Work vehicle

Abstract

To enable automatic selection of a route according to work to be performed on an actual field.SOLUTION: A plurality of work data associating work contents, work start positions (131 to 133), and work routes (141 to 143) in fields (121 to 123) are registered for the one field (121 to 123), and when an input is made to select the work start positions (131 to 133) on the work target fields (121 to 123), a vehicle body (1a) is guided along the work routes (141 to 143) on the basis of the work contents and the work routes (141 to 143) corresponding to the selected work start positions (131 to 133) selected from the registered work data, thereby enabling automatic selection of the route corresponding to the work on the actual field.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] This invention relates to a work vehicle, and more particularly to a work vehicle that can be guided along a work route and travel automatically or manually.

Background Art

[0002] There is known a technique of creating and registering routes for different operations in a field map, selecting a route to be executed from the registered routes, and performing operations (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 technology, when different operations are performed on one field map, it is assumed that one operation travels through the entire field along one route (a series of routes). Therefore, the entrances and exits of the field are common, and a plurality of routes with different numbers of circuits on the outer periphery, numbers of round trips on a linear round-trip route, etc. are created for each width of the work machine. However, in an actual field, in a large field, the work may not be completed in one day, or depending on the type of crop to be planted, only a part of the field may be used. Therefore, the conventional technology has a problem that it cannot cope with the usage situation in an actual field.

[0005] An object of the present invention is to enable automatic selection of a route according to the work in an actual field.

Means for Solving the Problems

[0006] The above problems of the present invention are solved by the following means. The invention according to claim 1 comprises a vehicle body (1a) and a working machine (18) supported by the vehicle body (1a) and performing work on a farm field, and work data associating the work content, work start positions (131 to 133), and work routes (141 to 143) in the farm fields (121 to 123) are registered in plural for one farm field (121 to 123). When an input for selecting a work start position (131 to 133) in the farm field (121 to 123) to be worked on is given, based on the work content and the work route (141 to 143) corresponding to the selected work start position (131 to 133) from the registered work data, the vehicle body (1a) is guided along the work route (141 to 143). A work vehicle characterized by this.

[0007] The invention according to claim 2 comprises a positioning means (212) for measuring the current position of the vehicle body (1a), and a control means (200) for automatically running the vehicle body (1a) along a guiding route for guiding the vehicle body (1a) to a selected work start position (131 to 133) based on the measurement result by the positioning means (212). The work vehicle according to claim 1, characterized by this.

[0008] The invention according to claim 3 comprises a control means (200) for automatically running the vehicle body (1a) from the straight route (142b) to the peripheral route (142a) with respect to the work route (142) having a peripheral route (142a) for running while working along the outer edge of the farm field (121 to 123) and a straight route (142b) set in parallel in the area inside the peripheral route (142a). The work vehicle according to claim 1, characterized by this.

[0009] The invention according to claim 4 is characterized in that the work data includes a traveling speed during work and a working speed of the working machine (18), and during automatic running, it is controlled at the traveling speed and working speed of the work data, and the traveling speed and working speed can be individually set in a predetermined area. The work vehicle according to claim 1, characterized by this.

[0010] The invention according to claim 5 is provided with a drive source (4) for running the vehicle body (1a) and operating the work implement (18), and when the sum of the first power required for the running speed and the second power required for the working speed reaches a predetermined value, the running speed is decelerated. It is a work vehicle according to claim 4, characterized by this.

[0011] The invention according to claim 6 is provided with an obstacle detection means (216) for detecting an obstacle (300), and a steering operation for avoiding the obstacle (300) is registered according to the widths of a plurality of types of the work implements (18). Based on the position of the obstacle (300) with respect to the vehicle body (1a) and the width of the work implement (18) supported by the vehicle body (1a), a control means (200) for selecting a steering operation for avoiding the obstacle (300) from the registered steering operations is provided. It is a work vehicle according to claim 1, characterized by this.

Effects of the Invention

[0012] According to the invention described in claim 1, work data associating the work content, work start positions (131 - 133), and work routes (141 - 143) in the fields (121 - 123) are registered in plurality for one field (121 - 123). When an input for selecting a work start position (131 - 133) in the work target field (121 - 123) is given, based on the work content and work route (141 - 143) corresponding to the selected work start position (131 - 133) from the registered work data, by guiding the vehicle body (1a) along the work route (141 - 143), a route corresponding to the work in the actual field can be automatically selected.

[0013] According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, by automatically running the vehicle body (1a) along the guiding route based on the measurement result by the positioning means (212) to the selected work start position (131 - 133), it is possible to efficiently move to the work start position (131 - 133) and start the work.

[0014] According to the invention described in claim 3, in addition to the effects of the invention described in claim 1, by automatically driving the vehicle body (1a) from the straight path (142b) to the circumferential path (142a), it is possible to smoothly shift to the circumferential path (142a), and the working efficiency is improved.

[0015] According to the invention described in claim 4, in addition to the effects of the invention described in claim 1, during automatic driving, it is controlled at the traveling speed and working speed of the working data, and in a predetermined area, the traveling speed and working speed can be individually set, so that it is possible to respond to individual situations in the predetermined area, and in other areas, it is possible to work at the traveling speed and working speed without individually setting with the working data.

