Work vehicle support system and work vehicle support method

Abstract

To provide a work vehicle support system capable of resuming automatic traveling from an appropriate position after interruption of the automatic traveling, and a work vehicle support method.SOLUTION: A work vehicle support system is used in a work vehicle (autonomous travel work vehicle 1) that automatically travels in a field, and sets specific information regarding automatic traveling of the work vehicle (autonomous travel work vehicle 1). The specific information includes at least one of information about the work vehicle (autonomous travel work vehicle 1) and information about a work machine (rotary tilling device 24) installed in the work vehicle (autonomous travel work vehicle 1).SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a work vehicle support system and a work vehicle support method. [Background technology]

[0002] Conventionally, a technology has been known in which a work vehicle traveling within a specified work area is equipped with a receiving station on the work vehicle that receives satellite signals from GPS satellites to detect the current position of the work vehicle, a monitoring receiving station that receives satellite signals from GPS satellites is installed near the outside of the work area to detect the current position of a monitoring device, communication is carried out between the work vehicle and the monitoring device to detect the relative distance between the two, and an alarm is issued and the work vehicle stops traveling if it moves out of the monitoring range (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 9-146635 Summary of the Invention [Problem to be solved by the invention]

[0004] In view of the above problems, the present invention aims to provide a work vehicle assistance system and a work vehicle assistance method that can easily align the start of work after automatic driving is interrupted, thereby preventing work from being interrupted. [Means for solving the problem]

[0005] The problem to be solved by the present invention has been described above, and the means for solving this problem will now be described.

[0006] A work vehicle assistance system according to one embodiment is a work vehicle assistance system used for a work vehicle that automatically travels in a field, and sets specific information related to the automatic travel of the work vehicle. The specific information includes at least one of information related to the work vehicle and information related to a work implement provided on the work vehicle. A work vehicle assistance method according to one embodiment is a work vehicle assistance method used for a work vehicle that automatically travels in a field, the method comprising: setting specific information related to the automatic travel of the work vehicle, the specific information including at least one of information related to the work vehicle and information related to a work implement provided on the work vehicle. Effect of the Invention

[0007] According to the present invention, it is possible to provide a work vehicle assistance system and a work vehicle assistance method that can easily align the start of work after automatic driving is interrupted and prevent work from being interrupted. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic side view showing an autonomous vehicle, GPS satellites, and a reference station. [Diagram 2] Control block diagram. [Diagram 3] FIG. 13 is a diagram showing the state of side-by-side cooperative work. [Figure 4] A diagram showing parallel vertical overlapping operations. [Diagram 5] FIG. 1 is a diagram showing the reference length of an autonomous driving work vehicle. [Figure 6] FIG. 13 is a diagram showing the amount of eccentricity when a work machine is mounted eccentrically on an autonomous working vehicle. [Figure 7] FIG. 2 is a diagram showing a process for acquiring farm field data. [Figure 8] FIG. [Figure 9] A diagram showing the working area and headland in a field. [Figure 10] FIG. 4 is a flowchart showing autonomous driving start control. [Figure 11] FIG. 11 is a flowchart showing interruption control during autonomous driving. [Figure 12] FIG. 11 is a diagram showing another embodiment of the control block diagram. [Figure 13] FIG. 13 is a diagram showing a state in which the autonomous work vehicle approaches a work start position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An embodiment will be described in which an unmanned autonomous work vehicle 1 capable of automatic travel and a manned accompanying work vehicle 100 that accompanies the autonomous work vehicle 1 and is steered by an operator are tractors, and a rotary tilling device is attached as a work machine to each of the autonomous work vehicle 1 and the accompanying work vehicle 100. However, the work vehicle is not limited to a tractor and may be a combine harvester or the like, and the work machine is not limited to a rotary tilling device and may be a ridger, grass cutter, rake, seed sower, fertilizer applicator, wagon, or the like.

[0010] The overall configuration of a tractor serving as an autonomous working vehicle 1 will be described with reference to Figs. 1 and 2. An engine 3 is installed inside a bonnet 2, a dashboard 14 is provided inside a cabin 11 at the rear of the bonnet 2, and a steering wheel 4 serving as a steering operation means is provided on the dashboard 14. The direction of the front wheels 9, 9 is turned via a steering device by turning the steering wheel 4. The steering direction of the autonomous working vehicle 1 is detected by a steering sensor 20. The steering sensor 20 is composed of an angle sensor such as a rotary encoder, and is disposed at the base of the rotation of the front wheels 9. However, the detection configuration of the steering sensor 20 is not limited, and it is sufficient that the steering direction can be recognized, and it may detect the turning of the steering wheel 4 or the amount of operation of the power steering. The detection value obtained by the steering sensor 20 is input to a control device 30.

[0011] 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. Power from the engine 3 is changed in speed by a transmission (main transmission and sub transmission) in the transmission case 6 to drive the rear wheels 10. The transmission is, for example, a hydraulic continuously variable transmission, and the speed can be changed by operating a movable swash plate of a variable displacement hydraulic pump by a transmission means 44 such as a motor. The transmission means 44 is connected to a 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. However, the method of detecting the vehicle speed and the location of the vehicle speed sensor 27 are not limited.

[0012] The PTO clutch and PTO transmission are housed within the transmission case 6, and the PTO clutch is switched on and off by a PTO on / off means 45 which is connected to the control device 30, making it possible to control the connection and disconnection of power to the PTO shaft.

[0013] A front axle case 7 is supported on a front frame 13 that supports the engine 3, and front wheels 9,9 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 9,9. The front wheels 9,9 are steerable wheels that can be turned by turning the steering wheel 4, and the front wheels 9,9 can be steered left and right by a steering actuator 40 consisting of a power steering cylinder that serves as steering drive means. The steering actuator 40 is connected to a control device 30 and is driven under automatic driving control.

[0014] 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 112 described later so that it can be displayed on a display 113 serving as a display means.

[0015] Furthermore, a level sensor 29 that detects the fuel level is disposed in the fuel tank 15 located below the step and is connected to the control device 30, and a fuel gauge that displays the remaining amount of fuel is provided on the display means 49 provided on the dashboard of the autonomous driving work vehicle 1 and is connected to the control device 30. Information regarding the remaining amount of fuel is then transmitted from the control device 30 to the remote control device 112, and the remaining amount of fuel and the available work time are displayed on the display 113 of the remote control device 112.

[0016] On the dashboard 14, there is disposed a display means 49 for displaying an engine tachometer, a fuel gauge, oil pressure, etc., a monitor indicating an abnormality, settings, etc.

[0017] A rotary tiller 24 is mounted as a working machine at the rear of the tractor body via a working machine mounting device 23 so as to be able to rise and fall freely, thereby performing 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 so that the rotary tiller 24 can be raised and lowered. The lifting cylinder 26 is extended and retracted by the operation of a lifting actuator 25, which is connected to a control device 30.

[0018] 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, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11. The mobile receiver 33 is equipped with a position calculation means for positioning and transmitting latitude and longitude to the control device 30, so that the current position can be ascertained. Note that, in addition to GPS (USA), highly accurate positioning can be achieved by using satellite positioning systems (GNSS) such as Quasi-Zenith Satellites (Japan) and GLONASS satellites (Russia) (referred to as navigation satellites), but in this embodiment, GPS is used for explanation.

