Area registration method and area registration system

Abstract

To provide an area registration method and an area registration system that change the size of headland area, etc. which has been set to an arbitrary size so as to set a work area and the headland area desired by a worker again, i.e., the method and system realize set and review of a registration area.SOLUTION: The method and system executes: setting information of a work vehicle autonomously traveling in a travel area; setting a work area which is included in the travel area and in which the work vehicle performs work; setting a headland area which is included in the travel area and located outside the work area; subsequent to setting of the work area and the headland area, when receiving an operation of input of setting information of the headland area, changing the size of the work area and the headland area based on the input setting information.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an area registration method and area registration system that allows an operator or user to appropriately re-set, change, and register desired headland areas, etc., when generating and setting work routes, etc. along which an autonomous work vehicle will work while traveling. [Background technology]

[0002] In order to generate a work route along which an autonomous work vehicle will travel, it is necessary to register in advance a headland area that is provided as a travel area for making 180-degree turns, and a work area that is located inside this headland area, etc. Regarding a method for generating such a travel route, the method described in Patent Document 1 is known.

[0003] Patent Document 1 describes a method in which a headland area is set by determining the number of work strokes from vehicle information of a work vehicle, etc., and a work area is set according to the size of the headland area. In this headland area setting method, the headland area is set from vehicle information, and the headland area is automatically set to the minimum range that can ensure a width that ensures the safety of the work vehicle and a width that allows the work vehicle to turn. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] WO2015 / 119263 publication Summary of the Invention [Problem to be solved by the invention]

[0005] However, when the size of the headland area is determined automatically in this way, the size of the work area is inevitably determined automatically as well, making it impossible for an operator or user (hereinafter collectively referred to as the "worker") to set the headland area and work area as desired.

[0006] Therefore, the object of the present invention is to provide an area registration method and an area registration system that enable an operator to re-set the desired work area or headland area by changing the size of a headland area, etc. that has been set once to any size, i.e., to review the setting of the registered area. [Means for solving the problem]

[0007] The area registration method of the present invention is a method of setting information for a work vehicle that drives autonomously within a driving area, setting a work area that is included in the driving area and in which the work vehicle will perform work, setting a headland area that is included in the driving area and located outside the work area, and when an operation to input setting information for the headland area is received after the work area and headland area have been set, changing the size of the work area and the headland area based on the input setting information.

[0008] The area registration system of the present invention is a system comprising a vehicle information setting unit that sets information for a work vehicle traveling autonomously within a driving area, a work area setting unit that sets a work area that is included in the driving area and in which the work vehicle performs work, a headland area setting unit that sets a headland area that is included in the driving area and located outside the work area, and a modification unit that, when an operation to input setting information for the headland area is received after the work area and headland area have been set, changes the size of the work area and the headland area based on the input setting information. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic side view showing an autonomous driving work vehicle, GPS satellites, and a reference station according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a control block diagram showing an autonomous driving work vehicle, GPS satellites, and reference stations according to the first embodiment of the present invention. [Diagram 3]FIG. 3 is a block diagram showing the configuration of a remote control device according to the first embodiment of the present invention. [Figure 4] FIG. 4 is an explanatory diagram showing specifications such as the length of each part that serve as a reference for the autonomous driving work vehicle according to the first embodiment of the present invention. [Diagram 5] FIG. 5 is an explanatory diagram showing the process for acquiring farm field data. [Figure 6] FIG. 6 is an explanatory diagram showing the travelable directions of the reference route. [Figure 7] FIG. 7 is an explanatory diagram showing the work area, headland, and travel route in a farm field. [Figure 8] FIG. 8 is an explanatory diagram showing a state when an autonomous driving work vehicle according to a first embodiment of the present invention approaches a work start position. [Figure 9] FIG. 9 is an explanatory diagram showing an operation screen when changing the headland width or the like in the changing unit according to the first embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart of a first embodiment showing an example of operation when changing the headland width and the like in the changing unit according to the first embodiment of the present invention. [Figure 11A] FIG. 11A is an explanatory diagram showing the inadequacy of a set travel route associated with the conventional automatic setting of the headland width. [Figure 11B] FIG. 11B is an explanatory diagram showing the appropriateness of the set travel route in this embodiment. [Figure 12] FIG. 12 is a flowchart of a first alternative embodiment showing an example of an operation performed when changing the headland width or the like in the changing unit according to the first embodiment of the present invention. [Figure 13] FIG. 13 is a flowchart of a first alternative embodiment (when the set value is too small) showing an example of operation when changing the headland width or the like in the changing unit according to the first embodiment of the present invention. [Figure 14] FIG. 14 is a flowchart of a first alternative embodiment (when the set value is too large) showing an example of operation when changing the headland width or the like in the changing unit according to the first embodiment of the present invention. [Figure 15]FIG. 15 is an explanatory diagram showing an operation screen when performing a change operation in the change unit according to the first alternative embodiment of the present invention. [Figure 16] FIG. 16 is an explanatory diagram showing a method of setting a work area in a first alternative embodiment of the present invention, where (a) shows the travel trajectory of an autonomous driving work vehicle, and (b) is a diagram showing the set work area. [Figure 17] FIG. 17 is an explanatory diagram showing a travel route of an autonomous navigation work vehicle in a set work area in accordance with a first alternative embodiment of the present invention. [Figure 18] FIG. 18 is an explanatory diagram showing an operation screen when changing the work area in the changing unit according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0011] <First embodiment> In the autonomous working vehicle employing the area registration system of this embodiment, a tractor is used as the autonomous working vehicle 1 capable of automatic driving without a driver, and a rotary tilling device is attached to this autonomous working vehicle 1 (hereinafter sometimes referred to as "tractor 1") as a working implement 24. However, in the present invention, the working vehicle is not limited to the tractor 1, but may be a combine harvester or the like, and the working implement is not limited to the rotary tilling device, but may be a ridger, grass cutter, rake, sowing machine, fertilizer applicator, wagon, or the like.

[0012] First, the overall configuration of a tractor 1 will be described with reference to Figures 1 and 2. In this tractor 1, an engine 3 is installed inside a bonnet 2, a dashboard 14 is provided inside a cabin 11 behind the bonnet 2, and a steering wheel 4 serving as a steering operation means is provided on the dashboard 14. By turning the steering wheel 4, the direction of front wheels 9 is turned via a steering device.

[0013] The steering direction of the tractor 1 is detected by a steering sensor 20. The steering sensor 20 is made of an angle sensor, and is disposed at the rotation base of the front wheel 9. A detection value obtained by the steering sensor 20 is input to a control device 30.

[0014] A driver's seat 5 is disposed behind the steering wheel 4, and a transmission case 6 is disposed below the driver's seat 5. Rear axle cases 8 are connected to the left and right sides of the transmission case 6, and rear wheels 10 are supported on the rear axle cases 8 via axles. The transmission means 44 is connected to the control device 30. The rotation speed of the rear wheels 10 is detected by a vehicle speed sensor 27, and is input to the control device 30 as the traveling speed.

[0015] A PTO clutch and a PTO transmission are housed in the transmission case 6. The PTO clutch is adapted to be turned on and off by a PTO on / off means 45, which is connected to the control device 30 and can control the connection and disconnection of power to the PTO shaft.

[0016] A front axle case 7 is supported on a front frame 13 that supports the engine 3, and front wheels 9 are supported on both sides of the front axle case 7 so that power from the transmission case 6 can be transmitted to the front wheels 9. The front wheels 9 are steerable wheels and can be turned by turning the steering wheel 4. The front wheels 9 can be steered left and right by a steering actuator 40 consisting of a power steering cylinder that serves as a steering drive means. The steering actuator 40 is connected to the control device 30 and is driven under automatic driving control.