[0016] According to the invention described in claim 5, in addition to the effects of the invention described in claim 4, when the sum value of the first power required for the traveling speed and the second power required for the working speed reaches a predetermined value, by decelerating the traveling speed, it is possible to suppress the overload and damage of the drive source (4), and it is possible to suppress the incompleteness of the work compared with the case of decelerating the working speed.

[0017] According to the invention described in claim 6, in addition to the effects of the invention described in claim 1, by selecting the steering operation for avoiding the obstacle (300) from the registered steering operations, the non-processability is reduced compared with the case of discriminating the steering operation each time.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 9

DETAILED DESCRIPTION OF THE INVENTION

[0019] FIG. 1 is an explanatory diagram of a tractor as an example of a work vehicle in the embodiment, showing a state where the work machine has descended to the height at which it performs work. FIG. 2 is an explanatory view of a tractor as an example of the work vehicle according to the embodiment, and is an explanatory view of a state in which the work implement is raised. In FIGS. 1 and 2, a tillage tractor 1 as an example of the work vehicle of the present invention includes front wheels 2, 2 and rear wheels 3, 3 at the front and rear of a traveling vehicle body (an example of a vehicle main body) 1a. A traveling motor (an example of a drive source) 4 is mounted inside a bonnet 6 at the front of the traveling vehicle body 1a. The rotational power of the traveling motor 4 is appropriately decelerated by a speed change device in a transmission case 5 and is configured to be transmitted to the front wheels 2, 2 and the rear wheels 3, 3. Further, at the rear of the tractor 1, a work implement such as a tiller 18 for tilling the ground (field) behind the tractor 1 is attached, and power is transmitted via a PTO shaft 9 to drive the work implement. In this specification, the left and right sides are referred to as the left side and the right side, respectively, in 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.

[0020] An operator's seat 8 is disposed at an upper position of the transmission case 5 on the upper part 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. Further, 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 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.

[0021] In FIG. 1, a hydraulic cylinder case 14 is provided above the rear of the transmission case 5. Lift arms 15, 15 are pivotally attached to both the left and right sides of the hydraulic cylinder case 14 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 tiller 18 as an example of a work implement is connected to the rear of the lower links 16, 16.

[0022] When hydraulic oil is supplied to the hydraulic cylinder 14a housed in the hydraulic cylinder case 14, the lift arms 15, 15 are rotated to the ascending side, and the work implement (cultivator) 18 is lifted via the lift rod 17, the lower link 16, etc. Conversely, when the hydraulic oil in the hydraulic cylinder 14a is discharged into the transmission case 5 that also serves as a hydraulic tank, the lift arms 15, 15 descend. Note that the work implement attached to the rear part of the traveling vehicle body 1a, that is, the work implement to which the drive is transmitted from the PTO shaft 9, is not limited to the rotary tilling device for agricultural work, and there are work implements such as a plow, a seeding machine, a seedling transplanter, a fertilizer spreader, and a chemical sprayer.

[0023] (Description of the control unit) FIG. 3 is a functional block diagram of the control unit of the embodiment. Note that in the block diagram of FIG. 3, the illustration and description are omitted for elements not related to the description of the embodiment of the present invention. In the agricultural work support system of the embodiment, the tractor 1 is configured to be able to transmit and receive information to and from a server 101 as an example of an information processing device and a tablet terminal 151 as an example of a terminal via a communication line 100. The communication line 100 is preferably performed by wireless communication such as a mobile phone line or a wireless LAN line, but can also be a wired communication.

[0024] (Description of the control unit of the server) The server 101 is composed of an information processing device, a so-called computer device. The control unit 110 of the server 101 can realize various functions by executing programs stored in a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The control unit 110 of the server 101 has the following functional means (functional modules) 111 to 116.

[0025] FIG. 4 is an explanatory diagram of an example of work data of the embodiment. FIG. 4(A) is an explanatory diagram of field information, and FIG. 4(B) is an explanatory diagram of an example of a work start position associated with one field. The work data storage means 111 stores work data in which the work content, work start position, and work route in the field are associated with each other. The work data storage means 111 in the embodiment stores (registers) field identification information (field 121, field 122, field 123, ... etc.) as work data (see Fig. 4(A)). The field identification information also includes the position information (latitude, longitude, altitude, etc.) of each field. Further, in the embodiment, work start positions 131, 132, 133 in each field are registered as work data (see Fig. 4(B)). In the embodiment, as an example, for the first field 121 shown in Fig. 4(A), three work start positions 131 to 133 are registered as shown in Fig. 4(B).

[0026] Note that the work start positions 131, 132, 133 are preset according to the input from the display panel of the tablet terminal 151 or the traveling vehicle body 1a. It is also possible for the user to manually operate the tractor 1 to move the tractor 1 and register the position where the tractor 1 has moved as the work start positions 131 to 133. Note that the work start positions 131 to 133 are not limited to the positions at the edges or corners of the field, and can be set at any position such as the central part of the fields 121 to 123. Therefore, it is also possible to divide the fields 121 to 123 into a plurality according to the daily work standard, and register a plurality of work start positions 131 to 133 according to each divided area.

