8 This is a diagram for explaining the relationship between control timings when the working machine 3 is switched from a working state to a non-working state during autonomous driving or autonomous working.

[0126] When the tractor 1 is autonomously traveling and operating, and the traveling body 2 and the working machine 3 are traveling in the operating area 61 (autonomous operating road P1), the working machine 3 is operating at the operating height, and the PTO clutch is engaged, so the tilling claw 25 is in a state of rotating (operating state). In addition, at this time, the working machine control unit 34 is in a mode of controlling to maintain the above-mentioned operating height (automatic rotation mode). Thus, the rotating tilling claw 25 is used to perform tillage operation at a depth corresponding to the operating height.

[0127] When the traveling machine body 2 has finished traveling along the autonomous working path P1 and the working machine 3 approaches the switching target position at an appropriate timing, such as Figure 8 As shown in (a), the command output unit 33 outputs a control signal (non-operation command) for instructing the working machine 3 to switch to the non-operation state to the working machine control unit 34 and the vehicle speed control unit 35. The timing of sending the non-operation command will be described in detail later.

[0128] If a non-operation instruction is input, Figure 8 As shown in (b), the work machine control unit 34 sends a signal to the PTO clutch 45 to instruct the PTO to stop. However, as in the case of the aforementioned input of the work instruction, the work machine control unit 34 is configured to send an instruction to stop the PTO after waiting for a specified time from the time when the non-work instruction is input. It can be considered to set the waiting time TW2 to a constant time between 50 milliseconds and 500 milliseconds, for example. In addition, the waiting time TW2 during the non-work instruction may be the same as or different from the waiting time TW1 during the aforementioned work instruction, but the waiting time TW1 is preferably longer than the waiting time TW2. If an instruction to stop the PTO is received, the PTO clutch 45 is changed to a disconnected state, so that the rotation of the tilling claw 25 gradually stops.

[0129] While sending the instruction of PTO stop to PTO clutch 45, Figure 8 As shown in (c), the work machine control unit 34 switches from the automatic rotation mode to the lifting mode. In addition, the work machine control unit 34 controls so that after waiting for a delay time TD described later from the instruction of the PTO stop, hydraulic oil is supplied to the hydraulic cylinder to lift the work machine 3.

[0130] This lag time TD is used to prevent soil from piling up as the working machine 3 rises. That is, if the working machine 3 starts to rise while the tilling claw 25 stops rotating, the soil is locally accumulated due to the soil being brought up by the stopped tilling claw 25. Therefore, in this embodiment, the working machine 3 is not raised immediately after the tilling claw 25 stops rotating, thereby avoiding the formation of such soil accumulation and improving the appearance.

[0131] After the delay time TD has passed, the work machine 3 starts to rise. Therefore, the work machine 3 is changed to the non-working state at this moment. It takes a certain amount of time for the work machine 3 to rise from the working height to the non-working height, but since the supply speed of the hydraulic oil to the hydraulic cylinder is constant, the rising speed of the work machine 3 is different from that when it is lowered and is constant. Therefore, the time until the work machine 3 rises and reaches the non-working height (the time required for rising TR2) is a constant value.

[0132] On the other hand, Figure 8 As shown in (f), at the moment when the non-operation instruction is input from the instruction output unit 33, the vehicle speed control unit 35 does not switch the vehicle speed. When the predetermined time TC has passed since the operating machine control unit 34 sent the instruction of PTO stop to the PTO clutch 45, the vehicle speed control unit 35 starts to increase / decelerate so that the vehicle speed of the tractor 1 starts to approach the set value of the vehicle speed during non-operation from the current vehicle speed (usually roughly consistent with the set value of the vehicle speed during operation). The predetermined time TC is a time longer than the lag time TD. In addition, it can be appropriately specified how the vehicle speed is changed in the process from the vehicle speed during operation to the vehicle speed during non-operation. For example, it can be changed in a linear manner, or in a broken line or curve.

[0133] However, as described above, the timing at which the claw shaft position of the working machine 3 reaches the switching target position can be estimated based on the distance from the current claw shaft position to the switching target position (the remaining distance) and the vehicle speed of the traveling machine 2 .

[0134] In addition, until the claw shaft position of the working machine 3 reaches the switching target position, the vehicle speed value of the traveling machine 2 (tractor 1) is equal to the set value of the vehicle speed of the tractor 1 during operation and is substantially constant. Therefore, the command output unit 33 considers the remaining distance, the set value of the vehicle speed during operation, the waiting time TW2, and the delay time TD, and calculates the timing for outputting the non-operating command so that the working machine 3 changes from the operating state to the non-operating state at the timing when the claw shaft position of the working machine 3 reaches the switching target position. The command output unit 33 outputs the non-operating command at the timing obtained in this way, thereby completing the operation of the working machine 3 (cultivating claw 25) at the switching target position, thereby improving the appearance of the operation.