[0017] An engine controller 60 serving as engine rotation control means is connected to the control device 30, and an engine speed sensor 61, a water temperature sensor, an oil pressure sensor, etc. are connected to the engine controller 60 so as to detect the state of the engine. The engine controller 60 detects the load from the set speed and the actual speed, controls so as not to cause an overload, and transmits the state of the engine 3 to a remote control device 100 (described later) so that it can be displayed on a display 102 serving as a display means.

[0018] Display means 49 provided on the dashboard of the tractor 1 is provided with a fuel gauge that displays the remaining amount of fuel, and is connected to the control device 30. Information on the remaining amount of fuel is transmitted from the control device 30 to the remote control device 100, and the remaining amount of fuel and available work time are displayed on the display 102 of the remote control device 100. Also, on the dashboard 14, there are disposed display means 49 that displays an engine tachometer, a fuel gauge, oil pressure, etc., a monitor that indicates abnormalities, settings, etc.

[0019] A rotary tiller 24 is mounted as a working machine on the rear of the tractor 1 via a working machine mounting device 23 so as to be able to rise and fall freely to perform tilling work. A lifting cylinder 26 is provided on the transmission case 6, and by extending and retracting the lifting cylinder 26, a lifting arm constituting the working machine mounting device 23 is rotated to lift and lower the rotary tiller 24. The lifting cylinder 26 is extended and retracted by the operation of a lifting actuator 25, which is connected to a control device 30.

[0020] A mobile receiver 33 constituting a satellite positioning system is connected to the control device 30. A mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile receiver 33. Meanwhile, the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11. The mobile receiver 33 is provided with a position calculation means, and transmits the measured latitude and longitude to the control device 30, making it possible to ascertain the current position.

[0021] The tractor 1 is equipped with a gyro sensor 31 for obtaining information on changes in attitude of the vehicle, and a direction sensor 32 for detecting the traveling direction, and is connected to the control device 30. However, since the traveling direction can be calculated from the position measurement of the GPS, the direction sensor 32 can be omitted.

[0022] The gyro sensor 31 detects the angular velocity of the tilt (pitch) in the longitudinal direction of the body of the tractor 1, the angular velocity of the tilt (roll) in the lateral direction of the body, and the angular velocity of the rotation (yaw) of the body of the tractor 1. The gyro sensor 31 is connected to the control device 30, and inputs information related to the above three angular velocities to the control device 30.

[0023] The orientation sensor 32 detects the direction (traveling direction) of the tractor 1. The orientation sensor 32 is connected to the control device 30, and inputs information related to the orientation of the vehicle to the control device 30.

[0024] In this way, the control device 30 calculates the signals obtained from the gyro sensor 31 and the orientation sensor 32 using the attitude / orientation calculation means, and determines the attitude of the tractor 1 (i.e., direction, inclination in the fore-aft and lateral directions of the body, and turning direction).

[0025] (How to obtain location information) Next, a method for acquiring the position information of the tractor 1 using a GPS (Global Positioning System) will be briefly described.

[0026] There are various methods available for positioning using GPS, but in this embodiment, the RTK-GPS positioning method, which has high measurement accuracy, is adopted.

[0027] In this embodiment, a mobile receiver 33, which serves as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are installed on the tractor 1, and a fixed receiver 35, which serves as a base station, a fixed GPS antenna 36, ​​and a data transmitting antenna 39 are arranged in predetermined positions that do not interfere with work in the field.

[0028] The mobile GPS antenna 34 arranged on the tractor 1 receives signals from GPS satellites 37·37···. This signal is transmitted to the mobile receiver 33 and positioned. At the same time, the fixed GPS antenna 36 serving as the reference station receives signals from the GPS satellites 37·37···, positions the signals at the fixed receiver 35, and transmits the signals to the mobile receiver 33 to determine the position of the mobile station. The position information thus obtained is transmitted to the control device 30.

[0029] The control device 30 in the tractor 1 receives radio waves transmitted from GPS satellites 37·37··· and determines the position information of the machine at set time intervals in the mobile receiver 33, and also determines displacement information and orientation information of the machine (work vehicle 1) from the gyro sensor 31 and orientation sensor 32, and controls the steering actuator 40, gear change means 44, etc. based on this position information, displacement information and orientation information so that the machine travels along a preset travel route R.

[0030] In addition, an obstacle sensor 41 is provided on the tractor 1 and connected to the control device 30 to prevent the tractor 1 from coming into contact with an obstacle. For example, the obstacle sensor 41 in this embodiment is connected to the control device 30 and controls the tractor 1 to stop traveling when an obstacle approaches within a set distance.

[0031] The tractor 1 is also equipped with a camera 42 that captures images of the surroundings of the vehicle and is connected to the control device 30. Images captured by the camera 42 are displayed on a display 102 of a remote control device 100 carried by the worker.

[0032] The camera image can be displayed constantly or selectively on the display 102, or on a display means 49 provided on the tractor 1.

[0033] The remote control device 100, details of which will be described later, is used to register and set the driving route R of the tractor 1, remotely control the tractor 1, monitor the driving condition of the tractor 1 and the operating condition of the work machine 24, and store work data.

[0034] Furthermore, the remote control device 100 and the tractor 1 are configured to be able to communicate with each other wirelessly, and the tractor 1 and the remote control device 100 are each provided with a transceiver 110 and a transceiver unit 104 for communication. The transceiver unit 104 is configured integrally with the remote control device 100. The communication means is configured to be able to communicate with each other via a wireless LAN such as WiFi. When communication is performed between the tractor 1 and the remote control device 100, measures are taken to avoid communication interference (including virus infection, etc.), interference, etc. For example, a unique protocol, language, etc. can be used.

[0035] (Remote Control Device) As shown in FIG. 3, the remote control device 100 comprises a touch panel type operation screen (hereinafter sometimes referred to as a "touch panel") 101 that can be operated by touching the screen with a finger or the like, a liquid crystal display unit (sometimes referred to as a display or LCD) 102 that displays various switches and the like of this operation screen 101 on a liquid crystal screen, a memory unit (memory) 103 that stores and preserves registration information and the like, a transmission / reception unit 104 that transmits and receives information to and from the tractor 1, a control unit (CPU) 105 that controls these, a route generation unit 105A that sets a travel route (or work route R) within the work area WA, an alarm unit 106, and a battery, a camera, etc. not shown.

[0036] The operation screen 101 is equipped with a vehicle information setting unit 101A for inputting and setting various data related to a vehicle (such as the tractor 1) required for registration as a working area WA, a working area setting unit 101B for inputting and setting various data required for registration as the working area WA of the field H (traveling area) where work is to be done, a headland area setting unit 101C that is arranged outside the working area WA and sets a headland area within the traveling area excluding the working area WA based on information about the tractor 1, a work start position setting unit 101E that sets the position where the tractor 1 should start work, and a change unit 101D that makes it possible to change the various data input for registration as a working area etc. The headland area is made up of a first headland area including turning and a second headland area not including turning.

[0037] Note that the headland region setting unit 101C may also set only one of the first headland region and the second headland region.

[0038] In addition, the display 102 is configured to display images of the surroundings captured by the camera 42 on the tractor 1 side, the condition of the tractor 1, information regarding the work status and GPS (positioning information), the communication status between the remote control device 100 and the tractor 1 (for example, an indication of good / bad, or radio wave strength and communication speed), the positional relationship with the tractor 1, etc., allowing the worker to monitor.