[0027] Fig. 5 is an explanatory diagram of the work range in the embodiment. Fig. 5(A) is an explanatory diagram when almost the entire field is the work range, and Fig. 5(B) is an explanatory diagram when about half of the field is the work range. In the embodiment, a work range is registered corresponding to (associated with) each of the work start positions 131 to 133. In Fig. 5, as an example, for the work start position 131, a first work range 136 corresponding to almost the entire field 121 and a second work range 137 corresponding to almost half of the field are registered.

[0028] FIG. 6 is an explanatory diagram of an example of a work route according to the embodiment. FIG. 6(A) is an explanatory diagram of a work route in which almost the entire field reciprocates along a straight route, FIG. 6(B) is an explanatory diagram of a work route having a circumferential route, and FIG. 6(C) is an explanatory diagram of a work route in which about half of the field reciprocates along a straight route. Furthermore, in the embodiment, work routes 141 to 143 are registered as work data. In the embodiment, as an example, as shown in FIGS. 6(A) and 6(B), work routes 141 and 142 are registered in association with the first work range 136, and as shown in FIG. 6(C), work route 143 is registered in association with the second work range 137. That is, work routes 141 to 143 are registered indirectly corresponding to (associated with) work start positions 131 to 133 via work ranges 136 and 137.

[0029] FIG. 7 is an explanatory diagram of the types of crops according to the embodiment. FIG. 7(A) is an explanatory diagram of the types of crops associated with the work route of FIG. 6(A), FIG. 7(B) is an explanatory diagram of the types of crops associated with the work route of FIG. 6(B), and FIG. 7(C) is an explanatory diagram of the types of crops associated with the work route of FIG. 6(C). Also, in the embodiment, the types of crops (such as rice, wheat, and forage) to be planted (work targets) are registered as work data. The types of crops in the embodiment are registered in association with work routes 141 to 143. That is, the types of crops are registered indirectly corresponding to (associated with) work start positions 131 to 133 via work routes 141 to 143. In the embodiment, as an example, "rice" is registered in association with work routes 141 and 142 (see FIGS. 7(A) and 7(B)), and "wheat" and "forage" are registered in association with work route 143 (see FIG. 7(C)).

[0030] FIG. 8 is an explanatory diagram of the types of work machines in the embodiment. FIG. 8(A) is an explanatory diagram of the types of work machines associated with the crop types in FIG. 7(A), FIG. 8(B) is an explanatory diagram of the types of work machines associated with the crop types in FIG. 7(B), FIG. 8(C) is an explanatory diagram of the types of work machines associated with the crop type "wheat" in FIG. 7(C), and FIG. 8(D) is an explanatory diagram of the types of work machines associated with the crop type "forage grass" in FIG. 7(C). Furthermore, in the embodiment, as work data, the types of work machines used (such as rice transplanters, seeders, fertilizer spreaders, cultivators, weeders, lawn mowers, etc.) are registered. The types of work machines in the embodiment are registered in association with the types of crops. That is, the types of work machines are indirectly registered corresponding to (associated with) the work start positions 131 to 133 via the types of crops. In the embodiment, as an example, for "rice" in the work route 141, a "cultivator" and a "plow" are registered in association (see FIG. 8(A)). For "rice" in the work route 142, a "rice transplanter", a "pesticide sprayer", a "harvester", etc. are registered in association (see FIG. 8(B)). For "wheat" in the work route 143, a "seeder", a "wheat roller", a "harvester", etc. are registered in association (see FIG. 8(C)). For "forage grass" in the work route 143, a "lawn mower (mower)", a "rake", a "baler (roll baler)", etc. are registered in association (see FIG. 8(D)).

[0031] Therefore, in the embodiment, for the work start positions 131 to 133, the work ranges 136, 137, the work routes 141 to 143, the types of crops, and the types of work machines are registered in association in a tree structure. And by selecting the work start positions 131 to 133, the work ranges 136, 137, the work routes 141 to 143, the types of crops, and the types of work machines in this order, the work content is selected. Also, in the embodiment, for each of the work contents after selection, the traveling speed of the traveling vehicle body 1a during work and the work speed of the work machine 18 during work (the rotation speed of the PTO shaft 9) are also registered in association. That is, the traveling speed and the work speed are also indirectly registered in association with the work start positions 131 to 133.

[0032] In the embodiment, after selecting the work start positions 131 to 133, an example of selecting three items including the work ranges 136 and 137, the work routes 141 to 143, the type of crop, and the type of work machine is illustrated, but it is not limited thereto. For example, the number of selection items may be less than two or more than four instead of three. Therefore, it is also possible to register one work range, work route, type of crop, and type of work machine for one work start position 131 to 133, and it is also possible to automatically select the work range, work route, type of crop, type of work machine, traveling speed, work speed, etc. only by selecting the work start positions 131 to 133. In addition, for one work start position 131 to 133, the time when the work is performed (such as "April to May" or "October to November") is registered in association, and one work range, work route, type of crop, type of work machine, etc. are registered in association with the time when the work is performed (working time). By doing so, it is possible to obtain the working day from the clock and automatically select the work range etc. associated with the working time only by selecting the work start positions 131 to 133.