[0135] In addition, when viewed from the tractor 1 traveling on the autonomous working path P1, the switching target position is set to a position slightly closer to the opposite side of the boundary between the working area 61 and the non-working area 62. Due to the presence of this edge, even if the ascending timing of the working machine 3 is advanced, it is possible to prevent the non-working portion from being generated in the working area 61.

[0136] Since the working machine control unit 34 is switched to the lifting mode, when the working machine 3 reaches the non-working height, the working machine control unit 34 performs control for maintaining the non-working height. In addition, before and after the working machine 3 reaches the non-working height, the vehicle speed of the tractor 1 is substantially equal to the set value of the vehicle speed during non-working. The tractor 1 travels along the connecting road P2 in the non-working area 62 at the speed set to the vehicle speed during non-working when the working machine 3 is not working.

[0137] Thus, in this embodiment, the command output unit 33 controls the timing of raising and lowering the working machine 3 by the working machine control unit 34 based on the claw shaft position, thereby making it possible to align the ends of the sections actually cultivated by the working machine 3 (at a predetermined tillage depth) on each autonomous working path P1 between the plurality of autonomous working paths P1. As a result, fine work with good appearance can be achieved.

[0138] Next, the raising and lowering control of the working machine 3 when the set value of the vehicle speed is changed during the movement from the non-working area to the working area will be described.

[0139] Figure 7 (a) shows the timing of outputting the operation command, but as described above, the command output unit 33 calculates the timing at an appropriate time before (for example, the time shown by the reference symbol Tx) based on the set values ​​of the vehicle speed during non-operation and operation at the time Tx.

[0140] However, it is assumed that after the timing for outputting the operation command is calculated at the time Tx, before the timing arrives, the user operates the speed setting change dial 14 to issue an instruction to change the setting of at least one of the vehicle speed during non-operation and the vehicle speed during operation. Here, when the tractor 1 moves from the non-operation area to the operation area, Figure 7 As shown in (f), the tractor 1 is controlled so that the vehicle speed during non-operation starts to change to the vehicle speed during operation before the claw shaft position reaches the switching target position, and the vehicle speed of the tractor 1 changes to the vehicle speed during operation before the claw shaft position reaches the switching target position. Therefore, if the vehicle speed during non-operation or the vehicle speed during operation is changed according to the user's instruction, the claw shaft position reaches the switching target position. Figure 7 The timing of the switching target position shown in (e) will be different from the timing estimated at the time of Tx.

[0141] Whether the timing of the claw shaft position reaching the switching target position is advanced or delayed depends on the content of the user's instruction to change the vehicle speed. If at least one of the vehicle speed during non-operation and the vehicle speed during operation is increased, the timing is likely to be advanced.

[0142] If the timing at which the claw shaft position reaches the switching target position changes with lag, the work command may be delayed accordingly. Even if the timing changes with advance, if it can be absorbed by a margin in time, the work command may be advanced accordingly.

[0143] However, it is also possible to think of a situation where the above-mentioned timing is advanced and there is insufficient time margin. In this case, two types of control can be considered. The first type of control is as follows: the timing lag of the working machine 3 changing to the working state is allowed, but the lag amount is minimized as much as possible, so the working instruction is output immediately. In this case, the responsiveness of the vehicle speed change operation can be ensured, and the decline in the appearance and aesthetics can be suppressed. The second type of control is as follows: regardless of the user's operation, the change in the set value of the vehicle speed during non-working or working is retained, and regarding the switch to the working state this time, the vehicle speed is controlled with the set value before the change, and the working instruction is output without changing the timing. After the claw shaft position reaches the switching target position, the set value of the vehicle speed is actually changed. In this case, the appearance and aesthetics of the operation can be improved. In addition, after temporarily controlling to a provisional vehicle speed different from the user's instructions, the timing of the working instruction can be changed so that the timing of the working machine 3 changing to the working state can catch up.

[0144] Next, control in the case where the set value of the vehicle speed is changed by a user operation during movement from the work area to the non-work area will be described.

[0145] Figure 8 (a) shows the timing of outputting the non-work command, but as described above, the command output unit 33 calculates this timing at an appropriate time before (for example, the time indicated by the reference symbol Tx) based on the set value of the vehicle speed during work at the time Tx.

[0146] However, it is assumed that after the timing for outputting the non-operating instruction is calculated at the time Tx, before the timing arrives, the user operates the speed setting change dial 14, thereby issuing an instruction to change the setting of at least one of the vehicle speed during operation and the vehicle speed during non-operating. Here, when the tractor 1 moves from the operating area to the non-operating area, Figure 8 As shown in (f), before the claw shaft position reaches the switching target position, the tractor 1 travels at the working speed, and the speed of the tractor 1 is switched to the non-working speed at a timing slightly after the claw shaft position reaches the switching target position. Figure 8The timing of the switching target position shown in (e) does not change, but if the vehicle speed setting during operation is changed, assuming that the change is made according to the user's instructions, the timing of the claw shaft position reaching the switching target position will be different from the timing estimated at the time Tx.

