Work vehicle

Abstract

To appropriately set a work area in a farm field, even when the work area differs for each operation in the same farm field, as compared to conventional techniques.SOLUTION: When a vehicle body (1a) travels along the outer periphery of a farm field, a travel trajectory (201) is measured on the basis of position information measured by positioning devices (101, 102), a work path (204) for performing operations within the farm field is generated on the basis of the travel trajectory (201) along the outer periphery of the farm field, a line apart by a predetermined length outward from the travel trajectory (201) is set as the outer edge (202) of the work area, the vehicle body (1a) is automatically driven along the work path (204). Therefore, the work area in the farm field can be appropriately set even when the work area differs for each operation in the same farm field, as compared to conventional techniques.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a work vehicle, and more particularly to a work vehicle capable of traveling along a predetermined work route.

Background Art

[0002] There is known a technique of installing a base station, which is a satellite positioning device, near a farm field, having a first work vehicle equipped with a first positioning device travel around the inner periphery of the farm field, and creating a first farm map, which is map information of the farm field, based on the relative position between the first vehicle position detected by the first positioning device and a first reference position, which is the position of the base station (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional technique described in Patent Document 1, it is premised that the boundaries of the farm field are clear, such as ridges and farm roads. However, in the case of a farm field such as a pasture, the boundaries and sections may not be clear. It is not uncommon for the range of a pasture to change according to the amount of forage required each year, and the range where forage is planted may differ, or a prefabricated shed may or may not be built, resulting in a change in the working range. In addition, the types of work machines used vary depending on the work performed on the area where forage is planted. When the types of work machines are different, the range through which the work vehicle passes differs with respect to the area where forage is planted, and there is a risk that the work vehicle may not be able to turn or travel around during automatic driving within the initially set range of the farm field or work route.

[0005] Compared with the conventional technology, the technical problem of the present invention is to appropriately set the work area of the farm field even when the work area is different each time the work is performed in the same farm field.

Means for Solving the Problem

[0006] The above problems of the present invention are solved by the following solution means. The invention according to claim 1 is a work vehicle comprising: a working machine (18) supported by a vehicle body (1a) and performing work on a farm field; a positioning device (101, 102) for measuring the position of the vehicle body (1a); measuring a travel locus (201) based on position information measured by the positioning device (101, 102) when the vehicle body (1a) travels along the outer periphery of the farm field, generating a work route (204) for performing work within the farm field based on the travel locus (201) of the outer periphery of the farm field, and generating a work map having an outer edge (202) of a work area as a line separated by a predetermined length outside the travel locus (201) based on the travel locus (201) of the outer periphery of the farm field, and control means (C) for automatically driving the vehicle body (1a) along the work route (204).

[0007] According to the invention described in claim 2, the control means (C) generates a peripheral finishing line (204a) that performs operations along the outer periphery of the field, and a straight line (204b) that performs operations while reciprocating along a straight path in the area inside the peripheral finishing line (204a). One end of the straight line (204b-1) closest to the inner peripheral end of the peripheral finishing line (204a) is set as a connection point (206) that transitions from the straight line (204b-1) to the peripheral finishing line (204a). The straight line farthest from the one-end straight line (204b-1) of the connection point (206) is set as a work start line (204b-2). The direction toward the connection point (206) is set as the traveling direction of the vehicle body (1a) on the straight line (204b-1) whose one end is the connection point (206). The traveling directions of the straight lines (204b) parallel to each other between the one-end straight line (204b-1) whose one end is the connection point (206) and the work start line (204b-2) are alternately changed to set the traveling direction. The work vehicle according to claim 1 is characterized in that a one-stroke work path (204) connecting from the start point (207) of the traveling direction of the work start line (204b-2) to the end point (203) of the peripheral finishing line (204a) is created.

[0008] According to the invention described in claim 3, the work vehicle according to claim 2 is characterized in that the control means (C) is provided to correct the positions (314, 324) where turning starts from the preceding straight line (204b) to the subsequent straight line (204b) according to the work implement (18).

[0009] According to the invention described in claim 4, when the work is resumed from the interrupted position (209) after interrupting the work and leaving the work path (204) during traveling on the work path (204), the subsequent straight line (204b-4) of the straight line (204b-3) where the work was interrupted and the intersection point (213) of the surrounding finishing line (204a), based on the intersection point (213) on the front side in the traveling direction of the subsequent straight line (204b-4), with respect to the interrupted position (209), the work vehicle according to claim 2, characterized in that it is provided with the control means (C) for entering the vehicle body (1a) from the intersection point (213) side and resuming the work.