[0039] The route generating unit 105A sets a driving route R within the working area WA based on data calculated by the control unit 105, and the driving route R is displayed as a straight line on the screen of the display 102, for example, as shown in Figures 11 and 17 (however, in areas where the tractor 1 is turning, the route R is displayed as an approximately U-shape, etc.).

[0040] When the route generating unit 105A cannot set the work route or the travel route R within the work area WA for the input value of the headland area width (headland width), the number of work strokes, etc., the notification unit 106 notifies the operator that the value or the number of work strokes arbitrarily input by the operator is not accepted by sounding a buzzer, turning on a lamp, or displaying a message. When the tractor 1 cannot turn in a headland area of ​​a size corresponding to the input value of the headland area width (headland width) or the number of work strokes, the notification unit 106 notifies the operator that the value of the headland area width or the number of work strokes is not accepted. Therefore, the operator who knows this is configured to change the corresponding data again by the change unit 101D and re-register it.

[0041] The data related to work done by the tractor 1 includes the work route (i.e., the target route or travel route R), the current position, the distance to the headland area calculated from the work process, the remaining work route, the number of work processes, etc., and the work route (or the travel route R) can also be displayed on the display 102.

[0042] The GPS-related information (positioning information) includes the longitude and latitude of the actual position of the tractor 1, the number of satellites captured, and the radio wave reception strength.

[0043] On the display 102 of the remote control device 100, in addition to the surrounding image captured by the camera 42, the state of the tractor 1, a preset work route (or a travel route R), and the like can be displayed.

[0044] The tractor 1 can be remotely operated by a remote control device 100. That is, the display 102 displays various switches, the details of which will be described later, and by touching the switches with a finger, the tractor 1 can be emergency stopped, temporarily stopped, restarted, etc. In other words, the remote control device 100 controls the engine controller, accelerator actuator, speed change means 44, PTO on / off means 45, etc. via the transceiver 104, transceiver 110, and control device 30, allowing the operator to easily remotely operate the tractor 1.

[0045] As described above, the tractor 1 of this embodiment is generally configured to include a mobile receiver 33 equipped with a position calculation means (for locating the position of the tractor 1), a steering actuator 40 for operating the steering device, a transmission means 44, an engine controller (ECU) 60 which serves as a rotation control means for the engine 3, and a control device 30 for controlling these, and the tractor 1 is caused to travel autonomously along a driving route R (see Figures 7 and 8) stored in the control device 30.

[0046] Meanwhile, in the area registration system employed by the autonomous driving work vehicle according to the present invention, various data required for the tractor 1 of this embodiment to drive autonomously in a desired field H is registered using an input device (not shown) provided on the tractor 1 itself, or using a touch panel 101 of a remote control device 100. As described above, in this embodiment, a portable tablet type that can be used for carrying and transporting is used as the remote control device 100.

[0047] Furthermore, if any trouble occurs with the tractor 1, the operator can operate or check the remote control device 100 from near the tractor 1 or from a position where it can be easily seen, and can easily take measures to deal with the trouble.

[0048] The remote control device 100 is configured with a touch panel type tablet having a display (LCD) 102. The display 102 of the remote control device 100 displays the running state of the tractor 1, the state of the engine 3, the state of the work implement 24, and the positional relationship with the tractor 1, so that the operator can easily visually grasp the state of the tractor 1 and can quickly respond even if an abnormality occurs in the tractor 1.

[0049] The touch panel 101 constituting the interface provided on the display 102 is provided with a vehicle information setting section 101A for setting various information about the tractor 1, a work area setting section 101B for setting a work area, a headland area setting section 101C, a work start position setting section 101E, and a change section 101D for changing the set information. The display 102 is further configured to be able to display a target travel route (set travel route R) of the tractor 1, which will be described later, the current position, the distance to the headland area, the work time, the work time until completion, the work route, and the like, so that the travel condition and work progress during work can be easily recognized, and work plans can be made easily.

[0050] The display 102 is also configured to display GPS information (positioning information), allowing the reception status from the satellite to be grasped, and facilitating measures to be taken in the event that the signal from the GPS satellite is interrupted.

[0051] In addition, as described above, the tractor 1 is equipped with a camera 42 that captures images of the area around the vehicle, and the images captured by the camera 42 can be displayed on the display 102, so that the situation around the tractor 1 can be easily recognized from a distance, and any obstacles that may be encountered can be easily dealt with.

[0052] (How to create a target driving route R in a desired field) Next, the creation of the target travel route R of the tractor 1 will be described. After the target travel route is created, it becomes the set and registered travel route R. The control device 30 is configured to control the travel and work of the tractor 1 and store it in the storage device 30a.

[0053] The target travel route is generated according to the work mode. There are various types of work modes, such as a single travel operation by the tractor 1 alone, a combined harvesting operation by an autonomously traveling harvesting work vehicle (combine) and an accompanying transport vehicle, etc., but in this embodiment, a method of generating a travel route for the tractor 1 equipped with a rotary tilling device 24 as a work machine will be described.

[0054] The following describes a method for generating a travel route for an automatic operation system that performs various tilling operations while autonomously traveling using the tractor 1. In addition, the route generation and setting operations according to the generation method are performed by the route generation unit 105A of the remote control device 100, but can also be performed by the display means 49 of the tractor 1.

[0055] In principle, inputting and selection of setting values ​​on the display 102 of the remote control device 100 is performed by sequentially displaying setting screens on the display 102 as shown below, following the procedures stored in the ROM or the like of the memory unit 103, to avoid mistakes or forgetting to set. This makes it easy for the operator to operate, and allows for reliable and complete setting and input.

[0056] 1. Field outline registration First, as shown in Figures 5 to 8, for example, in order to set the position of the field H, the work area, and the driving route R along which the work will be performed, the tractor 1 is positioned at one of the four corners (A, B, C, D, or an inflection point) of the field H, and a process of determining the position is performed.

[0057] The tractor 1 enters the field from the entrance E and moves to the corner A closest to the entrance. The autonomous work vehicle 1 is then positioned so that it is parallel to the short side or long side of the outline of the field, and its position is measured and stored as the first corner data (latitude and longitude).

[0058] Next, the tractor 1 is moved to the next corner B, turned approximately 90 degrees so as to be parallel to the outline of the field, and its position is measured and stored as second corner data. Similarly, the tractor 1 is moved to the next corner C, third corner data is obtained and stored, and then the tractor 1 is moved to the next corner D, fourth corner data is obtained and stored.

[0059] In this way, starting from one corner A, corners (B, C, D) are connected in order with a straight line as if drawn in one stroke, to determine the shape of the field and acquire the field data. However, if the field shape is irregular (irregularly shaped), data on the positions of corners other than the four corners and the positions of inflection points is acquired to determine the field data. For example, the position data of three corners is acquired and stored for a triangle, and five corners for a pentagon.

[0060] Incidentally, data acquisition can be performed and acquired according to, for example, the following procedure and conditions (protocol).

[0061] i) The corners of field H are subordinate concepts and the inflection points are superior concepts, so field data can be obtained by sequentially locating the inflection points to acquire position data and traveling around the field. ii) In addition, the driving route R can only be created in the area inside the field perimeter data obtained by traveling around the outermost perimeter. If the driving route R goes outside of this area, an error will occur and the driving route R cannot be created. iii) In addition, when corner data is connected with straight lines, if the straight lines intersect, the data is not recognized as field data, because there is a high possibility that a corner or an inflection point is missing. iv) In addition, when creating field data, it is prohibited to obtain field data from map data published on the Internet or by map manufacturers, etc., and only the above-mentioned location data measured on-site is permitted to be used.