[0019] The autonomous working vehicle 1 is equipped with a gyro sensor 31 to obtain attitude change information of the vehicle, and an orientation sensor 32 to detect 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 orientation sensor 32 can be omitted. The gyro sensor 31 detects the angular velocity of the tilt (pitch) in the forward / backward direction of the vehicle body of the autonomous working vehicle 1, the angular velocity of the tilt (roll) in the left / right direction of the vehicle body, and the angular velocity of the rotation (yaw). By integrating the three angular velocities, it is possible to obtain the tilt angle in the forward / backward direction and the left / right direction of the vehicle body of the autonomous working vehicle 1, and the rotation angle. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, and a vibration gyro sensor. The gyro sensor 31 is connected to the control device 30, and inputs information related to the three angular velocities to the control device 30.

[0020] The orientation sensor 32 detects the orientation (direction of travel) of the autonomous driving work vehicle 1. A specific example of the orientation sensor 32 is a magnetic orientation sensor. 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.

[0021] In this way, the control device 30 calculates the signals obtained from the gyro sensor 31 and orientation sensor 32 using the attitude / orientation calculation means, and determines the attitude of the autonomous traveling work vehicle 1 (direction, inclination in the fore-aft and lateral directions of the vehicle, and turning direction).

[0022] Next, a method of acquiring the position information of the autonomous driving work vehicle 1 using GPS (Global Positioning System) will be described. GPS is a system originally developed for navigation support of aircraft, ships, etc., and is composed of 24 GPS satellites (four satellites arranged in six orbital planes) orbiting at about 20,000 km above the ground, a control station that tracks and controls the GPS satellites, and a user receiver for positioning. Positioning methods using GPS include individual positioning, relative positioning, DGPS (differential GPS) positioning, and RTK-GPS (real-time kinematic-GPS) positioning, and any of these methods can be used. In this embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted, and this method will be described with reference to Figs. 1 and 2.

[0023] RTK-GPS (Real-time Kinematic-GPS) positioning is a method in which GPS observations are made simultaneously at a reference station whose position is known and a mobile station whose position is to be determined, the data observed at the reference station is transmitted in real time to the mobile station via radio or other means, and the position of the mobile station is determined in real time based on the position results from the reference station.

[0024] In this embodiment, a mobile receiver 33, a mobile GPS antenna 34, and a data receiving antenna 38 serving as a mobile station are disposed on the autonomous driving work vehicle 1, and a fixed receiver 35, a fixed GPS antenna 36, ​​and a data transmitting antenna 39 serving as a reference station are disposed in predetermined positions that do not interfere with work in the field. In this embodiment, RTK-GPS (real-time kinematic-GPS) positioning performs phase measurement (relative positioning) at both the reference station and the mobile station, and transmits positioning data measured by the fixed receiver 35 at the reference station from the data transmitting antenna 39 to the data receiving antenna 38.

[0025] The mobile GPS antenna 34 arranged on the autonomous mobile work vehicle 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, ​​which serves as the reference station, receives signals from the GPS satellites 37·37···, which are then positioned by the fixed receiver 35 and transmitted to the mobile receiver 33, where the observed data is analyzed to determine the position of the mobile station. The position information obtained in this manner is transmitted to the control device 30.

[0026] In this way, the control device 30 in this autonomous working vehicle 1 receives radio waves transmitted from the GPS satellites 37·37··· and determines the position information of the vehicle at set time intervals in the mobile receiver 33, determines the displacement information and orientation information of the vehicle from the gyro sensor 31 and orientation sensor 32, and controls the steering actuator 40, gear change means 44, etc. so that the vehicle travels along a preset travel route R based on this position information, displacement information and orientation information.

[0027] Additionally, an obstacle sensor 41 is disposed in the autonomous driving work vehicle 1 and connected to the control device 30 to prevent the vehicle from coming into contact with obstacles. For example, the obstacle sensor 41 is configured as an ultrasonic sensor and disposed at the front, side or rear of the vehicle and connected to the control device 30 to detect whether there is an obstacle in front, beside or rear of the vehicle, and to control the vehicle to stop traveling if an obstacle approaches within a set distance.

[0028] The autonomous traveling work vehicle 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 provided in the accompanying traveling work vehicle 100, or are displayed on a display 113 of a remote control device 112 carried by the worker. The worker can check obstacles from an image showing the front, and can check the operating state of the work machine, the finished state after work, and the positional relationship with the accompanying traveling work vehicle 100 from an image showing the work machine. The positional relationship between the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 can be determined from an image taken by the camera 42, or from position information provided by the GPS provided in the remote control device 112. However, if the display screen of the display 113 is small, it is possible to display the images on a separate large display, to split the screen into multiple parts and display multiple images simultaneously, or to display the camera images on a separate dedicated display, either constantly or selectively, or on a display means 49 provided on the autonomous traveling work vehicle 1.

[0029] The remote control device 112 sets the driving route R of the autonomously traveling work vehicle 1, remotely controls the autonomously traveling work vehicle 1, monitors the driving status of the autonomously traveling work vehicle 1 and the operating status of the work equipment, and stores work data.

[0030] An operator rides in and drives the accompanying traveling work vehicle 100, which is a manned traveling vehicle, and a remote control device 112 is mounted on the accompanying traveling work vehicle 100 to enable operation of the autonomous traveling work vehicle 1. The basic configuration of the accompanying traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, so a detailed explanation will be omitted. Note that the accompanying traveling work vehicle 100 or the remote control device 112 can also be configured to include a mobile receiver 33 for GPS and a mobile GPS antenna 34.

[0031] The remote control device 112 is detachable from an operating section such as the dashboard, cabin pillar, or ceiling of the accompanying traveling work vehicle 100 and the autonomous traveling work vehicle 1. The remote control device 112 can be operated while attached to the dashboard of the accompanying traveling work vehicle 100, can be taken outside the accompanying traveling work vehicle 100 and operated as a portable device, or can be attached to the dashboard of the autonomous traveling work vehicle 1 and operated. Note that the accompanying traveling work vehicle 100 and / or the autonomous traveling work vehicle 1 are provided with a mounting fixture for the remote control device 112 (not shown). The remote control device 112 can be configured as a notebook or tablet type personal computer, for example. In this embodiment, it is configured as a tablet type computer.

[0032] Furthermore, the remote control device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote control device 112 are each provided with a transceiver 110 / 111 for communication. The transceiver 111 is configured integrally with the remote control device 112. The communication means is configured to be able to communicate with each other by wireless LAN such as WiFi. When communication is performed between the autonomous traveling work vehicle 1 and the remote control device 112, measures are taken to avoid communication interference (including virus infection, etc.), interference, etc. For example, a unique protocol, language, etc. can be used.

[0033] The remote control device 112 has a display 113 on the surface of its housing, which is a touch panel type operation screen that can be operated by touching the screen, and the housing is equipped with a transceiver 111, a CPU, a storage device, a battery, a camera, a GPS (satellite positioning device), etc. The display 113 is capable of displaying surrounding images captured by the camera 42, the state of the autonomous driving work vehicle 1, the state of work, information related to the GPS (positioning information), the communication status between the remote control device 112 and the autonomous driving work vehicle 1 (for example, an indication of good / bad, or radio wave strength and communication speed), an operation screen, the positional relationship between the autonomous driving work vehicle 1 and the accompanying driving work vehicle 100, etc., so that the operator can monitor them.