[0010] According to the invention described in claim 5, the work vehicle according to claim 1, characterized in that the predetermined length is a length based on the width (L) of the working machine (18).

Advantages of the Invention

[0011] According to the invention described in claim 1, by setting a line outside the predetermined length from the traveling locus (201) on the outer periphery of the field as the outer edge (202) of the work area, compared with the prior art, even when the work area is different each time the work is performed in the same field, the work area of the field can be appropriately set.

[0012] According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, by creating the work path (204) in one stroke connecting from the starting point (207) in the traveling direction of the work start line (204b-2) to the end point (203) of the surrounding finishing line (204a), the work can be performed more efficiently compared to the case where it is not in one stroke.

[0013] According to the invention described in claim 3, in addition to the effect of the invention described in claim 2, the turning can be started at an appropriate position according to the working machine (18).

[0014] According to the invention described in claim 4, in addition to the effect of the invention described in claim 2, the work can be resumed from the interrupted position (209) in the same traveling direction as before the interruption.

[0015] According to the invention described in claim 5, in addition to the effects of the invention described in claim 1, a working area of the field can be set in consideration of the width (L) of the working machine (18).

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0017] FIG. 1 is an explanatory view of a tractor as an example of a work vehicle according to an embodiment, and is an explanatory view of a state in which the working machine has descended to a height at which it performs work. FIG. 2 is an explanatory view of a tractor as an example of a work vehicle according to an embodiment, and is an explanatory view of a state in which the working machine has risen. In FIGS. 1 and 2, as an example of the work vehicle of the present invention, a tillage tractor 1 is provided with front wheels 2, 2 and rear wheels 3, 3 at the front and rear portions of a traveling vehicle body (an example of a vehicle body) 1a. Inside the bonnet 6 at the front portion of the traveling vehicle body 1a, a traveling motor 4 as an example of an electric motor is mounted. The rotational power of the traveling motor 4 is appropriately decelerated by a speed change device in a transmission case (not shown) and is configured to be transmitted to the front wheels 2, 2 and the rear wheels 3, 3.

[0018] At the rear portion of the tractor 1 body, a working machine such as a tillage machine 18 for tilling the ground (field) behind the tractor 1 is mounted, and power is transmitted via a PTO shaft (not shown) to drive the working machine. To the PTO shaft of the embodiment, drive is transmitted from a PTO motor (not shown) as an example of an electric motor. In this specification, the left and right sides are referred to as the left side and the right side respectively toward the forward direction of the tractor 1, the forward direction is referred to as the front side, and the reverse direction is referred to as the rear side.

[0019] An operator's seat 8 is disposed on the upper portion of the traveling vehicle body 1a. In front of the operator's seat 8, a steering wheel 10, a parking brake (not shown), etc. are disposed. Also, in front of the operator's seat 8, a display panel (meter panel) such as a speed meter (not shown) and various operation switches (not shown) are disposed. At the lower front portion of the operator's seat 8, traveling operation tools such as a brake pedal 12 and an accelerator pedal (13) having a forward pedal and a reverse pedal are disposed.

[0020] In FIG. 1, lift arms 15, 15 are pivotally attached to the rear portion of the traveling vehicle body 1a so as to be rotatable. Lift rods 17, 17 are interposed and connected between the lift arms 15, 15 and the lower links 16, 16, and a tillage machine 18 as an example of a working machine is connected to the rear portions of the lower links 16, 16.

[0021] The lift arm 15 is driven by a hydraulic cylinder (not shown). When the hydraulic pressure of the hydraulic cylinder increases and the lift arms 15, 15 are rotated to the ascending side, the working machine (cultivator) 18 ascends via the lift rod 17, the lower link 16, etc. When the hydraulic oil is discharged and the hydraulic pressure decreases, the lift arms 15, 15 descend. Note that the working machine attached to the rear part of the traveling vehicle body 1a, that is, the working machine to which drive is transmitted from the PTO shaft extending along the lower link 16, is not limited to the rotary tilling device for agricultural work, and there are working machines such as a plow, a seeding machine, a seedling transplanter, a fertilizer spreader, a chemical agent spreader, etc.