[0033] Also, it is possible to store the frequencies and histories of the selections of the work start positions 131 to 133, the work ranges 136 and 137, the work routes 141 to 143, the type of crop, and the type of work machine, and change the display so that those with higher frequencies come to the top of the selection options. Also, when only one type of selection option is registered or when a specific selection option has been continuously selected a certain number of times, it is also possible to omit the selection of that option. For example, if the work route 141 has been selected 10 times in a row after the selection of the work start position 131, when the work start position 131 is selected next time, the work route 141 can be automatically selected, the selection options of the work routes 141 to 143 are not displayed, and the selection options of the type of crop are displayed.

[0034] The working routes 141 to 143 of the embodiments have routes registered according to the type of the working machine 18 (width L0 of the working machine 18), the working content (cultivation, seeding, fertilization, etc.), the amount of overlap of operations such as cultivation, and the like. It is possible to register and store the working routes 141 to 143 created manually by the user, and it is also possible to automatically create, register, and store them from the setting information of the working start positions 131 to 133 and the working range. In addition, it is also possible for the user to store the travel history while actually running the tractor 1 in the field, and register the working start positions 131 to 133 and the working routes 141 to 143 from the travel history.

[0035] Furthermore, when the user works manually, the work history is constantly acquired, and the frequently used working start positions 131 to 133 and working routes 141 to 143 are calculated, estimated by machine learning from the accumulated work history, and the calculated working start positions 131 to 133 and working routes 141 to 143 can also be registered. Also, in the field, if there are obstacles such as a shed in the field, or a supply position for replenishing materials such as fuel, seedlings, chemicals, and fertilizers is set, and a specific area where work cannot be done is known in advance, it is preferable to register the specific area, generate and register the working routes 141 to 143 that avoid the specific area.

[0036] Furthermore, the working paths 141 to 143 can also be created based on, for example, the working path and driving history during transplantation work, for the working path and driving history during management work (control work). That is, depending on the differences in the width of the working machine 18 during transplantation and during management work, the difference in the number of working rows, the offset amount (offset amount) in the vehicle width direction with respect to the center of the traveling vehicle body 1a of the working machine 18, the difference in the turning radius of the towed working machine 18, etc., it is also possible to generate the working path during management work from the working path during transplantation work. In addition, due to relationships such as the turning radius, when reverse steering such as switching is necessary, it is also possible to generate the working paths 141 to 143 from the beginning without using the information during transplantation, or to use the mode of using the path that requires reverse steering. Therefore, it is preferable to reflect and utilize the information of the work performed in spring in the work performed in summer and autumn.

[0037] Also, in the embodiment, as the working paths 141 to 143, there is a surrounding path 142a that travels while working along the outer edges of the fields 121 to 123, a straight path 142b set in parallel in the area inside the surrounding path 142a, and a turning path 142c that connects adjacent straight paths 142b (see FIG. 6(B)), and working paths 141 and 143 that do not have the surrounding path 142a are registered (see FIGS. 6(A) and 6(C)). In the working path 142 having the surrounding path 142a, the end of the straight path 142b is the start of the surrounding path 142a, and when the work is completed on the straight path 142b, it can automatically shift to the surrounding path 142a. It is desirable that the end of the surrounding path 142a is the entrance / exit of the field, but it is also possible to set it at a position other than the entrance / exit. When the ends of the working paths 141 to 143 do not coincide with the entrance / exit of the field, a post-work guiding path for guiding the tractor 1 from the ends of the working paths 141 to 143 to the entrance / exit of the field is required. The number of times the surrounding path 142a circles along the outer edge and the lengths of the straight paths 141b to 143b are set to appropriate numbers of circles and lengths according to the width of the working machine 18, the turning radius, the work content, etc. Therefore, the position where the shift from the straight path 142b to the surrounding path 142a occurs is also set to a distance from the outer edge (departure distance) corresponding to the width of the working machine 18 and the number of circles.

[0038] Incidentally, the portion of the surrounding path 142a (the headland area) and the straight paths 141b to 143b can be registered as data of one working path 141 to 143, or can be registered as separate path data. By registering them separately, it becomes easier for the user to confirm and register only the headland area or only the area of the straight paths 141b to 143b when desired.

[0039] The selection information transmission / reception means 112 transmits and receives selection information regarding work data to and from the tablet terminal 151. In the embodiment, when work selection is started on the tablet terminal 151, a transmission request for field information is made, and the identification information of the field is transmitted to the tablet terminal 151. Then, when the selection result of the field is transmitted from the tablet terminal 151, the information of the work start positions 131 to 133 associated with the selected field is transmitted to the tablet terminal 151. When the selection result of the work start positions 131 to 133 is transmitted from the tablet terminal 151, the information of the work ranges 136, 137 associated with the selected work start positions 131 to 133 is transmitted to the tablet terminal 151. When the selection result of the work ranges 136, 137 is transmitted from the tablet terminal 151, the information of the work paths 141 to 143 associated with the selected work ranges 136, 137 is transmitted to the tablet terminal 151. When the selection result of the work paths 141 to 143 is transmitted from the tablet terminal 151, the information of the crop types associated with the selected work paths 141 to 143 is transmitted to the tablet terminal 151. When the selection result of the crop types is transmitted from the tablet terminal 151, the information of the types of work machines associated with the selected crop types is transmitted to the tablet terminal 151. Then, the selection result of the type of work machine is received from the tablet terminal 151. In the embodiment, an example is given of a mode in which data on the work start positions 131 to 133 and data on the work content (work ranges 136, 137, work routes 141 to 143, crop types, work machine types, traveling speed, work speed, etc.) are transmitted and received each time. However, the present invention is not limited to this. When there is a margin in the communication speed, communication bandwidth, storage capacity on the tablet terminal 151 side, etc., it is also possible to adopt a mode in which data on the work start positions 131 to 133 and the work content are transmitted simultaneously.