[0062] In this way, when the vehicle is driven during actual work, it is possible to prevent the vehicle from going outside the field due to an error.

[0063] Furthermore, around the field, there may be water intakes and drains, posts and stones indicating boundaries, and trees growing in the field. These may be obstacles when traveling in a straight line. Therefore, the field outline is registered while avoiding these obstacles.

[0064] 2. Setting the work start and end positions Furthermore, the work start position and end position can be set or selected in the field data.

[0065] That is, the work start position setting unit 101E included in the remote control device 100 allows the work start position and the work end position to be set to positions preferred by the worker.

[0066] 3.Select the reference starting direction This is the process of selecting the reference travel start direction.

[0067] The reference travel start direction is selected as the direction of travel from the work start position X to the work end position for circular or reciprocating work, or the route from the work end position to the exit (the work direction outside the work area HA). Specifically, as shown in Fig. 6, the reference travel start direction is set to start and end work in a clockwise direction R, or to start and end work in a counterclockwise direction L. This setting can be easily selected by displaying an arrow, mark, or the like on the display 102 and touching it, for example.

[0068] 4. Setting headland area width and working area The next step is to set the headland area width and the working area.

[0069] As shown in FIG. 7, the width Wb of the first headland area HB (hereinafter, "first headland area width Wb") is found from the tilling width W1 (see FIG. 4) when the working machine is a rotary tiller 24, for example. Specifically, for example, the tilling width W1 + the width W2 of the chain case 24a (= working width W) is input, and the working width W is set by multiplying the number of revolutions n. However, the first headland area width Wb is the length in the direction parallel to the traveling direction (longitudinal direction) in which the tractor 1 works in the working area HA. ​​Note that the first headland area width Wb shown in FIG. 7 must be larger than the minimum turning radius because it is necessary to have a margin for turning, for example, when turning without turning the steering wheel back and forth.

[0070] Therefore, the minimum turning radius of the autonomously traveling work vehicle (tractor 1) with a work implement (in this embodiment, a rotary tilling implement 24) attached is stored in advance in the memory device 30a so that a value smaller than this minimum turning radius cannot be input during setting.

[0071] Once the first headland region width Wb is determined, the size of the work area is automatically set. Thus, as shown in Fig. 7, the work area HA obtained from the farm field data is made to be a substantially rectangular shape, and this work area HA is displayed on the display 102 of the remote control device 100. In this work area HA, first headland regions HB are further set on both the front and rear of the work direction in which the tractor 1 travels.

[0072] When other implements are attached, the overall length of the implements, the width of the strip, etc. are taken into consideration, so the first headland area width Wb can be input as an arbitrary length using a numerical value. Since there are cases where work is done by going back and forth in the headland area, and cases where work is completed by going in a spiral around the periphery of the working range including the headland area, the turning direction in the first headland area HB can also be set.

[0073] In another embodiment, the size (width) of the headland area may be set after the work area is set. For example, the work area setting unit 101B sets the work area based on the travel path along which the operator has driven the tractor 1, and the headland area setting unit 101C sets the headland area based on the set work area. Details of this embodiment will be described later in the section <First Alternative Embodiment>.

[0074] 5. Setting the target driving route R The above numerical values ​​and options are input and set using various buttons on a touch panel 101 constituting an interface provided on the remote control device 100. Then, a route generating unit 105A provided on the remote control device 100 (which may be performed by the control device 30 on the tractor 1 side) automatically generates a travel route R so that the autonomously traveling tractor 1 can sequentially perform straight forward and backward travel work in the work area HA and also perform a turn that reverses in the first headland area HB.

[0075] 6. Set the working conditions After the process of generating the travel route R, the next step is to set the work conditions, but a detailed description of this will be omitted here.

[0076] 7. The worker drives tractor 1 and moves it to the work start position X. Finally, when the above settings are completed and the travel route R and the work process along this travel route R are generated, in order to start work, the worker actually drives the tractor 1 to move it to the work start position X. Then, the worker operates the remote control device 100 to start work.

[0077] To start work, the tractor 1 must satisfy certain start conditions. These work start conditions are stored in the control device 30 of the tractor 1, and when a work start means (not shown) of the remote control device 100 is turned on, the control device 30 determines whether or not the predetermined work start conditions are satisfied. The work start means of this embodiment is composed of a start button, start switch, etc. of the remote control device 100, but the start button, start switch, etc. may be provided on the tractor 1.

[0078] Regarding the setting and registering of the driving route R in the desired field described above, after completing the registration of the area using the area registration system of the present invention described later, the tractor 1 may be driven from one end (work start position X) of the field H to the other end (work end position) to register the specific driving route R in the field.

[0079] (How to register an area) Next, the area registration system according to this embodiment will be described in detail with reference to Figs. 9 to 13. The present invention may be an invention of an area registration method in which the remote control device 100 executes part or all of the area registration process, or an invention of an area registration program for causing the remote control device 100 to execute part or all of the area registration method. A computer (e.g., one or more processors) may execute the area registration process. For example, the area registration method of the present invention is a method in which a computer executes the following: setting information of a work vehicle that autonomously travels within a travel area; setting a work area that is included in the travel area and in which the work vehicle performs work; setting a headland area that is included in the travel area and disposed outside the work area; and, when an operation to input setting information of the headland area after the work area and the headland area are set is received, changing the sizes of the work area and the headland area based on the input setting information.

[0080] [First Example] In the area registration system of the present invention shown in Figure 9 (hereinafter sometimes referred to as the "first embodiment"), the operation screen 101 (which is an interface) on the display 102 of the remote control device 100 (see Figures 1 to 3) that displays a menu for area registration is composed of a touch panel.

[0081] On this operation screen (hereinafter sometimes referred to as touch panel 101), a portion of the desired field H is displayed in the left half area, and selection switches S1 to S4 that are operated by touch operation with a finger or the like are displayed and formed in the right half area. Also, in the lower area of ​​this operation screen 101, changeover buttons B1, B2 are displayed and formed for selecting either work stroke number input (stroke number input mode) or headland width designation input (numeric value input mode) and switching operation for inputting data in either mode, and to the right of these, a forward tab T1 and a backward tab T2 are displayed and formed for moving between the previous and next menu pages.

[0082] Selection can be made by touching the selection switch S1 or by other operations (this is referred to as the "first mode"). When the first mode is selected, the registration contents are set as follows: first, the headland widths of the first headland area and the second headland area are set to the minimum value, thereby setting the headland area, and the area in the field excluding the headland area is set and registered as the work area.

[0083] At this time, the tilling width W1 (see Figure 4) is uniquely determined based on information on the model of the work vehicle 1 and work implement (in this embodiment, the rotary tilling device 24) that have been registered in advance, and the number of work strokes in the work area WA to be tilled by the work vehicle 1 is also automatically calculated, set, and registered based on the width of the registered work area WA.

[0084] Selection switch S2 can also be selected by touching it with a finger or other operation (this is referred to as the "second mode"). The registration content that is set when this second mode is selected is to specify that the headland widths of the first headland area and the second headland area are to be set to a multiple of the working width W. A side-drive type is used for the rotary tillage implement 24, which is the working machine, and the working width W in this case is defined as the sum of the tillage width W1 and the width W2 of the chain case 24a. The area in the field excluding the headland area is also set and registered as the working area WA.