[0034] The states of the autonomous work vehicle 1 include the work state, driving state, engine state, work equipment state, etc., the driving state includes the gear position, vehicle speed, remaining fuel, battery voltage, etc., the engine state includes the engine RPM and load factor, etc., and the work equipment state includes the type of work equipment, PTO RPM, work equipment height, etc., and each is displayed on the display 113 as numbers, a level meter, etc.

[0035] The status of the work includes the work route (target route or travel route R), the work process, the current position, the distance to the headland calculated from the process, the remaining route, the number of processes, the work time up to now, the remaining work time, etc., and the work route of the accompanying traveling work vehicle 100 can also be displayed on the display 113. The remaining route of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 on the set travel route R can be easily recognized by filling in the already-worked route from the entire work route. It is also possible to display the unworked route and the already-worked route in different colors. In addition, the current work position may be displayed by displaying an animation of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 on the work route. In addition, by displaying the next process from the current position with an arrow, the next process such as the turning direction from the current position can be easily recognized. Information related to GPS (positioning information) includes the longitude and latitude which are the actual position of the autonomous traveling work vehicle 1, the number of satellites captured, the radio wave reception strength, etc.

[0036] The display 113 of the remote control device 112 displays not only the surrounding images captured by the camera 42, but also the state of the autonomous working vehicle 1 and the preset travel route R, and so cannot display a large amount of information at once. Therefore, the screen can be enlarged and split for display, or a separate display can be provided for the camera, and it is possible to simultaneously display the monitor screen, operation screen, travel route R, captured screen, etc. on the display 113 and another display as necessary, and to switch or scroll them as appropriate. In this way, the worker (operator) can easily see the screen he or she wants to see.

[0037] The autonomous working vehicle 1 can be remotely operated by a remote control device 112. For example, switches, increase / decrease scales, etc. can be displayed on the display 113, and by touching these, it is possible to perform emergency stops, temporary stops, restarts, changes in vehicle speed, changes in engine speed, raising / lowering the work equipment, switching on / off the PTO clutch, etc. of the autonomous working vehicle 1. In other words, the accelerator actuator, gear change means 44, PTO on / off means 45, etc. can be controlled from the remote control device 112 via the transceiver 111, the transceiver 110, and the control device 30, allowing the worker to easily remotely operate the autonomous working vehicle 1.

[0038] As described above, the autonomous driving work vehicle 1, which is equipped with the mobile receiver 33 equipped with position calculation means that uses a satellite positioning system to measure the position of the autonomous driving work vehicle 1 serving as the vehicle body, the steering actuator 40 that operates the steering device, the engine controller 60 that serves as engine rotation control means, the gear change means 44, and the control device 30 that controls these, is made to autonomously travel along a set travel route R stored in the control device 30, and the autonomous driving work vehicle 1 can be operated by a remote control device 112 mounted on an accompanying traveling work vehicle 100 that performs work while traveling accompanying the autonomous driving work vehicle 1. Since the remote control device 112 is portable and can be detachably attached to the accompanying traveling work vehicle 100 and / or the autonomous traveling work vehicle 1, during the parallel traveling work, the remote control device 112 is attached to the accompanying traveling work vehicle 100 and the work can be carried out alone using the autonomous traveling work vehicle 1, and if a problem occurs with the autonomous traveling work vehicle 1, the remote control device 112 can be removed and the autonomous traveling work vehicle 1 can be boarded and operated or checked in the vicinity of the autonomous traveling work vehicle 1 or in a position where it can be easily seen. This improves operability and makes it easy to deal with problems.

[0039] Furthermore, the remote control device 112 has a display 113 which displays the driving state of the autonomous traveling work vehicle 1, the state of the engine 3, the state of the work equipment, and the positional relationship between the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100, allowing the operator to easily visually grasp the state of the autonomous traveling work vehicle 1 and quickly respond if an abnormality occurs in the autonomous traveling work vehicle 1. Furthermore, when a worker is working on board the accompanying traveling work vehicle 100, he or she can easily determine whether the worker is too close to the autonomous traveling work vehicle 1 or too far away, whether the worker is misaligned in position relative to the autonomous traveling work vehicle 1, etc.

[0040] In addition, the display 113 displays the target travel route (set travel route) R of the autonomous working vehicle 1, described later, the current position, the distance to the headland, the work time, the work time until completion, and the work route of the accompanying working vehicle 100, so that the travel condition and work progress during work can be easily recognized, and work plans can be easily made. In addition, the display displays GPS information (positioning information), so that the reception status from the satellite can be grasped, and it is easy to deal with cases where the signal from the GPS satellite is interrupted. In addition, the autonomous working vehicle 1 is equipped with a camera 42 that captures images of the surroundings of the vehicle body, and the images captured by the camera 42 can be displayed on the display 113, so that the surroundings of the autonomous working vehicle 1 can be easily recognized from a distance, and it is easy to deal with cases where an obstacle is present, etc.

[0041] Next, the creation of the target driving route R for the autonomous driving work vehicle 1 will be described. After the target driving route R has been created, it is regarded as the set driving route R. The driving route R is stored in the storage device 30a of the control device 30. Although the control device 30 can perform the driving and work control of the autonomous driving work vehicle 1 and the calculation and storage of the driving route R in a single control device, it can also be configured with a first control device 301 that controls the operation (driving and work) of the autonomous driving work vehicle 1, and a second control device 302 that performs and stores control related to autonomous driving (setting the driving route R, determining start conditions, determining interrupt conditions, etc.). In this case, as shown in Fig. 12(a), the first control device 301 and the second control device 302 can be arranged separately at appropriate positions on the autonomous driving work vehicle 1, or as shown in Fig. 12(b), the first control device 301 is provided on the autonomous driving work vehicle 1 and the second control device 302 is arranged on the remote control device 112 (the second control device 302 can also be configured integrally with the control device of the remote control device 112), or as shown in Fig. 12(c), the first control device 301 can be provided on the autonomous driving work vehicle 1 and the second control device 302 can be configured to be arranged outside the autonomous driving work vehicle 1. The second control device 302 is configured as a unit and can communicate with the first control device 301 from the outside via a connector (bus) or the like.

[0042] The target travel route R is generated according to the work form. The work forms include a single travel work by the autonomous traveling work vehicle 1 alone, a parallel travel work by the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100, and a combined harvesting work by an autonomous traveling harvesting work vehicle (combine) and an accompanying transport vehicle, etc., and in this embodiment, the generation of a travel route for a parallel travel work by the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 will be described. Furthermore, in the parallel travel work, there is a lateral parallel travel cooperative work shown in FIG. 3, a longitudinal parallel overlap work and a longitudinal parallel travel cooperative work shown in FIG. 4. In addition, in the parallel travel work by the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100, the work time can be shortened, and it can be realized by adding the autonomous traveling work vehicle 1 to the accompanying traveling work vehicle 100 that has been owned for a long time, and there is no need to purchase two new autonomous traveling work vehicles 1, and costs can be reduced.