[0147] The timing of the claw shaft position reaching the switching target position is advanced or delayed depending on the content of the user's instruction to change the vehicle speed. If the vehicle speed during operation increases, the above timing is advanced, and if the vehicle speed during operation decreases, the timing is delayed.

[0148] If the timing of the claw shaft position reaching the switching target position changes with lag, the non-operation command may be delayed accordingly. Even if the timing changes with advance, if it can be absorbed by a margin in time, the non-operation command may be advanced accordingly.

[0149] However, it is also possible to think of a situation where the above timing is advanced and the time margin is insufficient. As control in this case, two types of control are considered in the same way as in the case of the above-mentioned operation instruction. The first type of control is as follows: a delay in the timing of the working machine 3 changing to the non-working state is allowed, but the delay is minimized as much as possible, so the non-working instruction is output immediately. In this case, the responsiveness of the vehicle speed change operation can be ensured, and the decline in the appearance and aesthetics can be suppressed. The second type of control is as follows: regardless of the user's operation, the change in the set value of the vehicle speed during operation is retained, and regarding the switch to the non-working state this time, the vehicle speed is controlled with the set value before the change, the non-working instruction is output without changing the timing, and the set value of the vehicle speed is actually changed after the claw shaft position reaches the switching target position. In this case, the appearance and aesthetics of the operation can be improved. In addition, after temporarily controlling to a provisional vehicle speed different from the user's instructions, the timing of the non-working instruction can be changed so that the timing of the working machine 3 changing to the non-working state can catch up.

[0150] also, Figure 7 and Figure 8 The control shown is applied to the case where the rotary tiller used in the present embodiment requires the rotation drive of the tilling claw 25 by the PTO shaft and the lifting control of the working machine 3. There are also structures in the working machine that do not require the drive of the working body or the lifting control. Therefore, in the tractor 1 of the present embodiment, it is configured so that the user inputs the type of working machine (for example, inputs it to the monitoring device 70 or the wireless communication terminal 81 described later) before starting autonomous driving and autonomous operation, and performs the lifting control only when necessary. Figure 7 and Figure 8 PTO control and lift control shown.

[0151] That is, in a predetermined working machine, the timing of switching from a non-working state in which the working body of the working machine is not used for working to a working state in which the working body is used for working (the timing of outputting the above-mentioned working instruction) is controlled to be a timing that makes the time before the working center position of the working body reaches the switching target position substantially equal to the total time of the switching preparation time (equivalent to the time of the above-mentioned waiting time TW1) from the output of the working instruction until the actual start of switching to the working state and the switching required time (equivalent to the above-mentioned descent required time TR1) from the start of switching to the working state until the switching is completed (i.e., the transition to the working state). On the other hand, the timing of switching from a working state in which the working body is used for working to a non-working state in which the working body is not used for working (the timing of outputting the above-mentioned non-working instruction) is controlled to be a timing that makes the time before the working center position of the working body reaches the switching target position substantially equal to the switching preparation time (equivalent to the time of the above-mentioned waiting time TW2 and the time of lag TD) from the output of the working instruction until the actual start of switching to the non-working state.

[0152] Next, the user is asked to perform autonomous driving and autonomous operation while the user is riding on the tractor 1. Figure 3 The control when the working machine lifting switch 28 is operated will be described. Fig. 9 It is a flowchart explaining the processing performed by the working machine control unit 34.

[0153] The work machine control unit 34 monitors the work command or non-work command input from the aforementioned command output unit 33, and also monitors the control signal (the lifting command as the operation unit command) input to the work machine control unit 34 in response to the operation of the work machine lifting switch 28. In addition, when the work command or non-work command from the command output unit 33 and the lifting command based on the operation of the work machine lifting switch 28 compete with each other, in order to prevent control against the operator's intention, the work machine control unit 34 always gives priority to the lifting command and controls the lifting actuator 44, etc.

[0154] according to Fig. 9 , the work machine control unit 34 first determines whether a work command or a non-work command output by the command output unit 33 is input (step S101).

[0155] When it is determined in step S101 that a work command or a non-work command is input, the work machine control unit 34 further determines whether a lifting command accompanying the operation of the work machine lifting switch 28 is input (step S102).

[0156] If it is determined in step S102 that a lifting command is input, the work machine control unit 34 performs control to lift the work machine 3 based on the lifting command instead of the work command or the non-work command (step S103). That is, the work machine control unit 34 gives priority to the lifting command over the work command or the non-work command, and performs lifting control on the work machine 3 based on the lifting command. Then, the process returns to step S101.

[0157] When it is determined in step S102 that the lifting command has not been input, the working machine control unit 34 performs control to lift the working machine 3 according to the input working command or non-working command (step S104 ). Then, the process returns to step S101 .

[0158] When it is determined in step S101 that no operation command or no operation command is input, the work machine control unit 34 determines whether a lifting command based on the operation of the work machine lifting switch 28 is input (step S105).