[0022] (Description of the control unit) FIG. 3 is a functional block diagram of the control means of the embodiment. In the block diagram of FIG. 3, illustration and description are omitted for elements not related to the description of the embodiment of the present invention. In FIG. 3, the control means C of the embodiment is constituted by a small information processing device, a so-called microcomputer. Therefore, the control means C can realize various functions by executing the program stored in the ROM or the like.

[0023] The control means C of the embodiment receives signals from signal output elements such as a GNSS receiver (an example of a positioning device) 101, an inertial measurement device (an example of a positioning device) 102, a display panel 103, and various switches. The GNSS receiver 101 receives signals from artificial satellites of the GNSS (Global Navigation Satellite System) method and measures the current position of the traveling vehicle body 1a. The inertial measurement device 102 measures the attitude of the traveling vehicle body 1a, that is, the inclination in the longitudinal direction and the lateral direction, by measuring the acceleration in the three-axis directions of the traveling vehicle body 1a. The display panel 103 and various switches detect the input operations of the operator.

[0024] The control means C of the embodiment outputs control signals to controlled elements such as drive sources like the traveling motor 4 and the PTO motor M1, a steering system such as the steering wheel 10, a hydraulic cylinder 15a of the lift arm 15, and a display panel 103.

[0025] The control means C of the embodiment has the following functional modules (program modules). The positioning means C1 has a GNSS positioning means C1A and an inertial positioning means C1B, and measures the current position of the traveling vehicle body 1a. The GNSS positioning means C1A measures the current position by the GNSS method based on the detection result of the GNSS receiver 101. The inertial positioning means C1B measures the attitude of the traveling vehicle body 1a based on the detection result of the inertial measurement unit 102.

[0026] Therefore, the positioning means C1 of the embodiment corrects the current position measured by the GNSS positioning means C1A based on the attitude measured by the inertial positioning means C1B, and measures a more accurate current position compared to positioning only by the GNSS method. Note that when there are obstacles such as trees and buildings around the field or when working in an indoor field, etc., and the GNSS receiver 101 cannot receive signals from artificial satellites, the positioning means C1 calculates (estimates) the current position from the position information immediately before the reception becomes impossible, the attitude measured by the inertial positioning means C1B, and the history of the rotation speeds of the wheels 2 and 3 and the steering amount of the steering wheel 10, etc. Therefore, when the communication with the artificial satellite is interrupted, steering and turning are executed based on the estimated current position. And when the communication with the artificial satellite is restored, it is possible to execute traveling based on the current position including the GNSS method. Note that in the tractor 1 not equipped with the GNSS receiver 101, it is also possible to calculate the current position from the inertial measurement unit 102, the rotation speeds of the wheels 2 and 3, and the steering amount of the steering wheel 10 and perform automatic traveling.

[0027] Regarding the measurement of the current position, it is preferable that the positioning means C1 performs position correction by collating the measurement result with the known position information when the tractor 1 passes through a point whose position is known on the map (for example, the entrance and exit of a farmland, etc.). When the positional deviation during collation is large, it is also possible to prioritize the calculation result from the inertial measurement device 102, etc., and when the positional deviation is small, prioritize the measurement result of GNSS, etc. Note that the known point is not limited to a point through which the tractor 1 can pass. For example, a device (such as a stereo camera or a lidar) capable of measuring the distance from the tractor 1 to an obstacle is provided, and it is also possible to measure the distance to a building or a utility pole, etc., whose position is known, and perform collation of the position information.

[0028] Figure 4 is an explanatory diagram of the types of working machines that can be mounted on the work vehicle of the embodiment. The working machine type discrimination means C2 discriminates the type of the working machine 18 mounted on the tractor 1. In FIG. 4, examples of the working machine 18 that can be mounted on the tractor 1 and perform work in the farmland include, in addition to a tiller for tilling the farmland, a manure spreader for spreading compost, a broadcast spreader for spreading fertilizers and chemicals, a plow for tilling, a lime sower for fertilizing and sowing, a roller for covering soil and compacting, a mower for mowing grass, a tedder for stirring and inverting the mowed grass, a rake for collecting grass, a roll baler for collecting grass while generating a grass roll, and a wrapping machine for collecting the grass roll, wrapping it, standing it vertically, and discharging it. The type of the working machine can also be automatically discriminated by acquiring an identification signal of the working machine type via the wiring connected to the working machine 18, or can also be discriminated based on the information manually input by the operator from the display panel 103.