[0043] Specifically, in the lateral parallel running cooperative work shown in Fig. 3, the accompanying running work vehicle 100 runs diagonally behind the autonomous running work vehicle 1, partially overlapping the working area (if the working machine of the accompanying running work vehicle 100 is a trencher or the like, overlapping is not necessary), allowing one person to work at once on an area approximately twice as wide as the working machine, thereby shortening the time. In the longitudinal parallel overlapping work shown in Fig. 4, the autonomous running work vehicle 1 and the accompanying running work vehicle 100 run in a line in front and behind, and are equipped with the same working machine, with the first vehicle performing rough plowing and the second vehicle performing soil crushing work, dividing one task. In addition, in the longitudinal parallel running cooperative work, the autonomous running work vehicle 1 and the accompanying running work vehicle 100 run in a line in front and behind, with the first vehicle performing plowing (soil crushing) and the second vehicle performing a different working machine such as fertilizing or sowing, allowing two or more tasks to be divided in front and behind.

[0044] The generation of a travel route for an automatic work system in which the autonomous working vehicle 1 performs work while traveling autonomously in the above-mentioned lateral parallel cooperative work will be described. The setting operation is performed by the remote control device 112, but it can also be performed by the display means 49 of the autonomous working vehicle 1. First, the reference length for tilling work is input in advance to the storage device 30a of the control device 30. As shown in FIG. 5, the reference length is obtained by obtaining the working width W1 of the working machine attached to the tractor, the distance L1 from the mobile GPS antenna 34 mounted on the machine body to the end of the working machine, the total length L2 (or the minimum turning radius L3) of the machine body, and, if the working machine is arranged eccentrically, the eccentricity amount S1 from the left and right center as shown in FIG. 6 from the machine body specification table and storing them in the storage device 30a of the control device 30. In addition, if the working machine is a rotary tilling machine 24, a side drive type or a center drive type is selected, and if it is a side drive type, the position of the chain case 24a and the value of the width W2 are also stored in the storage device 30a. In addition, the area (L2 × (W1 + W2)) occupied by the total length L2 of the vehicle and the width (W1 + W2) of the work implement is defined as the maximum occupancy area Q occupied by the autonomous traveling work vehicle 1 and the work implement (rotary tiller 24) when traveling, and is stored in the storage device 30a. When a front work implement is attached, the distance from the front end of the front work implement to the rear end of the vehicle becomes L2. When a mid work implement is attached instead of the rotary tiller 24, (W1 + W2) becomes W1 if the mid work implement is larger than the width of the vehicle (the outer width of the left and right rear wheels). In addition, the maximum occupancy area Q is not limited to a rectangle, and it is also possible to set it to the circumscribing circle Q1 of this rectangle. By setting it to the circumscribing circle Q1, it becomes easier to recognize interference with ridges, etc. when turning. In addition, the reference length of the accompanying traveling work vehicle 100 is also input to the storage device 30a of the control device 30 or the remote control device 112 in the same manner as described above.

[0045] Next, in order to set the field position, work range, and travel route R along which work will be performed, the autonomous vehicle 1 is positioned at the four corners (A, B, C, D, or inflection points) of the field and a process of positioning is performed. That is, as shown in FIG. 7, the position is measured at the entrance / exit E of the field H, and the latitude and longitude are stored in the storage device 30a of the control device 30 as entrance / exit position data. By setting the entrance / exit E, the work start position X and work end position of the travel route R can be easily set. When measuring while traveling around the perimeter of the field to create the travel route R, there are cases where positioning is performed using a correction signal from a fixed base station and cases where positioning is performed using a correction signal from a simple base station. Therefore, it is necessary to be able to identify which base station the positioning was performed at, so that it is easy to understand if something feels wrong when creating the travel route R.

[0046] The autonomous driving work vehicle 1 enters the field from the entrance E and moves to one corner (corner) A closest to the entrance, and is positioned so as to be parallel to the short or long side (hereinafter referred to as the ridge) of the field, where it is located and stored as first corner data (latitude and longitude). Next, the unmanned tractor is moved to the next corner B, where it is turned about 90 degrees so as to be parallel to the ridge, where it is located and stored as second corner data. Then, in the same manner as above, it moves to the next corner C, where it acquires and stores third corner data, and then moves to the next corner D, where it acquires and stores fourth corner data. In this way, the shape of the field is determined by connecting the corners (B, C, D) in order from one corner A with a straight line as if drawn in one stroke, and the data is acquired as field data. However, if the shape of the field is a deformed field, data on the positions of the corners other than the four corners and the positions of the inflection points is acquired and the field data is determined. For example, if the shape of the field is a triangle, the position data of the three corners is acquired and stored, and if the shape is a pentagon, the position data of the five corners is acquired and stored. In addition, since corners are subordinate concepts and inflection points are superior concepts, field data can be obtained by sequentially measuring inflection points to obtain position data and going around the field. In addition, the travel route R can be created only in the area inside the field perimeter data obtained by traveling the outermost perimeter, and if it goes beyond the outer perimeter, an error occurs and the travel route R cannot be created. In addition, when corner data is connected with a straight line, if the straight line intersects, it is not recognized as field data. This is because it is unlikely to be a field and there is a high possibility that a corner or inflection point is missing. In addition, when creating field data, it is prohibited to obtain field data from map data published by the Internet or map makers, and only the position data measured on-site as described above is allowed to be used. In this way, it is prevented from going outside the field due to an error when traveling in actual work.

[0047] Furthermore, around the field, there may be water intakes and drains, posts and stones indicating boundaries, and trees growing in the area. These get in the way when driving in a straight line, so they can be located and set as obstacles. These obstacles are set as obstacles when creating the field data. When these obstacles are set, the driving route R is set so that the vehicle will avoid them during autonomous driving.

[0048] Next comes the process of selecting the reference travel start direction. The reference travel start direction is the direction of travel from the work start position 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 range HA). Specifically, as shown in Fig. 8, the reference travel start direction is set to whether work will start and end in a clockwise direction, or whether work will start and end in a counterclockwise direction. This setting can be easily selected by displaying an arrow, mark, or the like on the display 113 and touching it, for example.

[0049] In this way, as shown in FIG. 9, the working range HA obtained from the field data is made to be a substantially rectangular shape, and this working range HA is displayed on the display 113 of the remote control device 112. In this working range HA, headland HB is set on both the front and rear of the working direction in which the autonomous working vehicle 1 travels. The width Wb of the headland HB is found from the tilling width W1 when the working implement is a rotary tiller 24. For example, it is possible to input the tilling width and select an integer multiple of it. However, the width Wb of the headland HB is the length in the direction parallel to the traveling direction (longitudinal direction) in which the autonomous working vehicle 1 works in the working range HA. Note that the headland width Wb must be larger than the minimum turning radius because it is necessary to turn without turning the steering wheel back and with a margin in consideration of slippage and the like. Therefore, by storing in advance in the storage device 30a the minimum turning radius of the autonomously traveling work vehicle 1 with a work implement (the rotary tiller 24 in this embodiment) attached, a value smaller than this minimum turning radius cannot be input at the time of setting. However, the turning radius to be set may be the turning radius in the absence of accelerated turning or auto-steering functions.