[0159] If it is determined in step S105 that a lifting command has been input, the work machine control unit 34 controls the lifting of the work machine 3 according to the lifting command (step S103). Then, the process returns to step S101. If a lifting command has not been input, the process of step S103 is not performed and the process returns to step S101.

[0160] By performing the above processing, for example, even if an operation command is input from the command output unit 33 to the work machine control unit 34, if the user operates the work machine lifting switch 28 to the rising side at this time, the work machine will not be raised as in the above example. Figure 7 (d) The control to lower the working machine 3 is performed so that the working machine 3 is maintained at the non-working height.

[0161] In addition, for example, even if a non-operation command is input from the command output unit 33 to the operating machine control unit 34 and the non-operation command is executed accordingly, Figure 8 (d) The work machine 3 starts to rise, but when the user operates the work machine lifting switch 28 to the lowering side during the rise, the raising control is stopped and the work machine control unit 34 immediately performs the lowering control of the work machine 3.

[0162] According to such a configuration, the tractor 1 of the present embodiment can, in principle, autonomously travel and autonomously work, and can switch the working state and the non-working state of the working machine 3 in accordance with the user's intention.

[0163] In addition, as described in step S103, when the work machine 3 is lifted and lowered based on a lifting instruction of the operation of the work machine lifting switch 28 instead of a work instruction or a non-work instruction output by the instruction output unit 33, for example, a message to that effect can be displayed on the display (display unit) possessed by the monitoring device 70, or the user can be informed of the effect using a light or a buzzer.

[0164] Next, a description will be given of a case where the tractor 1 performs autonomous travel or autonomous work without the user riding on the tractor 1. FIG. Fig.10 This figure shows a wireless communication terminal 81 used when the tractor 1 is autonomously traveling or working without the user riding on the tractor 1. Fig.11 1 is a diagram showing a display example of the autonomous driving monitoring screen 100 on the display 83 of the wireless communication terminal 81 .

[0165] As described above, the autonomous driving control unit 32 provided in the tractor 1 can switch between a manned autonomous driving mode and an unmanned autonomous driving mode to perform autonomous driving, wherein the manned autonomous driving mode is a mode in which autonomous driving and autonomous operation are performed with a user on board, and the unmanned autonomous driving mode is a mode in which autonomous driving and autonomous operation are performed without a user on board. The user can switch the modes by operating the monitoring device 70, for example.

[0166] like Figure 3 If the seat sensor 13a shown does not detect that a user is seated, the autonomous driving and autonomous operation of the tractor 1 in the autonomous driving mode with a person cannot be started. On the other hand, if the seat sensor 13a detects that a user is seated, the autonomous driving and autonomous operation of the tractor 1 in the autonomous driving mode without a person cannot be started. However, it is also possible to configure that in the autonomous driving mode without a person, autonomous driving and autonomous operation can be started even in a state where the seat sensor 13a detects that a user is seated.

[0167] In addition, when the tractor 1 is autonomously traveling and operating in the manned autonomous driving mode, the user on board Figure 3 When the main speed lever 27 is operated, the control performed by the autonomous travel control unit 32 can be ended, but the travel machine 2 is not stopped and is switched to manual travel or manual operation as it is.

[0168] On the other hand, when the tractor 1 is autonomously traveling and operating in the unmanned autonomous driving mode, it is not assumed that the above-mentioned operating device provided in the tractor 1 is used. Figure 3The operation of the speed setting change dial 14 and the like shown is invalidated. In addition, when the tractor 1 is autonomously traveling or working in the unmanned autonomous traveling mode, if the main gear lever 27 is operated, the control performed by the autonomous traveling control unit 32 is terminated, and the tractor 1 is immediately stopped. The user switches from the stopped state of the traveling machine body 2 to manual traveling or manual working.

[0169] In addition, when the tractor 1 is autonomously traveling or autonomously working in the unmanned autonomous driving mode, if the user operates the work machine lifting switch 28, the control performed by the autonomous driving control unit 32 is also terminated, and the tractor 1 is immediately stopped. At this time, the wireless communication terminal 81 described later notifies that the autonomous driving has stopped by displaying a message or the like. Furthermore, in the tractor 1, for example, the monitoring device 70 may be used to make a notification. Then, the user needs to perform a predetermined operation from the stopped state of the traveling machine body 2 to switch to manual driving or manual working.

[0170] When the tractor 1 is made to drive and operate autonomously in the unmanned autonomous driving mode, the user will Fig.10 The wireless communication terminal (wireless communication device) 81 shown is used as a remote control device for issuing instructions to the tractor 1 from the outside.

[0171] like Fig.10 As shown, the wireless communication terminal 81 is configured as a tablet computer having a touch panel 82. The user can refer to and confirm the information displayed on the display (display unit) 83 of the wireless communication terminal 81. In addition, the user can operate the above-mentioned touch panel 82 or the hardware key 84 arranged near the display 83, and send the control signal for controlling the tractor 1 to the control unit 4 of the tractor 1. Here, as the control signal input from the wireless communication terminal 81 to the control unit 4, a signal related to the path of autonomous driving and autonomous operation and a start signal and a stop signal of autonomous driving and autonomous operation can be considered, but it is not limited to this.