[0085] If the field H is assumed to have a horizontally elongated rectangular shape, the work vehicle 1 will perform tilling work while moving back and forth vertically. The headland width at this time depends on the shape of the field, but generally, the width at the headland that is the side margins at both the left and right ends (i.e., headland width) and the width at the first headland areas at both the top and bottom ends (i.e., first headland width Wb) will often be different, but both widths are multiples of the tilling width, which will be described later, and these two headland widths are registered as headland widths in this second mode.

[0086] As with the selection switch S1, the tilling width W1 (see Figure 4) is uniquely determined based on information about the model of the work vehicle 1 and work implement (in this embodiment, the rotary tilling device 24) that have been registered in advance, so the number of round trip work strokes in the work area WA to be tilled by the work vehicle 1 is automatically calculated, set, and registered from the registered width of the work area WA and working width W.

[0087] The selection switch S3 can also be selected by touching it with a finger or other operation (this is referred to as the "third mode"). The registration contents that are set when the third mode is selected are the same as in the second mode, with the first headland area and the second headland area being set to widths that are multiples of the working width W, and the area in the field excluding the second headland area (HC) and the first headland area (HB) being set and registered as the working area WA.

[0088] Also, here, if the field H is in the shape of a long rectangle, the work vehicle 1 will move back and forth vertically to perform tilling work. The headland width at this time depends on the shape of the field, but generally the headland width in the second headland area, which is the side margins on both the left and right ends, and the headland width Wb in the first headland area on both the top and bottom ends may be different (both are multiples of the tilling width described below), so the least common multiple (LCM) of these two headland widths is registered as the set width in this third mode.

[0089] In this third mode, as in the first and second modes, the tilling width W1 (see Figure 4) is uniquely determined based on information on the model of the work vehicle's tractor 1 and work implement (in this embodiment, the rotary tilling device 24) that have been registered in advance, so the number of round trip work strokes in the work area WA to be tilled by the work vehicle 1 is automatically calculated, set, and registered based on the width of the registered work area WA.

[0090] The selection switch S4 can also be operated by touching it with a finger to freely set and register the area width (this is referred to as the "fourth mode"), and functions as an operation section (interface) of the change section 101D shown in Fig. 3. Thus, the registered contents set when the fourth mode is selected are different from those of the first to third modes, and the headland width of the first headland area and the second headland area, the number of work strokes, etc. can be set and registered by an operator or the like arbitrarily inputting numerical values. However, there is a certain limit to the width of the headland width of the first headland area and the second headland area, and it cannot be set infinitely narrow. Similarly, there is a restriction on the number of work strokes, for example, a maximum of about 50 strokes.

[0091] Specifically, the operator can arbitrarily set and register the widths of the first headland area and the second headland area (headland width). The headland width can be set by inputting the number of work strokes or the width value. Furthermore, the input number of work strokes can be calculated as the headland width value, and conversely, the headland width value can be calculated as the input number of work strokes.

[0092] (Specific steps for area setting registration) Next, the area registration system according to the first embodiment of the present invention will be described mainly with reference to Figs. 9 to 11. However, as already explained in the method for creating the target travel route R in the desired field, it is assumed that the following items have already been registered in advance. For convenience of explanation, the input of the number of work strokes and the input of the headland width value are described as being in a chronological order, but it is possible to set either by inputting the number of work strokes or the headland width value. In addition, by touching the switch buttons B1 and B2 in Fig. 9, it is possible to check the values ​​set by the number of work strokes and the headland width value, respectively. (1) In this embodiment, information regarding the field H to be cultivated (e.g., area, shape, etc.) is assumed to have already been registered in the work area setting unit 101B of the remote control device 100 by actually driving the tractor 1, etc. (2) In addition, the tractor 1 as a work vehicle uses a rotary tilling implement 24 as a working implement, and the tilling width W1 and the width W2 of the chain case 24a (see FIG. 4) are uniquely determined from the specifications of the tractor 1 and the rotary tilling implement 24. Therefore, the working width W (= W1 + W2) has also already been determined. Therefore, in the vehicle information setting unit 101A of the tablet-type remote control device 100, it is assumed that this information (such as the working width W and the minimum turning radius of the tractor 1) has already been stored (registered) in the memory unit 103 via the control unit 105. (3) It is also assumed that the work start position X (see FIG. 8) on the travel route R has already been determined by the work start position setting unit 101E of the remote operation device 100 and stored and saved in the memory unit 103. Note that this work start position X can also be arbitrarily changed (although there are certain area restrictions) via the control unit 105 by operating the work start position setting unit 101E via the change unit 101D.

[0093] The target travel path R is generated within the working area, but the working area is determined by the size of the headland area. Conventionally, the size of the headland area was automatically determined by the minimum value of the working width and the number of work steps by selecting the first to third modes described above. In this way, the working area is automatically determined by the size of the headland area, and a constraint arises that the size of the working area cannot be changed. Therefore, although it is possible to change the work start position (see FIG. 8) and end position, it is not possible to set the work start position desired by the worker more flexibly. Therefore, by allowing the worker to arbitrarily set the size of the headland area, it is possible to realize setting the work start position desired by the worker.

[0094] Fig. 10 is a flowchart of a first embodiment showing an example of operations when changing the headland width, etc., in the changing unit 101D according to the first embodiment. First, a menu page for specifying the headland width, that is, a touch panel screen on which input buttons, switches, etc. are displayed, is displayed on the display 102 as shown in Fig. 9 (first step SA1).

[0095] Then, on this screen, it is determined whether or not the operator selects the selection switch S4 (second step SA2).

[0096] When the operator selects this selection switch S4, he or she operates this selection switch S4 to set the fourth mode. That is, the operator touches the selection switch S4 with a finger or the like and also touches, for example, the changeover button B1 to select. This makes it possible to input the number of travels in the first headland area and the second headland area on the screen (third step SA3).

[0097] Next, the operator inputs the desired number of work strokes or headland width for the second headland area and the first headland area. For example, here, the operator specifies and inputs that the number of work strokes in the first headland area is 2 and the number of work strokes in the second headland area is 4. After setting the values ​​for the first headland area and the second headland area in this way, by operating the forward tab T1 in Fig. 9, the screen transitions to a work setting screen where the vehicle speed during work and the vehicle speed during turning are set. After that, after a final confirmation of the setting items, the target driving route R is generated (fourth step SA4).

[0098] In addition, in the input menu of the number of work strokes, the operator can switch to the input menu of the headland width value (m) by touching the switch button B2, for example, and can set and change the value. In addition, for example, if the working width W is 2m and the first headland area width is 4.5m, the number of work strokes is 4.5 (m) / 2 (m)=2.25 (strokes), which is not an integer. In such a case, it is rounded up to 3 strokes, so the number of work strokes in the headland area is displayed as 3. Note that the calculation work up to this point is calculated by the control unit 105 of the remote operation device 100 based on various data in the memory unit 103, and the numerical values ​​obtained by the calculation are displayed on the screen.

[0099] Furthermore, when the work route R is generated, the worker performs an appropriate operation, for example, by touching the forward tab T1 to switch the screen, to display the work route R on the display 102 of the remote control device (tablet) 100 in order to check whether there is a problem (inconvenience) with the work start position X or the work end position. Then, the worker judges whether there is a problem with the work start position X of the displayed work route R (fifth step SA5). For example, by displaying the tractor 1 and the work route R superimposed as in FIG. 11A, the worker himself can check whether there is a problem with the work start position X1 or the work end position.

[0100] Then, if it is determined that there are no problems with the work start position X or the work end position, the work of generating the work route R is deemed to be complete, and the series of operations up to this point is terminated.