[0050] In addition, when the accompanying traveling work vehicle 100 is larger than the autonomous traveling work vehicle 1, or when the work machine attached to the accompanying traveling work vehicle 100 is larger than the work machine attached to the autonomous traveling work vehicle 1, the standard length of the accompanying traveling work vehicle 100 is adopted as the width Wb of the headland HB. When other work machines are attached, the overall length of the work machine and the width of the row are taken into consideration, so it is possible to input any length as the headland width Wb numerically. Since there are cases where work is performed by going back and forth on the headland, and cases where work is completed by going around the work range including the headland in a spiral shape, the turning direction in the headland HB can also be set. In addition, since there are ridges around the field, separate work may be required for ridge processing, so the width Wc of the end HC on the work start side (distance from the ridge) can also be set to any length.

[0051] Next, the process of setting the overlap amount (overlap width) is performed. The overlap amount Wr (FIG. 3) is the width of overlap between the outward and return routes when working with a work machine (for example, a rotary tiller), or the working width where the left and right rotary tillers overlap in a lateral side-by-side cooperative work by the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100, and the overlap amount Wr is set to an arbitrary length so that no tilling is left unfinished even if there is a slope or unevenness. Note that if the overlap amount Wr is set, in the case of longitudinal side-by-side overlap work, the work machines may collide with each other when turning and passing each other on the headland. Alternatively, the autonomous traveling work vehicle 1 will stop traveling due to the detection of the obstacle sensor 41. To avoid this, the accompanying traveling work vehicle 100 skips one or more rows to perform work and travels while avoiding collision. Alternatively, when approaching the headland, "passing control" is performed to avoid collision of the work machines. "Passing control" is a control that, for example, raises one implement and lowers the other when they pass each other. However, when working with implements that do not need to overlap, such as transplanters, seeders, and trenchers with a single row in the center, there is no need to set row spacing and skip rows or use "passing control," and these can be selected according to the work mode.

[0052] In addition, the work end position can be set or selected in the field data. For example, in cases where the work end position is opposite the entrance / exit E after the travel route R is set, or where the remaining field HD of the rectangular work range HA of the field H is located away from the entrance / exit E, the work end position is set to be prioritized, so that overlapping work can be avoided as much as possible and the work can be completed without damaging the field. In this case, the work start position X is set by tracing the work travel route R in the opposite direction from the work end position. Therefore, the work start position X may be a position away from the entrance / exit E. In addition, the work start position X and the work end position can be set to positions preferred by the operator, so that the work start direction and the work end direction can be changed by setting an idle running process in which no work is performed. When the above values ​​and options are input and set, the control device 30 automatically generates the travel route R so that the work is performed in a round trip straight line in the work range HA and then turned around at the headland HB. Furthermore, the work route R' (FIG. 3) of the accompanying traveling work vehicle 100 is also generated at the same time.

[0053] After the process of generating the travel route R, the next step is to set the work conditions. The work conditions are, for example, the vehicle speed (shift position), engine RPM, PTO RPM (PTO shift position), vehicle speed during turning, engine RPM, etc. A work process is generated by setting the work conditions at each position of the travel route R. Note that, for inputting and selecting the setting values ​​on the display 113, setting screens are displayed sequentially on the display 113 to prevent mistakes or forgetting to set, and the operator can easily operate and input the settings.

[0054] Once the above settings have been completed and travel route R and a work process along travel route R have been generated, in order to start work, the operator drives the autonomous traveling work vehicle 1 to move it to work start position X and positions the accompanying traveling work vehicle 100 nearby. The operator then operates the remote control device 112 to start work.

[0055] To start work, the autonomous traveling work vehicle 1 start conditions must be met. The work start conditions are stored in the control device 30 of the autonomous traveling work vehicle 1, and when the work start means of the remote control device 112 provided on the accompanying traveling work vehicle 100 is turned on, the control device 30 determines whether the predetermined work start conditions are met. The work start conditions will be described later. The work start means may be composed of a start button, start switch, etc., and be provided on the autonomous traveling work vehicle 1.

[0056] An accompanying traveling work vehicle 100 that performs work while traveling accompanying the autonomous traveling work vehicle 1 will be described. An operator boards the accompanying traveling work vehicle 100 and manually drives it. The operator drives it so that it travels behind or to the side of the autonomous traveling work vehicle 1, which is an unmanned work vehicle traveling along a set route (travel route R). Thus, the operator monitors the autonomous traveling work vehicle 1 and performs work while driving the accompanying traveling work vehicle 100, and operates the remote control device 112 to operate the autonomous traveling work vehicle 1 as necessary.

[0057] In order to remotely operate the autonomous driving work vehicle 1 using the remote operation device 112, the control device 30 is connected to a steering actuator 40, a brake actuator, an accelerator actuator, a gear change means 44, a PTO on / off means 45, a clutch actuator, a lift actuator 25, etc.

[0058] Furthermore, in order to monitor the driving and operating conditions of the autonomous working vehicle 1, the driving speed of the autonomous working vehicle 1 is detected by the vehicle speed sensor 27, the engine speed is detected by the engine speed sensor 61, and the detected values ​​are displayed on the display means 49 and the display 113 of the remote control device 112, respectively. Also, images captured by the camera 42 are transmitted to the remote control device 112 and displayed on the display 113, making it possible to see the conditions of the area in front of the vehicle, the work equipment, and the field.

[0059] Furthermore, work data is stored in the storage device of the remote control device 112. Examples of the work data include the location of the field and the work date, the completed work position on the travel route R set in the field, and, in the case of fertilization work, the type of fertilizer and the amount of fertilizer applied per unit area.

[0060] As explained above, in order to have the autonomous work vehicle 1 travel from one end (work start position X) to the other end (work end position) of a field H to perform field work, a satellite positioning system is used to grasp the position of the autonomous work vehicle 1, and the autonomous work vehicle is automatically driven to work to set a travel route R, which includes a process of inputting the front-to-rear length of the vehicle, a process of inputting the width of the work implement, a process of inputting the amount of overlap between the work implements in the width direction, and a process of sequentially positioning the work vehicle at inflection points on the periphery of the field. In addition, the following steps are performed: determining the position of the vehicle using a satellite positioning system at each position; setting the work range within the field; setting the entrance / exit E; setting the work start position X and the work end position; setting the reference travel start direction; setting headlands HB at both ends of the work range; and setting the travel route R within the field. Therefore, by inputting a length that can be easily obtained from the specifications of the work vehicle, the vehicle can be moved within the field to easily determine its position, and the travel route R can be easily obtained.

[0061] In addition, the width Wb of the headland HB is set to an integer multiple of the work implement width (W1+W2), making it easy to set the headland. Furthermore, the width Wb of the headland HB is set to be larger than the minimum turning radius L3 of the autonomous working vehicle 1 with the work implement attached, so the vehicle can turn at the headland without having to turn back, and there is no decrease in work efficiency.

[0062] In this way, after the work travel route R is created, the work is started. To start this work, the operator drives the autonomous work vehicle 1 to move it to the work start position. At this time, the current position determined by GPS is displayed on a map, but since it is difficult to move it accurately to the work start position X, as shown in FIG. 13, when the autonomous work vehicle 1 is moved to the work start position X, guidance can be provided by sound or display means. For example, when the approach to the work start position X is notified by a step-by-step change in sound, if the work start position X is far away, the sound is made small or the interval between intermittent sounds is made long, and as the work start position X is approached, the sound becomes louder and the interval between intermittent sounds is made shorter. Then, when the work start position X is entered, the sound quality is changed or the sound becomes continuous. It is possible to guide not only the distance but also the direction by sound. Also, when guiding to the work start position X by the display means (display 113), an arrow or the like is displayed.