[0172] The wireless communication terminal 81 is not limited to a tablet computer, and may be a notebook computer instead. In addition, the wireless communication terminal 81 may have the function of generating the autonomous driving route P instead of the tractor 1 .

[0173] Next, refer to Fig.11 The screen displayed on the wireless communication terminal 81 when the tractor 1 performs autonomous driving and autonomous operation will be described.

[0174] When the autonomous driving control unit 32 changes to the unmanned autonomous driving mode and the tractor 1 starts autonomous driving and autonomous operation, the display screen of the display 83 switches to Fig.11 An autonomous driving monitoring screen 100 is shown.

[0175] A driving state display unit 103 is disposed on the right side of the autonomous driving monitoring screen 100. The driving state display unit 103 is used to display image data including the autonomous driving path of the tractor 1. For example, the image data displayed in the driving state display unit 103 Fig.11 As shown, the shape of the field and the shape of the work area can be displayed by overlapping with the map data, and the travel track of the tractor 1 can be shown thereon with hatching.

[0176] A start / pause button 105 for starting or pausing autonomous driving is displayed on the leftmost side of the upper side of the autonomous driving monitoring screen 100. When the user manually moves the tractor 1 to the start position of autonomous driving and touches the start / pause button 105, a control signal instructing to start autonomous driving can be transmitted from the wireless communication terminal 81 to the control unit 4 of the tractor 1, thereby starting the autonomous driving of the tractor 1. In addition, when the user touches the start / pause button 105 while the tractor 1 is autonomously driving, the autonomous driving of the tractor 1 can be paused or resumed.

[0177] In the autonomous driving monitoring screen 100 , a vehicle speed display section 106 , an engine speed display section 107 , and a clearance height adjustment section (operation section) 108 are arranged in a vertical arrangement on the right side of a start / pause button 105 .

[0178] The vehicle speed display unit 106 displays the current vehicle speed of the tractor 1 acquired based on data sent from a vehicle speed sensor (not shown).

[0179] The engine speed display unit 107 displays the current speed of the engine 10 acquired based on data transmitted from an engine speed sensor (not shown).

[0180] The height of the working machine 3 acquired based on the data sent from the working machine height sensor is displayed in the form of a numerical value in the clearance height adjustment unit 108. Up and down buttons are arranged on the right side of the displayed numerical value, and by operating the buttons, an instruction to raise or lower the working machine 3 can be issued. By operating the clearance height adjustment unit 108, the wireless communication terminal 81 outputs a lifting command to the tractor 1.

[0181] A setting adjustment unit is arranged on the right side of the vehicle speed display unit 106 and the engine speed display unit 107 . The setting adjustment unit can adjust the settings of the vehicle speed and the engine speed of the tractor 1 for the above-mentioned working state and non-working state, respectively.

[0182] Specifically, on the right side of the vehicle speed display unit 106 and the engine speed display unit 107, there are arranged a working vehicle speed adjustment unit (vehicle speed setting unit) 111, a working engine speed adjustment unit 112, a non-working vehicle speed adjustment unit (vehicle speed setting unit) 113 and a non-working engine speed adjustment unit 114.

[0183] In the working vehicle speed adjustment unit 111, the set value of the vehicle speed of the tractor 1 (vehicle speed during working) when the working machine 3 is in the working state is displayed in digital form. In the working engine speed adjustment unit 112, the set value of the speed of the engine 10 when the working machine 3 is in the working state is displayed in digital form. For both the working vehicle speed adjustment unit 111 and the working engine speed adjustment unit 112, up and down buttons are arranged on the right side of the displayed set value, and the set value can be increased or decreased by operating the buttons.

[0184] In the non-operating vehicle speed adjustment unit 113, the set value of the vehicle speed of the tractor 1 when the working machine 3 is in a non-operating state (the non-operating vehicle speed) is displayed in digital form. In the non-operating engine speed adjustment unit 114, the set value of the speed of the engine 10 when the working machine 3 is in a non-operating state is displayed in digital form. For the non-operating vehicle speed adjustment unit 113 and the non-operating engine speed adjustment unit 114, similarly to the operating vehicle speed adjustment unit 111 and the operating engine speed adjustment unit 112, the set value can be increased or decreased by operating the up and down buttons next to the numerical value.

[0185] In this unmanned autonomous driving mode, the working vehicle speed adjustment unit 111 and the non-working vehicle speed adjustment unit 113 have the same function as the speed setting change dial 14 set on the tractor 1, and the clearance height adjustment unit 108 has the same function as the working machine lifting switch 28 set on the tractor 1.