[0029] The working machine width acquisition means C3 acquires the width L (see FIG. 4) of the working machine 18 corresponding to the type of the working machine 18 mounted on the tractor 1. The width L of the working machine 18 can be acquired in a manner of reading out the information stored in the storage means (memory) of the tractor 1, or can also be acquired from an external server.

[0030] In FIG. 3, as an example of an aerial image including the field where the work is performed, the aerial image acquisition means C4 acquires a satellite image taken by an artificial satellite. Note that the aerial image is not limited to a satellite image, and for example, an image taken by a drone, helicopter, aircraft, etc. (aerial image) can also be used. The map information acquisition means C5 acquires the map information of the field where the work is performed. In the embodiment, map information with position information (latitude, longitude, etc.) attached is acquired. Note that the aerial image and the map information can be acquired in a manner of being stored in the storage means (memory) of the traveling vehicle body 1a, but it is not limited to this. For example, a communication unit can be mounted on the traveling vehicle body 1a to communicate with an external server (an example of an information processing device), and it is also possible to acquire an aerial image or the like from the server.

[0031] The field map creation means C6 generates a field map by superimposing the aerial image and the map information. The field map creation means C6 in the embodiment superimposes the field in the aerial image and the field in the map information. Note that the superimposition can be performed based on the position information, or for example, roads, ridges, etc. in the aerial image and the map information can be extracted by image analysis and superimposed.

[0032] FIG. 5 is an explanatory diagram of an example of the field in the embodiment, FIG. 5(A) is an overall explanatory diagram, and FIG. 5(B) is an explanatory diagram of the extension of a straight line. The outer peripheral traveling trajectory acquisition means C7 acquires the trajectory along which the tractor 1 has traveled on the outer periphery of the field. In FIG. 5, when an input to start the outer peripheral traveling (so-called teaching) for creating a work map is given on the display panel 103, the traveling trajectory (outer peripheral traveling line 201) of the tractor 1 is measured by the positioning means C1, and when an input to end the outer peripheral traveling is given, the measurement of the outer peripheral traveling line 201 is ended. In the embodiment, the traveling trajectory measured by the outer peripheral traveling trajectory acquisition means C7 is the trajectory of the reference position of the tractor 1, and specifically, the outer peripheral traveling line 201, which is the linear trajectory of the position (reference position) of the GNSS receiver 101 of the tractor 1, is acquired.

[0033] The work map creation means C8 creates a work map 200 which is map information of a work area where work is performed in the field. The work map creation means C8 in the embodiment creates a work map 200 with a line located at a predetermined length outside the outer peripheral travel line 201 as the outer edge 202 of the work area based on the travel locus (outer peripheral travel line 201) of the outer periphery of the field. Therefore, the work map creation means C8 in the embodiment creates, in the field map created by the field map creation means C6, a work map 200 with a line located outside the outer peripheral travel line 201 by the width L of the work implement 18 mounted on the tractor 1 as an example of the predetermined length as the outer edge 202 of the work area based on the outer peripheral travel line 201 acquired by the outer peripheral travel locus acquisition means C7. Therefore, in the work map 200, the inside of the outer edge 202 is the work area, that is, inside the field.

[0034] The entrance / exit setting means C9 sets the entrance / exit to the field in the work map 200. The entrance / exit setting means C9 in the embodiment sets the entrance / exit (an example of the end point) 203 of the field according to the input from the operator's display panel 103. Note that the entrance / exit 203 is not limited to the manual setting by the operator, and for example, it is also possible to automatically set a position predetermined in the field map as the entrance / exit, or set the point closest to the road or farm road as the entrance / exit.

[0035] The work route generation means C10 has the following means C10A to C10K and generates a work route 204 through which the tractor 1 passes when performing work in the field in the work map 200. The work route 204 in the embodiment has a surrounding finishing line 204a along the outer edge 202, a straight line 204b that travels linearly inside the field, a turning route 204c that connects the straight lines 204b, and the like.