[0063] Then, the control device 30 performs the following control. That is, as shown in FIG. 10, the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 are placed at the work start position in the field, and the operator gets on the accompanying traveling work vehicle 100 (the operator can also carry the remote control device 112 and accompany the autonomous traveling work vehicle 1), and operates the remote control device 112 to the standby state. At this time, it is determined whether the remote control device 112 of the accompanying traveling work vehicle 100 and the control device 30 of the autonomous traveling work vehicle 1 are connected so that they can communicate (whether there is a communication abnormality) (S1). In other words, it is determined whether communication is possible via the transceivers 110 and 111, so that remote operation and monitoring can be performed using the remote control device 112 during work. If there is no connection, the power supply and wireless status are checked, and connection settings are made (S2). Note that if there is no connection, there is a communication abnormality, including intermittent communication and communication interference. If there is a communication abnormality, the content of the abnormality is displayed on the display 113. If there is a connection, the operator performs an operation to start work.

[0064] By operating this work start means, the control device 30 uses signals from the GPS to determine the current position of the work vehicle (autonomous working vehicle 1) and displays position information such as the current position, work start position, and work proceeding direction on the display 113 (S3). The current position, work start position, work proceeding direction, field shape, etc. are always displayed on the display 113 (in other words, when the map is displayed) unless switched. Also, if the reference station used when this positioning is different from the reference station used when the work range HA or travel route R was created, the start of autonomous traveling is not permitted as there is a possibility that the position may shift due to different references.

[0065] Then, it is determined whether the autonomous traveling work vehicle 1 is located at the work start position, that is, whether it is located within a set range from the work start position (S4). This "located within the set range" refers to whether the measured current position of the autonomous traveling work vehicle 1 is located within a set range (set distance) from the work start position of the set travel route R, but it may also be determined whether it is located within a distance range where communication between the autonomous traveling work vehicle 1 (transmitter / receiver 110) and the remote control device 112 (transmitter / receiver 111) is not interrupted, or whether the level of the communication rate between the autonomous traveling work vehicle 1 (transmitter / receiver 110) and the remote control device 112 (transmitter / receiver 111) is within a range equal to or greater than a set value. In addition, since positioning is not possible if there is an abnormality in the GPS signal, it may also be determined whether the signal strength of the GPS in this case is within a set range. In addition, if the accompanying traveling work vehicle 100 is equipped with a GPS, it may also be determined whether the accompanying traveling work vehicle 100 is located at a standby position. This standby position is not the work start position of the accompanying traveling work vehicle 100, but is nearby so that work can begin without delay after the autonomous traveling work vehicle 1 has started work.

[0066] If it is determined that the autonomous traveling work vehicle 1 is not located within the set range, the start of autonomous traveling is not permitted, and the operator drives the autonomous traveling work vehicle 1 to move to the work start position X (S5). The set range is, for example, a range in which the vehicle can easily be corrected by traveling a few meters from the start of work, or a range that does not affect the work by the accompanying traveling work vehicle 100, and the range of remaining work is made as small as possible. At this time, it is also possible to simultaneously determine whether the field is set to be used for work, so that autonomous traveling will not start even if the field is not the field to be used for work. In addition, even if the vehicle is located outside the set range, it is possible to start traveling and working, but to control the vehicle to stop immediately. This makes it possible to confirm that the traveling unit and the work equipment are operating normally, and to understand that other problems have occurred.

[0067] Next, it is determined whether the maximum occupancy area Q of the autonomous work vehicle 1 overlaps with the outside of the field on the travel route R (S6). In other words, even if the body of the autonomous work vehicle 1 is located within the set range in the field H (work start position X or travel route R), the rear end or side end of the working implement (rotary tiller 24) may be located outside the field H, in which case autonomous travel will not start. If the maximum occupancy area Q of the autonomous work vehicle 1 is located within the field, it is determined whether the traveling direction of the autonomous work vehicle 1 and the set traveling direction are located within the set range (comparing the direction detected by the direction sensor 32 with the set traveling direction) (S7), and if it is not within the set range, the start of autonomous travel is not permitted, and the operator adjusts the traveling direction of the autonomous work vehicle 1 (S5). The traveling direction within the set range is, for example, within 20 degrees left or right from the center of the set traveling direction of the travel route R, and is a range that can be corrected to the set traveling direction within about a few meters from the start of travel.

[0068] Next, it is determined whether there is an abnormality in the autonomous driving work vehicle 1 (S8). If there is an abnormality, the type of abnormality is displayed (S9), work is not started, and the abnormality is repaired (S10). Examples of abnormalities include when the engine stalls, the oil temperature or water temperature rises, the electrical system is disconnected or short-circuited, the work equipment does not operate, the door of the autonomous driving work vehicle 1 is not closed (detected by a sensor), or the operator is not watching (away from) the remote control device 112. Note that the determination of whether the operator is not watching (away from) the remote control device 112 is made by detecting using a camera or touch sensor provided on the remote control device 112. If there is no abnormality, it is determined whether the engine 3 is started (S11), and if it is not started, autonomous driving is not started, and the operator gets on the autonomous driving work vehicle 1 and performs the start operation (S12). If it is started, autonomous driving and work are started (S13). Note that when determining whether the above-mentioned start conditions are met, it is also possible to change the display one by one each time they are completed. Furthermore, if the work vehicle is electrically driven, it is determined whether or not power can be supplied from the battery to the electric motor.

[0069] During the autonomous driving operation, it is determined whether the operation has been completed (S14). When the operation is completed, the autonomous driving work vehicle 1 stops traveling and ends (S15). If the operation is not completed, it is determined whether the operation has been interrupted midway (S16). The interruption conditions will be described later. If the interruption conditions do not occur, the autonomous driving operation continues, and if the operation is interrupted, the interrupted position is stored in the storage device 30a (S17). When the operation is interrupted, it is determined whether the operation can be resumed (S18), and if it is to be resumed, the position at the time of interruption is displayed as the restart position (S19), and the process returns to step 1. It is also possible to select the position at which the operation is resumed after the interruption as a work start position other than the interruption position. Also, when the operation is resumed by moving to another position for refueling, repairs, etc., it is also possible to control the autonomous driving work vehicle 1 to automatically move to the restart position.

[0070] As described above, when a work start operation is performed with a switch or the like to start work with the autonomous traveling work vehicle 1, the control device 30 controls so as not to permit the start of work if the current position of the autonomous traveling work vehicle 1 is farther than the set range from the work start position X of the set travel route R, thereby preventing the unworked area at the work start position X from becoming large, and allowing the vehicle to quickly return to the set travel route R if there is a slight positional deviation within the set range. The control device 30 is also composed of a first control device 301 that controls the travel and work of the autonomous traveling work vehicle 1, and a second control device 302 that calculates and stores the travel route R, and the first control device 301 is provided in the autonomous traveling work vehicle 1, and the second control device 302 is provided in the autonomous traveling work vehicle 1 or the remote control device 112, so that calculations (control processing) can be performed in parallel (distributed), which reduces the control burden and allows for faster calculations (control). Furthermore, if the second control device 302 is provided in the remote control device 112, the setting work can be performed at a house or the like away from the vehicle.