[0040] The work content determination means 113 determines the work content (work ranges 136, 137, work routes 141 to 143, etc.) according to the selection result received from the tablet terminal 151. The inter-field movement route creation means 114 creates an inter-field movement route, which is a route for driving the tractor 1 toward the entrances and exits 126 of the fields 121 to 123, based on the selection results of the fields 121 to 123 on the tablet terminal 151. The inter-field movement route automatically generates a route for moving from the current position of the tractor 1 to the entrance and exit 126 of the selected field 121 via a road or a farm road. Note that since the method of creating the inter-field movement route itself can use, for example, a conventionally known car navigation technology, a detailed description thereof is omitted. When a plurality of tractors 1 are used, it is preferable that in the tractor 1 that starts moving between fields, the nearest unworked field is automatically selected as the selected field, and an inter-field movement route to the selected field is generated. Note that it is also possible to present the nearest unworked field to the user and prompt manual selection and confirmation.

[0041] The guidance route generation means 115 creates a guidance route 127, which is a route for driving the tractor 1 from the entrance and exit 126 of the selected field 121 to the work start positions 131 to 133 selected on the tablet terminal 151. When the ends of the work routes 141 to 143 do not coincide with the entrance and exit 126 of the selected field 121, a post-work guidance route 128 is also created. Since the method of creating the guidance routes 127 and 128 itself is also conventionally known, a detailed description thereof is omitted.

[0042] The work data distribution means 116 distributes the fields 121 to 123 selected by the tablet terminal 151, the work start positions 131 to 133, and the work content (work ranges 136, 137, work routes 141 to 143, etc.) as work data to the tractor 1 that performs the work. The work data distribution means 116 of the embodiment distributes, in addition to the work data, the information on the inter-field movement routes and the guidance routes 127, 128 created by the server 101. In the embodiment, the information on the determined field 121, the work start positions 131 to 133, the work content, the inter-field movement routes, and the guidance routes 127, 128 is also distributed to the tablet terminal 151 so that the user can confirm it on the tablet terminal 151.

[0043] (Description of the control unit of the tablet terminal) The tablet terminal 151 is an example of a display unit and has a touch panel 152 as an example of an input unit and input buttons 153. The tablet terminal 151 has a built-in control unit (control means) 160 that controls each function. The control unit 160 is configured by an information processing device, a so-called computer device. Therefore, the control unit 160 can realize various functions by executing programs stored in a ROM (Read Only Memory), a RAM (Random Access Memory), etc.

[0044] The work selection means 161 of the tablet terminal 151 displays an image for the user to select the work to be performed by the tractor 1 on the touch panel 152 and accepts the input of the selection. In the field selection means 161a of the work selection means 161 of the embodiment, when the selection of the work is started, it communicates with the server 101 to receive the identification information of the fields 121 to 123 and displays it on the touch panel 152 (see Fig. 4(A)). Then, when any one of the fields 121 to 123 is selected based on the input to the touch panel 152, the selection result of the fields 121 to 123 is transmitted to the server 101.

[0045] The start position selection means 161b of the work selection means 161 receives the information of the work start positions 131 to 133 registered in the selected field 121 from the server 101 and displays it on the touch panel 152 (see Fig. 4(B)). Then, when any one of the work start positions 131 to 133 is selected based on the input to the touch panel 152, the selection result of the work start positions 131 to 133 is transmitted to the server 101.

[0046] The work range selection means 161c of the work selection means 161 receives the data of the work ranges 136, 137 registered in association with the selected work start positions 131 to 133 from the server 101 and displays it on the touch panel 152 (see Figs. 5(A) to (C)). Then, when the work ranges 136, 137 are selected based on the input to the touch panel 152, the selection result of the work ranges 136, 137 is transmitted to the server 101. The work path selection means 161d receives the data of the work paths 141 to 143 registered in association with the selected work ranges 136, 137 from the server 101 and displays it on the touch panel 152 (see Fig. 6). Then, when the work paths 141 to 143 are selected based on the input to the touch panel 152, the selection result of the work paths 141 to 143 is transmitted to the server 101.

[0047] The crop type selection means 161e receives the data of the crop types registered in association with the selected work paths 141 to 143 from the server 101 and displays it on the touch panel 152 (see Fig. 7). Then, when the crop type is selected based on the input to the touch panel 152, the selection result of the crop type is transmitted to the server 101. The work machine type selection means 161f receives the data of the types of work machines registered in association with the selected crop types from the server 101 and displays it on the touch panel 152 (see Fig. 8). Then, when the type of work machine is selected based on the input to the touch panel 152, the selection result of the type of work machine is transmitted to the server 101. The work content display means 162 displays the information regarding the work content of the tractor 1 distributed from the work data distribution means 116 of the server 101 on the touch panel 152.