[0036] The surrounding finishing line generation means C10A generates a surrounding finishing line 204a along the outer edge 202. The surrounding finishing line 204a is a line that makes at least one round along the outer edge 202. Depending on the turning radius according to the width L of the working machine 18, the greater the turning radius, the greater the number of rounds of the surrounding finishing line 204a to be generated. That is, the greater the turning radius, the longer the turning path 204c along which the tractor 1 turns without working. Since the area where no work is done during turning is worked when the surrounding finishing line 204a passes, the number of rounds of the surrounding finishing line 204a varies according to the turning radius that differs depending on the type of the working machine 18. Also, one end of the surrounding finishing line 204a is connected to the entrance / exit 203, and the end in the traveling direction of the surrounding finishing line 204a is set as the entrance / exit 203.

[0037] The straight line generation means C10B generates a straight line 204b that works while reciprocating along a straight path in the area inside the surrounding finishing line 204a. The straight line 204b generates straight lines 204b that are parallel at intervals of the width L according to the width L of the working machine 18 in the area inside the surrounding finishing line 204a. Therefore, when a plurality of straight lines 204b can be generated at intervals of the width L, a plurality are generated; when only one can be generated, only one is generated; and when none can be generated, no straight line 204b is generated. Here, if the length of the straight line 204b is set so that the entire straight line 204b is completely contained within the area inside the surrounding finishing line 204a, as shown in FIG. 5(B), one end 204d of adjacent straight lines 204b may be separated from each other in the extension direction of the straight line 204b. If the one ends 204d are separated too much, the connection in the turning path 204c described later may not be possible. Therefore, in the embodiment, the straight line 204b also generates an extension line 204e by a predetermined length L0 outside the area inside the surrounding finishing line 204a.

[0038] In addition, the extending direction of the straight line 204b can be formed along the longitudinal direction of the area inside the peripheral finishing line 204a. When the work map 200 includes elevation information, it is also possible to generate the straight line 204b along the direction with less height difference. By making the straight line 204b with less height difference, the uphill and downhill movements during the working travel of the tractor 1 are reduced, and the working speed is likely to be stable. Additionally, the extending direction of the straight line 204b can be in a form manually input by the operator.

[0039] The joint point setting means C10C sets one end of the straight line 204b (204b-1) closest to the inner peripheral end of the peripheral finishing line 204a at the joint point 206 where it transitions from the straight line 204b to the peripheral finishing line 204a. Therefore, at the joint point 206, the peripheral finishing line 204a and the straight line 204b (straight working end line 204b-1) are joined.

[0040] The work start line acquisition means C10D acquires the straight line 204b farthest from the straight working end line 204b-1 with one end at the joint point 206 as the work start line 204b-2. The traveling direction setting means C10E sets the direction toward the joint point 206 as the traveling direction of the tractor 1 on the straight working end line 204b-1. Also, the traveling direction setting means C10E in the embodiment sets the traveling direction that alternately changes the direction from the traveling direction of the straight working end line 204b-1 for the straight lines 204b parallel between the straight working end line 204b-1 and the work start line 204b-2. Note that the upstream side of the traveling direction of the work start line 204b-2 is the work start point 207.

[0041] The turning path generation means C10F generates a turning path 204c that connects between the straight lines 204b. That is, in each of the parallel straight lines 204b, a turning path 204c is generated that connects the start end (the upstream end in the traveling direction) of the subsequent straight line 204b in the traveling direction and the end end (the downstream end in the traveling direction) of the preceding (adjacent) straight line 204b in an arc shape. Therefore, the turning path 204c of the embodiment is formed in an arc shape based on the turning radius corresponding to the width L of the working machine 18. That is, depending on the type of the working machine 18, the position of the turning start point (the end in the traveling direction) from the preceding turning path 204c to the subsequent turning path 204c is changed and adjusted each time.

[0042] FIG. 6 is an explanatory diagram of the generation of the turning path. FIG. 6(A) is an explanatory diagram when the preceding extension line is used, and FIG. 6(B) is an explanatory diagram when the subsequent extension line is used. In FIG. 6(A), when one end of the arc-shaped turning path 204c is connected to the start end 311 of the subsequent straight line 204b excluding the extension line 204e and the other end 312 of the arc-shaped turning path 204c is not connected to the end 313 of the preceding straight line 204b, the intersection point 314 of the extension line 204e and the turning path 204c is set as the turning start point 314. In FIG. 6(B), when the other end 323 of the arc-shaped path 322 having one end connected to the start end 321 of the subsequent straight line 204b intersects the middle of the preceding straight line 204b, the working path 204 is formed by connecting one end 326 of the arc-shaped turning path 204c having the other end connected to the end 324 of the preceding straight line 204b and the subsequent extension line 204e, and the end 324 is set as the turning start point 324.