[0071] Furthermore, the control device 30 controls the robot not to allow the start of autonomous driving if the direction of travel is outside the set range at the work start position X, so that the robot will not travel in an unintended direction, collide with ridges or other obstacles, or leave a significantly curved work trail.

[0072] Furthermore, if an abnormality occurs in the autonomously traveling work vehicle 1, the control device 30 controls so as not to permit the start of autonomous traveling, so that work is not started while there is an abnormality, which would damage the vehicle body, engine, work equipment, etc. Furthermore, the control device 30 of the autonomously traveling work vehicle 1 controls so as not to permit autonomous traveling when it is not connected to the remote control device 112 via the transceivers 110 / 111 (communication abnormality), so that operation by the remote control device 112 can be performed reliably, and the state of the autonomously traveling work vehicle 1 can be easily recognized. Furthermore, when work is interrupted, the control device 30 stores the interruption position, and when work is restarted, the interruption position is set as the work restart position and the position is displayed on the display means 49 or display 113, so that it is easy to align the start position of work after interruption, and work can be prevented from being interrupted.

[0073] Then, while the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 are working, if the following conditions occur, the autonomous traveling is stopped and the work is interrupted. That is, as shown in FIG. 11, when the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 are working side by side, the control device 30 judges whether the GPS signal is abnormal (S20). The control device 30 receives GPS signals from multiple GPS satellites 37·37··· to detect the current position of the autonomous traveling work vehicle 1, but if the level of the GPS signal becomes low or is interrupted and becomes an abnormal value, the current position cannot be determined and the vehicle cannot travel along the set route. Therefore, if the GPS signal becomes abnormal, the autonomous traveling is stopped (S21) and the vehicle enters an interrupted state. Note that "GPS signal abnormality" includes detecting the number of satellites receiving signals from satellites related to the Global Navigation Satellite System (GNSS), and the number of received satellites falling below a predetermined number, the strength of the signal from the received satellite falling below a predetermined strength, the waveform of the received satellite signal becoming other than a predetermined waveform or changing to a frequency other than a predetermined frequency, the signal being interrupted, or the orientation of multiple received satellites deviating to a predetermined direction, and autonomous traveling is also stopped in these cases. When this is stopped, the display 113 of the remote control device 112, which serves as the display means, and the display means 49 of the accompanying traveling work vehicle 100 display the cause of the stop of traveling and issue an alarm (S22).

[0074] Also, the actual position (positioned position) of the autonomous working vehicle 1 detected by GPS is compared with the set travel route R (S23), and if the actual position deviates from the travel route R by a set distance or more, the autonomous working vehicle 1 is stopped (S21). At the same time, it is also possible to control the autonomous working vehicle 1 to stop traveling if the actual position of the accompanying working vehicle 100 is compared with the set travel route and deviates by a set range or more, or if the positional relationship between the autonomous working vehicle 1 and the accompanying working vehicle 100 deviates by a set range or more. In other words, it prevents deviation from the set travel route to create unworked parts or unnecessary overlapping parts, and also prevents the autonomous working vehicle 1 from moving away from the accompanying working vehicle 100 by a set range or more, making it difficult for signals from the remote control device 112 to reach, or from going out of the monitoring range of the worker. Also, it is determined whether the output value of the steering sensor 20, which detects the steering direction of the steering wheel 4 during work, is within a normal range (S24). For example, if an abnormal value is detected due to a wire break, short circuit, or the like, the vehicle will make a sudden turn, so the system detects whether the value is abnormal, and if so, stops the vehicle from traveling (S21).

[0075] Also, it is judged whether the output values ​​of the gyro sensor 31 for detecting the attitude and the direction sensor 32 for detecting the direction are within the normal range (S25). If the output values ​​are abnormal, the traveling is stopped (S21). It may be judged whether there is an abnormality due to the dead reckoning method. For example, if inertial navigation is also applied, it is judged whether there is an abnormality in the sensor values ​​related to the inertial navigation, such as the rotation speed sensor of the axle (traveling wheel). Also, it is judged whether the remaining fuel amount is below a set amount (S26). When the remaining fuel amount is below the set amount, the traveling is stopped (S21). However, the set value can be set arbitrarily. In this way, there is no need to refuel during work, and it is possible to prevent the vehicle from being unable to move due to running out of fuel during work, and to prevent damage to the engine. Also, instead of finding the remaining fuel amount, it is possible to integrate the fuel consumption from the engine speed, load, operating time, etc., and control so that the vehicle stops when a predetermined integrated value is exceeded. In this case, the amount of fuel refueled or the remaining amount is input. Furthermore, when other abnormalities occur in the machine (S27), the traveling is stopped and interrupted (S21). Other abnormalities include when the engine does not rotate normally, when abnormal vibration occurs in the machine, when the working machine does not operate, when the machine slips and the difference between the rotation of the axle and the traveling distance exceeds a predetermined range, when the door opens in the case of a cabin, when communication with the remote control device 112 is not possible, when the remote control device 112 is separated from the operator in a mode in which the remote control device 112 is carried and operated by the operator, etc., and the traveling is also interrupted in these cases. In order to detect that the remote control device 112 has separated from the operator, for example, when the impact acceleration of the remote control device 112 is detected and exceeds a set value, when the attitude of the remote control device 112 is detected and it has an abnormal attitude (upside down or upside down), when a camera is attached to the remote control device 112 and a face recognition function is added and the operator cannot be recognized for a certain period of time or more, or when a human sensor is provided and the carrying person cannot be detected, traveling is stopped.

[0076] If no interruption occurs, autonomous driving continues (S28). When driving is stopped (S21), the cause of the interruption is displayed and an alarm is issued (S22), and the operator stops the work of the accompanying traveling work vehicle 100 and performs work to eliminate the cause of the interruption. When the interruption is eliminated (S29), autonomous driving is resumed (S28). When autonomous driving is resumed, it can be resumed automatically or after confirmation by a supervisor. The supervisor confirms safety and the elimination of any malfunctions or abnormalities by operating confirmation switches and restart switches for each item provided on the remote control device 112, and then restarts the vehicle. Furthermore, when work is resumed, a sound or light is emitted as a notice to let those around know that the work has been resumed.

[0077] In addition to the brake, when a hydraulic variable speed transmission is used, the means for stopping the traveling is to put the transmission means 44 in neutral to stop the traveling. In other words, in the case of a transmission using a hydraulic variable speed transmission (HST), the transmission means consisting of a solenoid and a motor is operated to move the movable swash plate of the variable displacement hydraulic pump to the neutral position. Also, when the traveling is driven by an electric motor, the output rotation is controlled to be zero to stop the traveling. In this way, even when the traveling is stopped during work on a slope, the traveling does not go down the slope.

[0078] In addition, in the case of a transmission using a sliding gear type transmission, a power clutch type transmission, a belt type continuously variable transmission, or the like, the means for stopping the traveling is to turn off the main clutch arranged between the output shaft of the engine 3 and the input shaft of the transmission case to stop the traveling and to activate the brakes. In this way, even if the traveling is stopped on a slope, the vehicle does not go down the slope.