[0101] On the other hand, if the worker determines that there is some problem with the work start position X or the like, he or she returns to the second step SA2 and redoes the work up to that point. Then, the worker can touch the selection switch S4 on the menu screen, for example, to display the headland area width setting screen, and re-enter the number of work steps and values ​​for the headland area width to re-register the settings. FIG. 11B shows the work route R and work start position X2 after the resetting. In this way, by performing the above-mentioned work again, the worker can change the work start position to his or her own desired one.

[0102] If the fourth mode is not selected in the second step SA2, another mode, which will be described later, is selected and the work is carried out in that mode (sixth step SA6).

[0103] [Second Example] Next, another area registration system of the present invention (hereinafter, this may be referred to as a "second embodiment") will be specifically described with reference to FIG. 12 etc.

[0104] In this second embodiment, unlike the first embodiment, a case will be described in which the headland width value that was automatically set by any of the first to third modes shown in Fig. 9 is changed again by the operator to an arbitrary value.

[0105] In the second embodiment, as in the first embodiment, it is assumed that the following items, namely, information on the field (e.g., area, shape, etc.), such as the working width W and the minimum turning radius of the tractor 1, and the work start position X of the travel route R (see FIG. 8), have already been stored and registered in the memory unit 103.

[0106] First, a menu page for specifying the headland width, i.e., a screen as shown in FIG. 9, is displayed on the display 102 (first step SB1). If the first mode is selected from the first to third modes (second step SB2), the process proceeds to the third step SB3.

[0107] For example, if the operator selects the first mode from the first to third modes, which sets the first and second headland areas to minimum values, the values ​​of the respective headland areas are automatically input (third step SB3). In this case, as shown in Fig. 11A, the width of the first headland area including turning is determined by the turning width in which the work vehicle can turn and a safety margin (about 1m). Also, the width of the second headland area not including turning is determined by the width required for the travel of the work vehicle and a safety margin (about 1m).

[0108] Next, a target travel route R is generated based on the automatically input widths of the first headland area and the second headland area (fourth step SB4). Next, it is determined whether the work start position X is set to a position desired by the worker on the target travel route R (fifth step SB5).

[0109] If the work start position X is set to a position desired by the worker, the work of creating the work route can be ended here, but if the work start position X etc. is not set to a desired position, the process returns to the second step SB2. If the worker selects any of the first to third modes, the worker can change the widths of the first headland area and the second headland area on the screen in Fig. 9.

[0110] After setting the width values ​​of the first headland area and the second headland area, the operator operates the forward tab T1 in Fig. 9 to transition to a work setting screen for setting the vehicle speed during work and the vehicle speed during turning, in the same manner as in Example 1. After that, after final confirmation of the setting items, the target driving route R is generated.

[0111] On the other hand, if the second step SB2 returns NO, that is, if the operator does not wish to select any of the first to third modes and wishes to set the headland area width using the fourth mode, the process proceeds to the sixth step SB6. In this case, the operator can input the width values ​​of the first headland area and the second headland area as desired. For example, here, the operator specifies and inputs that the number of work strokes in the second headland area is 2 and the number of work strokes in the first headland area is 4. Then, if the operator wishes to select the fourth mode, he or she touches the selection switch S4 (seventh step SB7).

[0112] Here, the same operations as in the first embodiment can be performed. On the other hand, if a mode other than the first and fourth modes, i.e., the second or third mode, is selected in the sixth step SB6, the process proceeds to processing in the other mode (eighth step SB8).

[0113] [Third Example] Next, another area registration system of the present invention (hereinafter, referred to as a "third embodiment") will be specifically described with reference to FIG. 13 and FIG. 14 etc.

[0114] In this third embodiment, unlike the first and second embodiments, the control unit 105 of the remote control device 100 will explain the cases where the number of work strokes or width value for the headland width set and registered by the worker does not reach or exceeds the preset value.

[0115] In the third embodiment, similarly to the first and second embodiments, it is assumed that the following items, namely, information on the field (e.g., area, shape, etc.), such as the working width W and the minimum turning radius of the tractor 1, and the work start position X of the travel route R (see FIG. 8), have already been stored and registered in the memory unit 103.

[0116] Here, a case where the specified value does not reach the preset value will be described with reference to Fig. 13. First, a menu page for inputting the desired number of work strokes, i.e., a screen as shown in Fig. 9, is displayed on the display 102 (first step SC1). Then, it is determined whether or not to set the fourth mode (second step SC2). To this end, the operator touches the selection switch S4 with a finger or the like. This makes it possible to input the numerical values ​​of the number of work strokes or headland width in the first headland area and the second headland area on the screen.

[0117] Next, the operator inputs numerical values ​​for the desired number of work strokes or headland width for the second headland area and the first headland area (third step SC3).

[0118] For example, suppose the working width is 2m, 2 strokes are entered in the first headland region, and 4 strokes are entered in the second headland region.

[0119] Here, the path generating unit 105A and the control unit 105 of the remote operation device 100 (tablet) judge whether the set number of work steps (or value) is too small (whether it is below the limit value) (fourth step SC4). If the number of work steps is equal to or larger than the limit value, the process proceeds to fifth step SC5.

[0120] Then, a work route R is generated based on the set number of work strokes (fifth step SC5).

[0121] Then, the worker judges whether or not there is a problem with the work start position X on the generated work route R (sixth step SC6). If it is judged that there is no problem with the work start position X, etc., the area registration work is terminated.

[0122] On the other hand, if it is determined in SC6 that there is a problem (if NO), that is, if the operator wishes to change the set values ​​of the first headland area and the second headland area, the process returns to the second step SC2. This allows the operator to input the number of work strokes or the headland width value when the fourth mode is set again. On the other hand, if the operator does not wish to change the set values, the target travel route R is generated after confirming the work setting screen and setting items, as in the first embodiment.

[0123] If it is determined in second step SC2 that the fourth mode is not desired to be set, the process proceeds to seventh step SC7, in which processing tasks in other modes are performed until the task processing is completed.

[0124] Furthermore, if the value set for the headland width in the fourth step SC4 (for example, the number of work strokes) falls below the limit value, the minimum width in the first headland area and the second headland area is automatically input and set (eighth step SC8). That is, if travel is not possible in the first headland area without three strokes or more, the minimum value of three strokes (6 m in the headland width value) is set. That is, a value different from the input value specified by the operator is set.

[0125] In this case, a screen is displayed notifying the user that the value specified by the operator has not been set (ninth step SC9).

[0126] In the next tenth step SC10, a work path is generated in the same manner as in the first and second embodiments described above (tenth step SC10).

[0127] After the work path is generated, the process proceeds to a sixth step SC6, and the same work is repeated.

[0128] Furthermore, when performing the same operation as the above-mentioned procedural processing flow, the case where the set value is not too small but too large in the fourth step SC4 (determination of whether or not it exceeds a preset upper limit value) will be described with reference to Fig. 14. Note that in this case, the first step SD1 to the third step SD3 are substantially the same in content as the first step SC1 to the third step SC3 in the third embodiment shown in Fig. 13, so the description up to this point will be omitted and the description will start from the fourth step SD4.

[0129] In the fourth step SD4, it is determined whether the designated value exceeds a preset threshold value (fourth step SD4). If the designated value does not exceed the preset threshold value, the same processing as the fifth and sixth steps SC5 and SC6 shown in Fig. 13 is performed, and a predetermined work route, etc. is set and registered.