[0186] In the unmanned autonomous driving mode, the output timing of the operation command or the non-operation command is substantially controlled in the same manner as in the manned autonomous driving mode. In addition, in the unmanned autonomous driving mode, when the operation command or the non-operation command output by the command output unit 33 competes with the lifting command output based on the operation of the pitch height adjustment unit 108, the lifting command is given priority in the same manner as in the manned autonomous driving mode. However, since the user is not on the tractor 1, the various messages described above are displayed on the display of the wireless communication terminal 81 rather than the monitoring device 70 in principle.

[0187] As described above, the tractor 1 of the present embodiment includes a travel body 2, a command output unit 33, a work machine control unit 34, a vehicle speed control unit 35, a work edge distance storage unit 54, and a remaining distance acquisition unit 37. The travel body 2 can be equipped with a work machine 3. The command output unit 33 outputs a work command for controlling the work machine 3 to a work state and a non-work command for controlling the work machine 3 to a non-work state. The work machine control unit 34 controls the work state of the work machine 3 according to the work command or the non-work command. The vehicle speed control unit 35 can switch the vehicle speed of the tractor 1. The work edge distance storage unit 54 sets the switching target position of the work state switching control of the work machine 3 by setting the edge distance M. The remaining distance acquisition unit 37 acquires the distance from the claw shaft position of the work machine 3 to the switching target position, that is, the remaining distance. The speed control unit 35 switches the speed of the tractor 1 from the speed during operation to the speed during non-operation according to the non-operation command, and switches the speed of the tractor 1 from the speed during non-operation to the speed during operation according to the operation command. Figure 8 When a non-operation instruction is output as shown in FIG. 1 , the output timing of the non-operation instruction is controlled based on the vehicle speed and the remaining distance during operation. Figure 7 When the work command is output as shown, the output timing of the work command is controlled based on the vehicle speed during non-work, the speed change rate from the vehicle speed during non-work to the vehicle speed during work, and the remaining distance.

[0188] Thus, when the working machine 3 is switched from the working state to the non-working state, and when the non-working state is switched to the working state, the command output unit 33 can output the non-working command and the working command at appropriate timing. Thus, the error of the boundary between the part where the working machine 3 is operated and the part where the working machine 3 is not operated can be reduced.

[0189] In addition, in the tractor 1 of the present embodiment, Figure 8 As shown in (f), after the working machine control unit 34 switches the working machine 3 from the working state to the non-working state according to the non-working instruction, the vehicle speed control unit 35 starts the switching control from the vehicle speed during working to the vehicle speed during non-working. Figure 7 As shown in (f), before the working machine control unit 34 switches the working machine 3 from the non-working state to the working state in response to the working instruction, the vehicle speed control unit 35 starts switching control from the non-working vehicle speed to the working vehicle speed.

[0190] Thereby, while the working machine 3 is in the working state, the vehicle speed during the working can be maintained.

[0191] In addition, the tractor 1 of the present embodiment is provided with a timing circuit (not shown) and a required descent time storage unit 56. The timing circuit measures the required time (required descent time TR1) required to switch the working machine 3 from the non-working state to the working state. The required descent time storage unit 56 stores the required time measured by the timing circuit. The command output unit 33 controls the output timing of the working command based on the storage content of the required descent time storage unit 56. When the required time is not measured by the timing circuit, the required descent time storage unit 56 stores the initially set time. When the required time is measured by the timing circuit, the storage content of the required descent time storage unit 56 is updated to the measured value.

[0192] Thus, the time required for switching the working machine 3 from the non-working state to the working state is measured and stored, and the timing of outputting the working instruction is controlled based on this, so that the working instruction can be output at an appropriate timing. In addition, for example, when switching from the non-working state to the working state for the first time, the measured value is not obtained in advance, but by presetting an appropriate time, the instruction output unit 33 can output the working instruction at a substantially good timing.

[0193] In the tractor 1 of the present embodiment, the settings of the vehicle speed during operation and the vehicle speed during non-operation can be changed by operating the speed setting change dial 14, or the vehicle speed adjustment unit 111 during operation and the vehicle speed adjustment unit 113 during non-operation. When the settings of the vehicle speed during operation and / or the vehicle speed during non-operation are changed, the command output unit 33 controls the output timing of the operation command or the non-operation command based on the changed vehicle speed during operation / vehicle speed during non-operation.

[0194] Thereby, the vehicle speed can be changed according to the user's request, and the command output unit 33 can output the work command and the non-work command at appropriate timing.

[0195] In addition, the tractor 1 of the present embodiment includes an autonomous driving control unit 32 that can switch the tractor 1 between a manned autonomous driving mode and an unmanned autonomous driving mode to perform autonomous driving. The manned autonomous driving mode is a mode in which the autonomous driving can be terminated without stopping the tractor 1 by operating the main gear lever 27. The unmanned autonomous driving mode is a mode in which the autonomous driving is terminated only when the tractor 1 is stopped by operating the main gear lever 27. When the autonomous driving control unit 32 is in the manned autonomous driving mode, the setting of the vehicle speed during operation and the vehicle speed during non-operation can be changed by operating the speed setting change dial 14 provided on the tractor 1. When the autonomous driving control unit 32 is in the unmanned autonomous driving mode, the setting of the vehicle speed during operation and the vehicle speed during non-operation can be changed by operating the vehicle speed adjustment unit 111 and the vehicle speed adjustment unit 113 provided on the wireless communication terminal 81 that wirelessly communicates with the tractor 1.