[0079] When the vehicle stops traveling, the PTO on / off means 45 is operated to turn off the PTO clutch and stop the operation of the work equipment, and the engine 3 speed is reduced to idle speed. In this way, sudden movements are prevented and damage to the work surface is prevented. However, the engine speed when the vehicle stops traveling can be set arbitrarily.

[0080] Furthermore, if the autonomous work vehicle 1 stalls during work due to an increase in load or the like, the operator stops the work and gets into the autonomous work vehicle 1. The operator then restarts the engine and performs an operation to avoid the cause of the increased load. For example, the operator may raise the work equipment or lower the gear position to travel at a slower speed. Once the vehicle has avoided and passed through the high-load area, normal work is resumed.

[0081] As described above, the control device 30 controls the autonomous driving to stop if the signal from the GPS satellite (navigation satellite) 37 becomes abnormal, so that the autonomous driving is stopped before it deviates significantly from the set driving route R, thereby preventing a deterioration in work accuracy.

[0082] In addition, the control device 30 controls the robot to stop traveling if the actual position deviates from the set travel route R by more than a set range, so that the robot stops before it deviates significantly from the set travel route R, preventing a deterioration in work accuracy and preventing the robot from becoming stuck deeply or climbing over an obstacle and becoming unable to move.

[0083] Furthermore, the control device 30 controls the vehicle to stop traveling when the detection value from the steering sensor 20 becomes abnormal (for example, when the detection value does not change, when the change is too large, or when a value exceeding the detectable range is output), thereby preventing the steering actuator 40 from being operated while the detection value of the steering sensor 20 remains abnormal and causing the vehicle to proceed in an unintended direction. Furthermore, the control device 30 controls the vehicle to stop traveling when the difference between the detection value and the target value of the gyro sensor 31 and the orientation sensor 32, which detect the attitude and orientation, becomes equal to or exceeds a set value, thereby preventing the vehicle from proceeding in an unintended direction.

[0084] Furthermore, when traveling is stopped, the control device 30 transmits the cause to the remote control device 112 provided on the accompanying traveling work vehicle 100 and displays it on the display 113 of the remote control device 112, so that the operator can easily recognize the cause of the traveling stop and can take prompt action to resolve the cause of the stop. Furthermore, in the event of a malfunction, maintenance work can be carried out quickly and simply.

[0085] <Notes on the invention> In a first aspect, there is provided an automatic work system capable of performing automatic work while causing a work vehicle to automatically travel along a travel route, the travel route being configured to include a plurality of straight routes along which automatic work is performed, and automatic travel can be started when an automatic travel start condition is satisfied at an automatic travel start position of the travel route, and while the work vehicle is automatically traveling along the travel route, automatic travel is interrupted when an automatic travel interruption condition is satisfied, the position where the automatic travel was interrupted is stored as a work restart position, and the work restart position is displayed on a specified display unit.

[0086] In a second aspect, after automatic driving is interrupted, the display unit displays whether automatic driving is to be resumed from the interrupted position on the driving route or from a work start position on another driving route, allowing the user to select the restart position.

[0087] In the third aspect, automatic driving is immediately interrupted based on the satisfaction of an interruption condition for automatic driving, and after automatic driving is interrupted, a warning is issued to indicate that automatic driving has been interrupted. Automatic driving is resumed from the restart position based on an operation of a specified operating tool by an observer, and before automatic driving is resumed, a notification is issued to indicate that automatic driving will be resumed.

[0088] In a fourth aspect, the specified operating tool is provided on a remote control device capable of communicating with the work vehicle, the remote control device is configured to generate the driving route, and the display unit is provided on the remote control device, and displays on the display unit as the warning that automatic driving has been interrupted.

[0089] According to the above aspect, while the vehicle is automatically traveling along a route, the automatic driving is interrupted when an automatic driving interruption condition is met, and the position where the automatic driving was interrupted is stored as the work restart position and the work restart position is displayed on a specified display unit, thereby making it easy to align the start of work after the automatic driving is interrupted and preventing work from being interrupted.

[0090] An automatic work system according to one embodiment of the present invention is an automatic work system capable of performing automatic work while causing a work vehicle to automatically travel along a travel route, and automatic travel can be started when an automatic travel start condition is satisfied at an automatic travel start position on the travel route, and while the automatic travel is being automatically traveled along the travel route, automatic travel is interrupted when an automatic travel interruption condition is satisfied, and when automatic work is resumed after the automatic travel is interrupted, the position where the automatic travel was interrupted is displayed on a display unit as a work restart position.

[0091] A work vehicle assistance system according to one embodiment is a work vehicle assistance system used for a work vehicle that travels automatically within a farm field, and sets specific information related to the automatic travel of the work vehicle. A work vehicle assistance method according to one embodiment is a work vehicle assistance method used for a work vehicle that travels automatically within a field, and includes setting specific information related to the automatic travel of the work vehicle. [Industrial Applicability]

[0092] The present invention can be used in construction machinery, agricultural work vehicles, and the like that can be automatically stopped when an abnormality occurs. [Explanation of symbols]

[0093] 1. Autonomous work vehicle 30 Control device 40 Steering actuator 44 Gear shifting means 60 Engine Controller 100 Accompanying work vehicle 112 Remote Control Device

Claims

1. A work vehicle assistance system used in a work vehicle that automatically travels in a field, Setting specific information regarding the automatic driving of the work vehicle; The specific information includes at least one of information related to the work vehicle and information related to a work machine provided on the work vehicle. Work vehicle support system.

2. The information regarding the work machine includes information regarding a width of the work machine. The work vehicle support system according to claim 1 .

3. The information about the work vehicle includes information about the overall length of the body of the work vehicle.

3. A work vehicle support system according to claim 1 or 2.

4. When a condition for starting automatic driving is satisfied, the work vehicle can start automatic driving, Whether or not the start condition is satisfied is determined based on a current position and a traveling direction of the work vehicle. The work vehicle support system according to any one of claims 1 to 3.

5. When a plurality of starting conditions for automatic driving are satisfied, the work vehicle can start automatic driving, performing a display relating to the plurality of start conditions, and changing a display mode relating to the start condition each time the start condition is satisfied; The work vehicle support system according to any one of claims 1 to 4.

6. When an interruption condition for the automatic driving is satisfied while the work vehicle is automatically driving, the automatic driving is interrupted. A work vehicle support system according to any one of claims 1 to 5.

7. When the interruption condition is satisfied, the automatic traveling is interrupted and the traveling of the work vehicle is stopped. The work vehicle support system according to claim 6.

8. When the interruption condition is satisfied, notify the driver of the reason for interrupting the automatic driving.

8. A work vehicle support system according to claim 6 or 7.

9. The specific information is set according to an input on a setting screen displayed on a display device. A work vehicle support system according to any one of claims 1 to 8.

10. A work vehicle assistance method used in a work vehicle that automatically travels in a field, comprising: Setting specific information regarding the automatic driving of the work vehicle, The specific information includes at least one of information related to the work vehicle and information related to a work machine provided on the work vehicle. A method for supporting a work vehicle.

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