[0130] On the other hand, if the set value is too large (exceeds the threshold) in the fourth step SD4, the process proceeds to the eighth step SD8. Then, the remote control device (tablet) 100 determines that the set value is too large and displays a message to that effect. That is, for example, assume that the work width is 2 m and the number of work strokes in the first headland area and the second headland area are input as 50 strokes each. Then, if the work area becomes too small due to the number of work strokes and a travel route cannot be generated, an error is displayed on the screen. This display may be, for example, a pop-up on the screen to call attention to the fact.

[0131] In this case, the mode will transition to the second mode SD2, and the operator can re-input the numerical values ​​by selecting and setting the fourth mode there.

[0132] Moreover, if the user does not wish to select the fourth mode in the second mode SD2, the process proceeds to the seventh step SD7, where another desired mode can be set and the process can be continued until it is completed.

[0133] Thereafter, the worker changes the set values ​​of the widths of the first headland area and the second headland area, and after confirming the work setting screen and setting items, a target driving route R is generated, as in the first embodiment.

[0134] As described above, according to this embodiment, the headland area that has been set (or specified by the operator) can be changed to a desired value and registered by the operator by accessing the change unit 101D via the selection switch S4 (by operating the change unit 101D) as the headland area (indirectly, the work area). In other words, by operating the selection switch S4, the operator can review the sizes of the headland area and the work area and change (or reset) the settings using the change unit 101D.

[0135] That is, in the conventional travel route setting screen, the first headland width and the second headland width could only be set to the minimum number of work strokes automatically by the control of the control unit. On the other hand, in this configuration, for example, the headland area and the work area that have been set can be freely changed by the operator by operating the selection switch S4 constituting the interface, etc., via the headland area setting unit 101C, and inputting a desired value in the change unit 101D. As a result, a travel route that matches the work start position desired by the operator can be generated. This makes it possible to change and set a travel route that takes into account not only the work area but also the number of work strokes in the headland area.

[0136] <First Alternative Embodiment> Next, a region registration system according to a first alternative embodiment will be described in detail with reference to FIGS.

[0137] In the first embodiment, the work area is set by setting the width of the headland area and the number of work strokes, but in a first alternative embodiment, the work area is set before setting the size of the headland area. In the area registration system of the present invention shown in Fig. 15, in addition to the selection switches S1 to S4, a selection switch S5 for setting the work area is provided on an operation screen 101' displaying a menu for area registration on a display 102 of a remote control device 100' (see Figs. 1 to 3).

[0138] This selection switch S5 is connected to the work area setting unit 101B of the remote control device 100', and in addition to automatically setting the work area HA by the control unit 105, the work area WA may be set or reviewed and changed via the work area setting unit 101B by operating this selection switch S5.

[0139] That is, prior to setting or changing the headland width (or without setting or changing the headland width), the operator drives the tractor 1, which is a work vehicle, through the desired area to be set and registered, and sends data on the driving path to the work area setting unit 101B of the remote control device 100' via wireless communication, thereby enabling the work area HA to be freely set. Note that the headland width is also changed by setting or changing the work area.

[0140] In setting and registering the work area WA, specifically, for example, a straight line mode of automatic driving may be used for a self-propelled tractor 1, and the travel path may be registered as the work area WA. Alternatively, while manually driving the boundary of the desired work area WA (see FIG. 16(a)), each point of the area constituting the boundary of the work area WA that will be the desired cultivation area (for example, in FIG. 16(b) , the four corners A'B'C'D' of a rectangle, or each vertex of a pentagon or other polygon) is registered. In this way, the desired work area can be formed and set and registered by connecting these points with straight lines.

[0141] That is, in forming the working area WA at this time, the user visually checks the points A' to D' displayed on the touch panel 101, which is the display screen of the display 102, obtained by actually driving the tractor 1 (see FIG. 16(a)), (for example, displayed in the internal area S of the field shown in FIG. 16(b)), and traces between these points with a touch pen (not shown), etc., to geometrically form the outline S' of the working area. This makes it possible to easily set the working area WA, which is a substantial rectangle (more precisely, somewhat close to a trapezoid) as shown in FIG. 17. Therefore, this working area WA may be registered as a "working area HA" in the memory unit 103 via the working area setting unit 101B of the remote control device 100.

[0142] In addition to this, it is also possible to set the work area input mode selectively by operating the selection switch S5, for example, without actually running the tractor 1, and then the operator can freely input and register the desired work area WA geometrically on the screen.

[0143] After the working area WA is registered, as shown in Fig. 17, the tractor 1 is actually driven around the periphery of the working area WA to check whether it is safe to drive around it. If the safety of driving is confirmed, the working area WA is set and registered as a working area HA. ​​In addition, the path generating unit 105A is now capable of displaying a working path (or a driving path R) as shown by a solid line in Fig. 17 on the screen of the display 102.

[0144] In this way, it is possible to set the working area HA without setting or changing the headland width, which reduces the number of steps required to set the working area HA and allows for efficient work.

[0145] <Second embodiment> Next, a second embodiment will be described with reference to FIG.

[0146] In the first alternative embodiment, the work area is set by driving along the outline of the area to be the work area, but in the second embodiment, the work area is set from a driving path of a straight line. In the area registration system of the second embodiment, a selection switch S6 is additionally provided on the touch panel 101 of the display 102 of the remote control device 100'' (see Figs. 1 to 3) in addition to the selection switches S1 to S4 for setting the work area.

[0147] When the selection switch S6 is touched with a finger or the like, an operation screen 101'' is displayed, as shown in Fig. 18, which shows a menu for registering a work area via the work area setting section 101B. A work area WA is automatically formed in advance on this screen.

[0148] Also, in the second embodiment, for example, the tractor 1 is driven first, and the working area WA is formed and registered from data on the working width and the number of work steps based on the linear travel path that the tractor 1 has traveled. However, what differs from the first alternative embodiment is that, while the first alternative embodiment drives the tractor 1 along the outline of the working area WA, the second embodiment registers the working area WA only from the linear travel path. In other words, the working area WA can be registered based on the linear travel path, the working width that has been set and registered in advance, and the number of work steps.

[0149] This makes it possible to set and register two working areas WA within a farm field area. For example, it becomes possible to grow different crops in each working area WA within a vast farm field, which is practically convenient.

[0150] [Notes on the invention] A first characteristic configuration of the present invention is that it comprises a vehicle information setting unit that sets information of a work vehicle traveling autonomously within a traveling area; a work area setting unit that sets a work area for the work vehicle to perform work; a headland area setting unit that is arranged outside the work area and sets a headland area consisting of a headland area including turns and / or a headland area not including turns, excluding the work area within the traveling area, based on information about the work vehicle; and a modification unit that can change the setting size of both or either one of the headland area including turns and the headland area not including turns, of the headland areas set by the headland area setting unit.

[0151] According to this configuration, the headland area and the working area that have been set can be changed to desired values ​​by the operator using the change unit. In other words, it becomes possible to review the size of the headland area and the working area and change (or reset) the settings.

[0152] That is, in the conventional travel route setting screen, the width of the headland (headland width) and the width of the headland turning (turning headland width) could only be set to the minimum number of strokes, but in this configuration, for example, the headland area that has been set can be freely changed by the operator inputting a desired value in the changing unit. As a result, a travel route that matches the work start position desired by the operator can be generated. This makes it possible to change and set a travel route that takes into account not only the work area but also the number of work strokes in the headland area.

[0153] A second characteristic configuration of the present invention is that the change unit is configured to allow an operator to change the size of the headland area according to the input value of the headland area width or the number of work strokes.