[0043] Therefore, by the surrounding finishing line 204a, the straight line 204b, the turning path 204c, the extension line 204e, etc., the working path generation means C10 creates a one-stroke working path 204 that connects from the working start point 207 in the traveling direction of the working start line 204b-2 to the end point (the entrance / exit 203) of the surrounding finishing line 204a according to the width L of the working machine 18. In addition, when generating the work path 204, a path considering the width L of the working machine 18 was generated, but it is not limited to this. It is also possible to automatically generate the work path 204 in consideration of the vehicle body and wheel positions of the tractor 1, the mounting method of the working machine 18 (directly mounted on the lift arm 15 or towed), the mounting position (direct mounting, length of the towing bar, etc.).

[0044] In addition, in the work path generation means C10, when working on the same-year field and using working machines with different types but the same width L, that is, when performing common work for both the work range of the field and the width L of the working machine 18, it is also possible to store the work path 204 created during the previous work (for example, raking) and read and use the work path 204 during the current work (for example, roll roller). At this time, in the current work, if the types of the working machines are different between the previous work and the current work, and the width L of the working machine 18 is common but the turning radii are different, it is also possible to read the work path 204 of the previous work and, based on the information of the read work path 204, adjust and correct the turning path 204c and the turning start points 314, 324 to use it as the current work path.

[0045] Therefore, when the turning radius of the current work is smaller than that of the previous work, the work path 204 can be used as it is without changing the turning start points 314, 324, etc. When the turning radius of the current work is larger than that of the previous work, it is also possible to generate a work path 204 with the turning start points 314, 324, the turning path 204c, or the length of the extension line 204e corrected. That is, when the turning radius of the working machine 18 increases, if the turning does not start from a position further inside (in front) with respect to the peripheral finishing line 204a, there is a risk that the end of the working machine 18 with a large turning radius will exceed the outer edge 202 during turning. When materials or loads are placed on the outer edge 202 or ridges or furrows are formed, there is a risk of damage to the materials, etc., but this can be addressed by correcting the turning start points 314, 324.

[0046] In particular, even for the same type of working machine 18, if the model of the working machine 18 is different, the turning radius may change depending on the length of the drawbar and the positional relationship between the wheels of the working machine 18 and the wheels 2, 3 of the tractor 1. Therefore, not only the type of the working machine 18 (rake, tedder, etc.), but also when the models are different even within the same type, if the width L and the turning radius are different, it is preferable to perform correction accordingly. When the width L and the turning radius of the working machine 18 are large, if the turning start points 314, 324 are corrected and the interval of the straight line 204b is not changed, an overlapping working range (overlap width) will occur. However, since there are few problems even if tilling and mowing of forage are performed repeatedly, it is possible to cope by changing the overlap width each time the work is performed. Furthermore, it is also possible to store the actually traveled working path 204 instead of the working path 204 created during the previous work and use it as the basis for the next working path 204.

[0047] The guidance line generation means C10G generates a guidance line 208 which is the path that the tractor 1 travels from the entrance / exit 203 to the working start position (starting point) 207 before the start of work. The guidance line 208 is generated such that the traveling direction at the working start position 207 coincides with the traveling direction of the tractor 1.

[0048] FIG. 7 is an explanatory diagram when the work in the field is interrupted. FIG. 7(A) is an explanatory diagram when the work is interrupted, and FIG. 7(B) is an explanatory diagram when the work vehicle travels on the restart path and moves toward the interruption position. The interruption position acquisition means C10H acquires the interruption position 209 (see Fig. 7) where the work is interrupted when the work is interrupted during work along the work path 204 for maintenance due to replenishment of fuel or materials (such as fertilizers and chemicals) or equipment failure. In the embodiment, when an input to interrupt the automatic driving is made by the operator during automatic driving along the work path 204, or when it is detected by a sensor (not shown) that the remaining amount of fuel or materials is insufficient, the work is interrupted by automatic driving. After the interruption, it is possible for the operator to manually drive and leave the work path 204 and move to a replenishment position 211 for fuel, materials, etc. Or, when the replenishment position 211 is predetermined in a prefabricated building or the like, it is also possible to move to the replenishment position 211 by automatic driving. When driving automatically, a replenishment path 212 that connects the interruption position 209 and the replenishment position 211 and does not pass through the worked area is generated, and the tractor 1 is automatically driven along the replenishment path.