[0048] Note that by incorporating (installing) an application program including the functions of the work selection means 161 and the work content display means 162 into the tablet terminal 151, it is also possible to control the tractor 1 via wireless communication, give work instructions, perform an emergency stop, change the traveling route, etc. Further, it is also possible to display the current position of the tractor 1, the work status, the remaining amount of materials (such as seedlings, fertilizers, and chemicals) on the touch panel 152 of the tablet terminal 151 so that the user can confirm them.

[0049] (Explanation of the control unit of the work vehicle) In FIG. 3, the tractor 1 of the embodiment has a vehicle ECU 200 as an example of a control unit (control means) for controlling each function. The vehicle ECU 200 of the embodiment is configured by a small information processing device, a so-called microcomputer. Therefore, the vehicle ECU 200 can realize various functions by executing a program stored in a ROM or the like.

[0050] (Explanation of the input system) Signals from signal output elements such as a GNSS receiver (an example of a positioning device) 201, an inertial measurement device (an example of a positioning device) 202, an obstacle sensor 203, a communication module 204, and various other sensors are input to the vehicle ECU 200. The GNSS receiver 201 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 202 measures the acceleration in the three-axis directions of the traveling vehicle body 1a, thereby measuring the attitude of the traveling vehicle body 1a, that is, the inclination in the front-rear direction and the left-right direction.

[0051] The obstacle sensor 203 detects obstacles that impede the running of the traveling vehicle body 1a. As an example, the obstacle sensor 203 can use a lidar (LiDAR: Light Detection and Ranging, Laser Imaging Detection and Ranging) that measures the presence or absence of an obstacle and the distance to the obstacle based on the reflection of electromagnetic waves from the obstacle. In addition to lidar, a conventionally known obstacle detection mechanism such as analyzing an image captured by a camera to detect an obstacle can be adopted. The communication module 204 as an example of a communication device transmits and receives information to and from the server 101 and the tablet terminal 151.

[0052] (Description of the output system) The vehicle ECU 200 outputs control signals to the traveling motor 4, the steering wheel 10, the PTO shaft 9, the hydraulic cylinder 14a, the communication module 204, and other controlled elements. The traveling motor 4 as an example of a drive source controls the traveling speed of the traveling vehicle body 1a. The steering wheel 10 adjusts the direction of the front wheels 2, 2 to control (steer) the traveling direction of the traveling vehicle body 1a. The PTO shaft 9 controls the operation and stop of the work implement 18 (cultivator, seeder, fertilizer spreader, lawn mower, etc.) and the working speed by controlling the rotational speed. The hydraulic cylinder 14a raises and lowers the work implement 18.

[0053] The vehicle ECU 200 has the following functional means (functional modules) 211 to 217. The work data acquisition means 211 acquires the work data distributed from the server 101. The work data acquisition means 211 in the embodiment acquires work data such as the fields 121 to 123 where the tractor 1 performs work, the work start positions 131 to 133, the work routes 141 to 143, the traveling speed and the work implement speed, the movement route between fields, and the guidance route.

[0054] The positioning means 212 measures the current position of the tractor 1 from the measurement results of the GNSS receiver 201 and the inertial measurement unit 202. When the positioning means 212 in the embodiment is receiving radio waves from artificial satellites with the GNSS receiver 201, it corrects the positioning result by the GNSS method with the measurement result of the inertial measurement unit 202 to improve the accuracy. When the radio waves from artificial satellites cannot be received, it measures (estimates) the current position of the tractor 1 based on the traveling direction measured by the inertial measurement unit 202 and the traveling distance from the rotation speeds of the wheels 2 and 3 from the position at the most recent radio wave reception.

[0055] The traveling control means 213 controls the traveling, stopping, and traveling speed of the tractor 1 via the traveling motor 4. The traveling control means 213 in the embodiment, during automatic traveling, automatically travels the tractor 1 along a route (inter-field movement route, guiding routes 127 and 128, working routes 141 to 143) according to the current position measured by the positioning means 212 based on the work data acquired by the work data acquisition means 211. When the tractor 1 is outside the field, until it reaches the entrance / exit 126 of the selected field 121, the tractor 1 is automatically traveled along the inter-field movement route based on the current position measured by the positioning means 212. Also, from the entrance / exit 126 of the selected field 121 to the work start positions 131 to 133, the tractor 1 is automatically traveled along the guiding route 127 based on the current position measured by the positioning means 212.

[0056] After the work start positions 131 to 133, the tractor 1 is automatically traveled along the working routes 141 to 143 based on the current position measured by the positioning means 212. When the work is completed after traveling to the end of the working routes 141 to 143, it is desirable to transmit the work completion information to the server 101 and the tablet terminal 151, update the work history of the server 101, and make it viewable on the tablet terminal 151. Note that the work completion information preferably includes work-related information such as the amount of materials used, fuel consumption, harvest amount (transplanting amount), and work time and is recorded by the server 101. When the current position of the tractor 1 measured by the positioning means 212 is outside the field while the tractor 1 is traveling along the working paths 141 to 143, it is determined that there is a possibility of deviating from the fields 121 to 123, and an emergency stop is performed.