[0154] According to this configuration, similarly to the second characteristic configuration, the size of the headland area (and therefore the size of the work area) can be changed to a value desired by the operator.

[0155] A third characteristic configuration of the present invention is that it includes a notification unit that notifies the user that the input value of headland area width or number of work strokes will not be accepted if the work vehicle is unable to turn in the headland area.

[0156] According to this configuration, for example, if the headland area width is too narrow, the value input by the worker is not accepted, and this situation can be notified to the worker. This allows the worker to be sure that the situation is known and not overlooked. As a result, for example, by changing the setting again, the setting can be changed to a safe headland area. In this way, it becomes possible to safely autonomously drive a work vehicle such as a tractor in the headland area that has been reset to a safe width without deviating from the headland area.

[0157] A fourth characteristic configuration of the present invention is that it comprises a route generation unit that sets a driving route within the working area, and a notification unit that notifies that the headland area width value or the number of work strokes will not be accepted if the route generation unit is unable to set a driving route within the working area for the inputted value of the headland area width or the number of work strokes.

[0158] According to this configuration, as in the third characteristic configuration, when the area setting in the work area is reviewed and changed at the request of the worker, for example, if an efficient and safe travel route is not set, the situation can be notified to the worker. This allows the worker to be sure of the situation without overlooking it, and has the effect of enabling the worker to re-set a safe and efficient travel route.

[0159] A fifth characteristic configuration of the present invention is that the work vehicle is provided with a work start position setting unit that sets the position at which the work vehicle starts work, and if the size of the headland area is changed by the changing unit, the worker can change the set work start position.

[0160] According to this configuration, by changing the size of the headland area, it is possible to set the work start position as desired by the worker.

[0161] A sixth characteristic configuration of the present invention is that the headland area can be set automatically, and the data that has already been automatically set can be modified by an operator by inputting a specified value.

[0162] This configuration is convenient because the worker can correct not only data that was input by the worker, but also data that was input automatically.

[0163] The area registration system of the present invention may be configured as a system including the autonomous driving work vehicle 1 and the remote control device 100, or may be configured as a single remote control device 100. In other words, the remote control device 100 is an example of the area registration system of the present invention.

[0164] The present invention is not limited to the above-described embodiments, but also includes configurations in which the components disclosed in the above-described embodiments are replaced with each other or the combination is changed, publicly known inventions, and configurations in which the components disclosed in the above-described embodiments are replaced with each other or the combination is changed, etc.

[0165] Furthermore, the technical scope of the present invention is not limited to the above-described embodiment, but extends to the matters described in the claims and their equivalents.

[0166] [Notes on the invention] <Appendix 1> Setting information of a work vehicle that travels autonomously within a travel area; setting a work area included in the travel area and in which the work vehicle performs work; Setting a headland area included in the travel area and arranged outside the work area; When an operation of inputting setting information of the headland area is accepted after the working area and the headland area are set, the sizes of the working area and the headland area are changed based on the input setting information; The area registration method to perform.

[0167] <Appendix 2> When an operation of inputting a width of the headland area or a number of work steps is received after the working area and the headland area are set, the size of the headland area is changed according to the input width of the headland area or the number of work steps, and the size of the working area is changed according to the changed size of the headland area. A method for registering an area as described in Appendix 1.

[0168] <Appendix 3> When the work vehicle cannot turn in the headland area whose size has been changed according to the input width of the headland area or the number of work strokes, a notification is given that the input width of the headland area or the number of work strokes will not be accepted. A method for registering an area as described in Appendix 2.

[0169] <Appendix 4> setting a travel path within the working area; When the travel route cannot be set within the work area whose size has been changed according to the input width of the headland area or the number of work strokes, a notification is given that the input width of the headland area or the number of work strokes will not be accepted. A method for registering an area as described in Appendix 2.

[0170] <Appendix 5> and setting a work start position, which is a position where the work vehicle starts work within the work area; When the sizes of the work area and the headland area are changed after the work start position is set, the set work start position is changed. 5. A method for registering an area according to any one of claims 1 to 4.

[0171] <Appendix 6> The headland area can be automatically set based on predetermined conditions, The automatically set headland area can be changed by inputting the width of the headland area or the number of work strokes. 6. A method for registering an area according to any one of claims 1 to 5.

[0172] <Appendix 7> The headland area is set based on information of the work vehicle. setting the work area based on the set setting information of the headland area; 7. A method for registering an area according to any one of claims 1 to 6.

[0173] <Appendix 8> The headland region includes a first headland region including a turn and a second headland region not including a turn, Changing a size of at least one of the first headland region and the second headland region based on the input setting information. 8. A method for registering an area according to any one of claims 1 to 7.

[0174] <Appendix 9> A vehicle information setting unit that sets information about a work vehicle that travels autonomously within a travel area; a work area setting unit that sets a work area included in the travel area and in which the work vehicle performs work; A headland area setting unit that sets a headland area that is included in the traveling area and is disposed outside the working area; A change unit that changes the sizes of the working area and the headland area based on the input setting information when an operation of inputting setting information of the headland area is received after the working area and the headland area are set; A region registration system comprising: [Explanation of symbols]

[0175] 1. Autonomous work vehicle (tractor) 24 Implements (rotary tilling equipment) 24a Chain Case 30 Control device 30a storage device 42 Camera 49 Display means on the tractor 100, 100´, 100´´ Remote control device (tablet) 101,101´,101´´ Operation screen (touch panel) 101A Vehicle information setting section 101B Work area setting section 101C Headland area setting section 101D Change section 101E Work start position setting section 102 Liquid crystal display (display) 103 Memory unit (memory) 104 Transmitter / receiver 105 Control Unit (CPU) 105A Route Generation Unit 106 Notification Department A, B, C, D Four corners of the field B1~B3 Switch button E entrance H Field (travel area) HA Work Area (Registered Work Area) HB 1st headland area (headland area) HC 2nd headland area (headland area) R Travel route S1~S6 selection switch T1 Advance Tab T2 Reverse tab W Working width (= tilling width W1 + width W2 of chain case 24a) W1 Tilling width W2 Chain case width WA Work Area Wb Turning headland width X Starting point Y1, Y2 Remaining headland width

Claims

1. Setting information of a work vehicle that travels autonomously within a travel area; setting a work area included in the travel area and in which the work vehicle performs work; Setting a headland area included in the travel area and arranged outside the working area based on a setting method selected from a plurality of setting methods for setting the headland area; The area registration method to perform.

2. A setting screen for setting the headland area displays the plurality of setting methods, and the headland area is set based on the setting method selected by a user from the plurality of setting methods. The area registration method according to claim 1 .

3. The plurality of setting methods include at least one of a first setting method for setting the width of the headland area to a minimum, a second setting method for setting the width of the headland area to a multiple of a working width, and a third setting method for setting the width of the headland area to a user input value. The area registration method according to claim 1 .

4. When an operation to input setting information for the headland area is received after the working area and the headland area have been set, the sizes of the working area and the headland area are changed based on the input setting information. The area registration method according to claim 1 .

5. When an operation to input the width of the headland area or the number of work steps is received after the working area and the headland area have been set, the size of the headland area is changed according to the input width of the headland area or the number of work steps, and the size of the working area is changed according to the size of the headland area after the change. The area registration method according to claim 4.

6. A vehicle information setting unit that sets information about a work vehicle that autonomously drives within a driving area; a work area setting unit that sets a work area included in the travel area and in which the work vehicle performs work; A headland area setting unit that sets a headland area included in the traveling area and arranged outside the working area based on a setting method selected from a plurality of setting methods for setting the headland area; A region registration system comprising:

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