[0196] Therefore, in the manned autonomous driving mode, the user riding on the tractor 1 operates the speed setting change dial 14 to change the vehicle speed; in the unmanned autonomous driving mode, the user outside the tractor 1 operates the operating vehicle speed adjustment unit 111 and the non-operating vehicle speed adjustment unit 113 of the wireless communication terminal 81 to change the vehicle speed.

[0197] In addition, the tractor 1 of the present embodiment further includes a position information calculation unit 49, a work machine lifting switch 28, and an autonomous driving control unit 32. The position information calculation unit 49 obtains position information of the traveling machine body 2. The work machine lifting switch 28 is arranged on the traveling machine body 2. The autonomous driving control unit 32 causes the traveling machine body 2 to autonomously drive along a predetermined autonomous driving path P. When the autonomous driving control unit 32 causes the traveling machine body 2 to autonomously drive, the work machine control unit 34 controls the working state of the working machine 3 based on the working command or non-working command output by the command output unit 33 and the lifting command output in accordance with the operation of the work machine lifting switch 28. The working machine control unit 34 preferably controls the working state of the working machine 3 based on the lifting command rather than the working command or the non-working command.

[0198] As a result, it is possible to implement control that gives priority to the user's intention regarding switching between the working state and the non-working state of the working machine 3 .

[0199] In the tractor 1 of the present embodiment, when a working command or a non-working command is input while the working state of the working machine 3 is being controlled based on a lifting command, the working machine control unit 34 does not control the working state of the working machine 3 based on the working command or the non-working command.

[0200] This makes it possible to achieve control that does not hinder the user's intention.

[0201] In the tractor 1 of the present embodiment, when a lifting command is input while the working state of the working machine 3 is being controlled based on a working command or a non-working command, the working machine control unit 34 controls the working state of the working machine 3 based on the lifting command.

[0202] Thus, when control based on autonomous driving is previously performed, control that meets the user's intention can be performed by suspending the control.

[0203] In addition, the tractor 1 of the present embodiment is provided with a sensor 13a for detecting whether a user is seated in the traveling machine body 2. The autonomous driving control unit 32 can switch between the manned autonomous driving mode and the unmanned autonomous driving mode to make the traveling machine body 2 autonomously travel along the autonomous driving path P. In the manned autonomous driving mode, the working machine control unit 34 switches the working state of the working machine 3 based on the working command or the non-working command output by the command output unit 33, and also switches the working state of the working machine 3 based on the lifting command output by the operation of the working machine lifting switch 28. In the unmanned autonomous driving mode, the working machine control unit 34 switches the working state of the working machine 3 based on the working command or the non-working command output by the command output unit 33, and on the other hand, does not switch the working state of the working machine 3 based on the lifting command output accompanying the operation of the working machine lifting switch 28.

[0204] Thus, in the unmanned autonomous driving mode in which no user is assumed to be on board, the operation of the work machine lifting switch 28 is ignored and control suitable for the actual situation can be achieved.

[0205] In addition, in the tractor 1 of the present embodiment, when the work machine lifting switch 28 is operated when the traveling machine 2 is autonomously traveling in the manned autonomous traveling mode, the autonomous traveling control unit 32 does not stop the autonomous traveling of the traveling machine 2. On the other hand, when the work machine lifting switch 28 is operated when the traveling machine 2 is autonomously traveling in the unmanned autonomous traveling mode, the autonomous traveling of the traveling machine 2 is stopped.

[0206] Thus, in the unmanned autonomous driving mode in which no user is assumed to be on board, the autonomous driving is stopped in response to the operation of the work machine lifting switch 28, so that unexpected situations can be appropriately dealt with.

[0207] In the tractor 1 of the present embodiment, in the manned autonomous driving mode, when the work machine control unit 34 performs priority control to control the working state of the work machine 3 based on the lifting command rather than the working command or the non-working command, this fact is displayed on the monitoring device 70. In the unmanned autonomous driving mode, when the work machine control unit 34 performs priority control, this fact is displayed on the wireless communication terminal 81. And, when the autonomous driving of the travel machine body 2 is stopped based on the operation of the work machine lifting switch 28 in the unmanned autonomous driving mode, this fact is displayed on the wireless communication terminal 81.

[0208] As a result, the user can be appropriately informed of the situation in either the manned autonomous driving mode or the unmanned autonomous driving mode.

[0209] Although the preferred embodiments of the present invention have been described above, the above configurations may be modified, for example, as follows.