[0049] The intersection acquisition means C10J acquires an intersection 213 between a subsequent straight line 204b (204b-4) of the straight line 204b (204b-3) where the work is interrupted and the peripheral finishing line 204a, and acquires the intersection 213 on the front side in the traveling direction of the subsequent straight line 204b-4.

[0050] The restart path generation means C10K generates a restart path 214 for the tractor 1 to enter from the intersection 213 side with respect to the interruption position 209. When an input for restarting the work is made on the display panel 103 or the like, the restart path generation means C10K connects the current position (replenishment position) of the tractor 1 and the interruption position 209 and generates a restart path 214 that does not pass through the worked area, that is, the area of the straight line 204b or the peripheral finishing line 204a on the starting point 207 side in the traveling direction from the interruption position 209. At this time, the restart path 214 is generated so that the tractor 1 enters the interruption position 209 from the intersection 213 side. Specifically, a restart path 214 with the replenishment position 211 as the starting point, the intersection 213 as the relay point, and the interruption position 209 as the end point is generated.

[0051] The travel control means C11 controls the travel motor 4 and the steering wheel 10 to control the travel (forward and backward movement and steering) of the tractor 1. When an input to execute automatic travel is given, the travel control means C11 in the embodiment executes an automatic travel mode in which the tractor 1 travels along the work path 204 based on the current position measured by the positioning means C1. Note that the transition to the automatic travel mode is not limited to the manual input of the operator. For example, it is also possible to adopt a form in which the tractor 1 transitions to the automatic travel mode by a signal from a terminal (tablet, smartphone, etc.) capable of transmitting a control signal by wireless communication. That is, it is also possible to adopt a mode in which the operator remotely checks and then manually inputs to transition to the automatic travel mode. In addition, when the current position of the tractor 1 has been stopped in the field for a certain period of time or longer and there is an unworked area, it is also possible to automatically transition to the automatic travel mode. Further, in the case of the tractor 1 equipped with a mode (inter-field movement mode) for automatically traveling between fields (such as farm roads), when moving into the field in the inter-field movement mode, it is also possible to adopt a mode in which it transitions to the automatic travel mode for automatically performing work.

[0052] In addition, it is preferable to provide the tractor 1 with a configuration for detecting obstacles, such as image analysis using a lidar (Light Detection and Ranging, Laser Imaging Detection and Ranging) or a camera, so that it can travel while avoiding obstacles during automatic travel. It is preferable to detect the traveling direction of the tractor 1 and the steering angle of the tires and change the detection range so that the detection range of the obstacles is in front of the travel path. When the position of the obstacle is known in the overhead image or map information, it is possible to generate the work path 204 that avoids the obstacle when generating the work path 204, or it is also possible to perform automatic travel so as to avoid the known obstacle during automatic travel.

[0053] The work implement control means C12 controls the PTO motor M1 and the hydraulic cylinder 15a to control the raising and lowering and the operation / stop of the work implement 18. In the automatic traveling mode, the work implement control means C12 of the embodiment controls to lower the work implement 18 and operate the work implement 18 when traveling on the surrounding finishing line 204a or the straight line 204b, and to raise the work implement 18 and stop the work implement 18 when traveling on the turning path 204c.

[0054] In the tractor 1 of the embodiment having the above configuration, the work map 200 is created with the outer peripheral traveling line 201 traveled by the tractor 1 as the outer edge 202. In particular, in the embodiment, in the work map 200, an area outside the outer edge 202 having a length corresponding to the width L of the work implement 18 is set. Therefore, when the range (work area) where work is performed as a field in a site or farmland varies from year to year, or when work is performed with work implements 18 having different widths L, the work map 200 corresponding to the situation is created. Therefore, compared with the conventional technology, even when the work area is different each time work is performed in the same field, the work area of the field can be appropriately set.