[0057] In the traveling control means 213 of the embodiment, on the working paths 141 to 143, the tractor 1 is caused to travel at the traveling speed included in the working data. Also, on the inter-field movement paths and the guiding paths 127 and 128, the tractor is caused to travel at the set maximum speed. Further, it is preferable from the viewpoints of work efficiency improvement and time shortening that the traveling speed during work is also set to the maximum speed that can be set while performing the work. In addition, the traveling control means 213 of the embodiment controls traveling, stopping, and traveling speed according to the operations of the user's accelerator pedal 13 and brake pedal 12 during manual traveling, and displays the paths (inter-field movement paths, guiding paths 127 and 128, working paths 141 to 143) on the display panel to provide guidance (navigation).

[0058] In the embodiment, an aspect of automatically traveling on the inter-field movement paths and the guiding paths 127 and 128 is exemplified, but it is not limited thereto. For example, the user may manually travel on the inter-field movement paths and the guiding paths 127 and 128, and when moving to the work start positions 131 to 133, automatically start automatic traveling along the working paths 141 to 143. At this time, when reaching the work start positions 131 to 133, it is also possible to display the automatically set working paths 141 to 143 on the tablet terminal 151 and prompt the user to confirm whether to start automatic traveling on the automatically set working paths 141 to 143 or change the working paths 141 to 143. Alternatively, when prompting the user to confirm the start of automatic traveling when reaching the work start positions 131 to 133, if the start of automatic traveling is repeatedly selected, it is also possible to perform machine learning on the selection result and control to start automatic traveling only when reaching the work start positions 131 to 133 from the next time.

[0059] The work implement control means 214 controls the operation, stop, working speed of the work implement 18, and the raising and lowering of the work implement 18 via the PTO shaft 9 and the hydraulic cylinder 14a. In the embodiment, during automatic traveling, the work implement control means 214 operates the work implement 18 at the working speed based on the work data acquired by the work data acquisition means 211. Further, the work implement control means 214 lowers the work implement 18 during work, and raises the work implement 18 before the start of work, during turning, and after the end of work.

[0060] When the total value of the first power required for the traveling speed and the second power required for the working speed of the work implement 18 reaches a predetermined value (upper limit value), the power management means 215 manages the power so as to decelerate the traveling speed via the traveling control means 213. That is, in the power management means 215 of the embodiment, regarding the traveling and the work implement 18 that obtain power from the common traveling motor 4, in a situation where the total (sum value) of the power required for traveling and the work of the work implement 18 does not reach the upper limit value, while the work implement 18 performs work at the working speed, the traveling vehicle body 1a is controlled to travel at the maximum speed. And when the total (sum value) of the power required for traveling and the work of the work implement 18 reaches the upper limit value, it is controlled to prioritize the power of the work implement 18 and decelerate the traveling speed. Therefore, it is possible to suppress the traveling motor 4 from being overloaded, damaged, etc. due to insufficient power, and it is possible to suppress the work from becoming incomplete and inaccurate compared to the case where the working speed of the work implement 18 is decelerated.

[0061] In addition, when it is predicted in advance from the experience of the user, past work results, etc. that the sum value of the power will reach the upper limit value in a specific area of the fields 121 to 123 depending on the state of the soil of the fields 121 to 123, etc., in the area (predetermined area), it is also possible to set the traveling speed and the working speed individually to values different from the distributed traveling speed and working speed.

[0062] FIG. 9 is an explanatory diagram of an avoidance route according to an embodiment. FIG. 9(A) is an explanatory diagram of an example of an avoidance route when the width of the work implement is small. FIG. 9(B) is an explanatory diagram of an example of an avoidance route when the width of the work implement is larger than that in the case of FIG. 9(A). FIG. 9(C) is an explanatory diagram of an example of an avoidance route when the width of the work implement is larger than that in the case of FIG. 9(B). Based on the detection result of the obstacle sensor 203, the obstacle detection means 216 detects obstacles such as people, other work vehicles, utility poles, and abandoned materials in front of the traveling direction of the tractor 1. The avoidance route selection means 217 selects avoidance routes 301 to 303 for avoiding the obstacle 300 detected by the obstacle detection means 216. As shown in FIGS. 9(A) to 9(C), the avoidance route selection means 217 according to the embodiment registers avoidance routes 301 to 303 for performing a steering operation to avoid the obstacle 300 according to the widths L0 of a plurality of types of work implements 18. Then, based on the position of the obstacle 300 with respect to the traveling vehicle body 1a and the width L0 of the work implement 18 supported by the traveling vehicle body 1a, the avoidance routes 301 to 303 for performing a steering operation to avoid the obstacle 300 are selected from the registered avoidance routes 301 to 303.