[0210] The setting of the working machine horizontal distance L and the setting of the edge distance M may be performed using the wireless communication terminal 81 or using the monitoring device 70 of the tractor 1 and the wireless communication terminal 81 .

[0211] The vehicle may be configured to include two speed setting change dials 14 so that the vehicle speed during operation and the vehicle speed during non-operation can be changed at the same time.

[0212] The autonomous driving monitoring screen 100 displayed on the display 83 is not limited to Fig.11 The screen shown can be changed arbitrarily, such as the screen configuration.

[0213] The range that the vehicle speed during operation and the vehicle speed during non-operation need to meet is predefined. When the vehicle speed during operation or the vehicle speed during non-operation is set to a speed that deviates from the range, a special lifting control can be performed. For example, it can be considered to start the lifting control / lowering control of the working machine 3 earlier or later than usual. Alternatively, it can be considered to perform a special vehicle speed control, or to simultaneously perform the lifting control / lowering control of the working machine 3 that is started earlier or later than usual and the special vehicle speed control. For example, it can be considered to start the switching between the non-operation speed and the operation speed earlier or later than usual.

[0214] When a plow, harrow, mower, mower, or stubble cultivator is used as a working machine, the same as the rotary tiller described in the above embodiment, the control is performed to lower it according to the working instruction and to raise it according to the non-working instruction. However, the switching of the working state and the non-working state may not be accompanied by lifting. For example, when a spreader or a sprayer is used as a working machine, the working machine control unit 34 performs spreading / spreading stop control without lifting control. In addition, in this case, the user does not use the working machine lifting switch 28 but uses an appropriate operating unit not shown in the figure provided in the cab 11 to issue an instruction to switch the working state of the working machine. Therefore, the operating unit instruction is output along with the operation of the operating unit.

[0215] Description of Reference Numerals

[0216] 1 Tractor (working vehicle)

[0217] 2. Traveling body (vehicle body)

[0218] 3 Operating machines

[0219] 33. Command output unit

[0220] 34. Work machine control unit

[0221] 35 Speed ​​Control Unit

[0222] 37 Remaining distance acquisition unit

[0223] 54. Working edge distance storage unit (setting unit)

Claims

1. An autonomous driving operation system, characterized in that: The autonomous driving operation system comprises: A vehicle body portion, which can be equipped with a working machine; a position information acquiring unit, which acquires the position information of the vehicle body; a command output unit that outputs a command for controlling the working machine to be in a working state or a non-working state at an appropriate timing; a working machine control unit that controls the working state of the working machine according to the instruction; as well as a setting unit for setting a reference position for switching the working state and the non-working state of the working machine under the control of the working machine control unit, The reference position is set at a position away from a boundary between the working area and the non-working area by a predetermined distance. The command output unit outputs the command when the vehicle body portion is located between the boundary and the reference position.

2. The autonomous driving operation system according to claim 1, characterized in that: The autonomous driving work system further includes a work machine distance storage unit, the work machine distance storage unit acquiring a distance from a position of a positioning antenna to a center position of the work machine, When the center position of the working machine reaches the reference position, the working machine is in the working state or the non-working state.

3. The autonomous driving operation system according to claim 1 or 2, characterized in that: The reference position includes: a first reference position set at a predetermined distance before the boundary from the working area to the non-working area; and a second reference position set at a predetermined distance before the boundary from the non-working area to the working area. The respective prescribed distances are the same distance.

4. The autonomous driving operation system according to claim 1 or 2, characterized in that: The predetermined distance is set by a user's operation.

5. A working vehicle, characterized in that: The working vehicle has: A vehicle body portion, which can be equipped with a working machine; an instruction output unit that outputs a non-operating instruction for controlling the operating machine to be in a non-operating state; a working machine control unit that controls a working state of the working machine according to the non-working instruction; A vehicle speed control unit capable of switching the vehicle speed of the working vehicle between a working vehicle speed and a non-working vehicle speed; a setting unit that sets a reference position for switching the working state of the working machine under the control of the working machine control unit; and a distance acquisition unit for acquiring a distance from a work center position of the work machine to the reference position, The command output unit controls output timing of a non-work command based on the work vehicle speed and the distance.

6. The working vehicle according to claim 5, characterized in that: The working vehicle has: a position information acquiring unit, which acquires the position information of the vehicle body; an operating portion disposed on the vehicle body; and an autonomous driving control unit that causes the vehicle body to autonomously drive along a predetermined driving path, When the autonomous driving control unit causes the vehicle body to autonomously drive, the working machine control unit controls the working state of the working machine based on the non-working command output by the command output unit or the operating unit command output in response to the operation of the operating unit. The working machine control unit controls the working state of the working machine based on the operating unit command with priority given to the non-working command.

7. The working vehicle according to claim 6, characterized in that: The work vehicle includes: a display unit that displays the state of the work machine; When control is given priority based on the instruction of the operation unit, the display unit displays the meaning of priority.

Images