[0055] Also, in the tractor 1 of the embodiment, based on the outer peripheral traveling line 201 and the work map 200 corresponding to the width L of the work implement 18, a one-pass type work path 204 is automatically generated. Therefore, automatic traveling and manual traveling are possible along the one-pass type work path 204, and smoother and more efficient work can be performed in a short time compared with the case where turning back or the like occurs on the path. Furthermore, in the tractor 1 of the embodiment, the turning start point from the preceding straight line 204b to the subsequent straight line 204b is adjusted (corrected) each time according to the width L of the work implement 18. Therefore, compared with the case where the turning start point of the turning path 204c is not changed according to the width L of the work implement 18, smoother turning can be performed on the subsequent straight line 204b.

[0056] Also, in the tractor 1 of the embodiment, when the operation is resumed after being interrupted, the operation is resumed from the interruption position 209 along the resumption path 214. At this time, the tractor 1 enters the interruption position 209 from the intersection 213 side along the resumption path 214, and when resuming the operation from the interruption position 209, the traveling direction can be resumed in a state where it coincides with that before the interruption.

Explanation of Signs

[0057] 1... Working vehicle, 1a... Vehicle body, 18... Working machine, 101, 102... Positioning device, 201... Traveling locus of the outer periphery of the field, 202... Outer edge of the working area, 203... End point, 204... Working path, 204a... Surrounding finishing line, 204b... Straight line, 204b-1... Straight line closest to the inner peripheral end 204b-2... Working start line, 204b-3... Straight line where the operation is interrupted, 204b-4... Subsequent straight line, 206... Connection point, 207... Starting point, 209... Interruption position, 213... Intersection, 314, 324... Position where turning starts, C... Control means, L... Width of the working machine.

Claims

1. A working machine (18) supported by a vehicle body (1a) and performing operations on a farm field; A positioning device (101, 102) for measuring the position of the vehicle body (1a); A control means (C) that measures a travel locus (201) based on position information measured by the positioning device (101, 102) when the vehicle body (1a) travels along the outer periphery of the farm field, generates a work path (204) for performing operations within the farm field based on the travel locus (201) of the outer periphery of the farm field, generates a work map having an outer edge (202) of a work area as a line located outside a predetermined length from the travel locus (201) based on the travel locus (201) of the outer periphery of the farm field, and automatically travels the vehicle body (1a) along the work path (204); A work vehicle, characterized by comprising the above.

2. The control means (C): Generates a peripheral finishing line (204a) for performing operations along the outer periphery of the farm field and a straight line (204b) for performing operations while reciprocating along a straight path in an area inside the peripheral finishing line (204a); Sets one end of the straight line (204b-1) closest to the inner peripheral end of the peripheral finishing line (204a) as a connection point (206) for shifting from the straight line (204b-1) to the peripheral finishing line (204a); Sets the straight line farthest from one end of the straight line (204b-1) where the connection point (206) is located as a work start line (204b-2); Sets the direction toward the connection point (206) as the traveling direction of the vehicle body (1a) in the straight line (204b-1) whose one end is the connection point (206); Sets the traveling direction by alternately changing the traveling directions of the straight lines (204b) parallel to each other between the straight line (204b-1) whose one end is the connection point (206) and the work start line (204b-2); Creates the work path (204) in one stroke connecting from the start point (207) of the traveling direction of the work start line (204b-2) to the end point (203) of the peripheral finishing line (204a). The work vehicle according to claim 1, characterized by the above.

3. The control means (C) for correcting positions (314, 324) at which turning starts from a preceding straight line (204b) to a subsequent straight line (204b) according to the working machine (18); The work vehicle according to claim 2, characterized by comprising the above.

4. When the work is interrupted while traveling on the work route (204) and then the vehicle leaves the work route (204), and the work is resumed from the interrupted position (209), when resuming the work, based on the intersection (213) between the subsequent straight line (204b-4) of the straight line (204b-3) where the work was interrupted and the peripheral finishing line (204a), and the intersection (213) on the front side in the traveling direction of the subsequent straight line (204b-4), with respect to the interrupted position (209), the control means (C) for causing the vehicle body (1a) to enter from the intersection (213) side and resume the work, The work vehicle according to claim 2, characterized by comprising the above.

5. The predetermined length is a length based on the width (L) of the work implement (18). The work vehicle according to claim 1, characterized by the above.

Images