[0063] Therefore, in the avoidance route selection means 217 according to the embodiment, appropriate avoidance routes 301 to 303 are selected according to the obstacle 300 and the work implement 18 of the tractor 1. Compared with the case where the avoidance routes 301 to 303 are created each time the obstacle 300 is detected, the processing load is reduced, and since the travel control is also in a specific pattern, it is expected to be easy and have fewer mistakes. In the embodiment, an example of registering and selecting the avoidance routes 301 to 303 corresponding to the steering operation is illustrated, but the present invention is not limited to this. For example, it is also possible to adopt a form in which information on the steering operation itself (for example, "perform a 5° right steering for 5 seconds, then perform a 5° left steering for 5 seconds, and then return to straight travel") is registered and selected. Also, in the avoidance routes 301 to 303, it is possible to set the traveling speed to be decelerated, or it is also possible to set the traveling speed to maintain the previous traveling speed.

[0064] In the tractor 1 of the embodiment having the above configuration, as work data, work routes 141 to 143 and work contents are registered in association with work start positions 131 to 133. When the work start positions 131 to 133 are selected, the registered work contents (work ranges 136, 137, work routes 141 to 143, etc.) are sequentially displayed. When each work content is selected, the work routes 141 to 143, etc. are automatically selected. Therefore, for example, for "rice" which is generally used for the entire area of the fields 121 to 123, and for field crops such as "wheat" and "forage grass" which may use only a part of the fields 121 to 123, by simply selecting the work ranges 136, 137, other work contents can also be easily selected and set. In addition, by registering different work start positions 131 to 133 corresponding to different crop types and work machines, it is also possible to automatically set the crop type and work machine only by selecting the work start positions 131 to 133. Also, for the same work (such as tilling), it is possible to separately register the work start positions 131 to 133 for the case of tilling the entire fields 121 to 123 and the case of tilling only a part of the fields 121 to 123. Just by the operator selecting the work start positions 131 to 133, it is possible to easily select and set the work route for the case of tilling the entire fields 121 to 123 (for example, work route 141) and the work route for the case of tilling only a part of the fields 121 to 123 (for example, work route 143).

[0065] In the prior art, when the work cannot be completed in one day or by sunset, or when only a part of the field needs to be worked on, it has been time-consuming to set the work end position in the middle of the field, create the work route to the work end position in the middle of the field, create the remaining work route from the work end position after the next day, and create the guidance route. In contrast, in the embodiment, the work routes 141 to 143 can be automatically set simply by sequentially selecting the work start positions 131 to 133, etc., reducing the labor, burden, and trouble of the operator. Also, since the registered work routes 141 to 143 are used and not created on the spot, the overall processing speed is also improved. Therefore, in the tractor 1 of the embodiment, according to the selection of the work start positions 131 to 133 and the work content, the routes (such as the work routes 141 to 143) corresponding to the work in the actual fields 121 to 123 are automatically selected.

Description of Reference Numerals

[0066] 1... Work vehicle, 1a... Vehicle body, 4... Drive source, 18... Working machine, 121~123... Fields, 131~133... Work start positions, 141~143... Work routes, 142a... Surrounding route, 142b... Straight route, 200... Control means, 212... Positioning means, 216... Obstacle detection means, 300... Obstacle.

Claims

1. A vehicle body (1a), and a working machine (18) supported by the vehicle body (1a) and performing work on a farm field, characterized in that a plurality of pieces of work data associating work contents, work start positions (131 - 133), and work routes (141 - 143) in farm fields (121 - 123) are registered for one farm field (121 - 123). When an input for selecting a work start position (131 - 133) in the farm field (121 - 123) to be worked on is given, based on the work content and the work route (141 - 143) corresponding to the selected work start position (131 - 133) from the registered work data, the vehicle body (1a) is guided along the work route (141 - 143). The work vehicle is characterized by the above.

2. Position measuring means (212) for measuring the current position of the vehicle body (1a), and control means (200) for automatically driving the vehicle body (1a) along a guiding route for guiding the vehicle body (1a) to a selected work start position (131 - 133) based on the measurement result by the position measuring means (212). The work vehicle according to claim 1, characterized by comprising the above.

3. For the work route (142) having a surrounding route (142a) that travels while working along the outer edge of the farm field (121 - 123) and a straight route (142b) set in parallel in the area inside the surrounding route (142a), control means (200) for automatically driving the vehicle body (1a) from the straight route (142b) to the surrounding route (142a). The work vehicle according to claim 1, characterized by comprising the above.

4. The work data includes a traveling speed during work and a working speed of the working machine (18). During automatic driving, it is controlled at the traveling speed and working speed of the work data, and in a predetermined area, the traveling speed and working speed can be set individually. The work vehicle according to claim 1, characterized by the above.

5. A drive source (4) for driving the vehicle body (1a) and operating the working machine (18), characterized in that when the sum value of the first power required for the traveling speed and the second power required for the working speed reaches a predetermined value, the traveling speed is decelerated. The work vehicle according to claim 4, characterized by the above.

6. Obstacle detection means (216) for detecting an obstacle (300), Register the steering operation for avoiding the obstacle (300) according to the widths of the plurality of types of the work implement (18), and based on the position of the obstacle (300) relative to the vehicle body (1a) and the width of the work implement (18) supported by the vehicle body (1a), a control means (200) that selects the steering operation for avoiding the obstacle (300) from the registered steering operations; The work vehicle according to claim 1, characterized by comprising the above.

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