Work vehicle

Abstract

To enable a state of a field generated by traveling of a work vehicle to be available in a work at the next and subsequent times.SOLUTION: By registering information on an actuation of a brake device (203) at the time of traveling of a vehicle body (1a), information on steering detected by a steering angle detection member (SN1), and information on operation of a switching member (211) in association with a position of a vehicle body (1a) of map information on a field, a state of the field generated by traveling of a work vehicle (1) can be made available in a work at the next and subsequent times.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] This invention relates to a work vehicle, and more particularly to a work vehicle that performs work in a field using map information.

Background Art

[0002] In a dump truck, there is known a technology that includes a GPS sensor and a steering angle sensor, and controls a traveling motor, a brake, and a steering motor based on map information and traveling route information to perform autonomous driving according to the map information and the traveling route information (Patent Document 1). In Patent Document 1, a traveling route is calculated so as to make a turn to enter the loading point of the loading area from the boundary information of the loading area in the mine in reverse.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The conventional technology is a technology related to a dump truck that transports ore from a mine, and is a technology for generating a turning traveling route to enter a vehicle in a specific direction with respect to a specific position (loading point). Therefore, since the turning of the dump truck hardly affects the road surface or the like, it is not used in the work process of other vehicles regarding traveling such as turning. In particular, consideration has not been given to the magnitude of the steering angle and the strength of the brake during turning.

[0005] An object of the present invention is to make it possible to use the state of the field generated by the traveling of the work vehicle in subsequent work.

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), a working machine (18) supported by the vehicle body (1a) for performing work on a farm field, a traveling device (2, 3) supported by the vehicle body (1a) for traveling the vehicle body (1a), a braking device (203) for braking the vehicle body (1a), a steering angle detecting member (SN1) for detecting the steering angle of the vehicle body (1a), a switching member (211) for switching between forward and reverse travel of the vehicle body (1a), and a positioning device (SN2) for measuring the position of the vehicle body (1a). Information regarding the operation of the braking device (203) during travel of the vehicle body (1a), steering information detected by the steering angle detecting member (SN1), and operation information of the switching member (211) are registered in correspondence with the position of the vehicle body (1a) in the map information of the farm field. This is a working vehicle characterized by this registration.

[0007] The invention according to claim 2 registers operation information in the map information as a turning operation when the braking device (203) operates, the steering is detected, and forward and reverse switching is performed by the switching member (211). When only the steering occurs, the operation information is registered in the map information as an obstacle avoidance operation. When only the braking device (203) operates, the operation information is registered in the map information as a farm field unevenness coping operation. The operation information is registered in the section corresponding to the position of the vehicle body (1a) within a section of a predetermined size predefined in the map information. This is the working vehicle according to claim 1, characterized by this registration.

[0008] The invention according to claim 3 determines that the section where the turning operation is performed is the edge of a ridge, and registers the steering start position, steering angle, braking pressure, braking position, forward and reverse switching position, and traveling speed of the turning operation as operation information of the turning operation in the map information. When an input for autonomously traveling the vehicle body (1a) is given, the vehicle body (1a) is turned based on the information of the turning operation. This is the working vehicle according to claim 2, characterized by this operation.

[0009] The invention according to claim 4 registers the type information of the working machine (18) and the height during operation of the working machine (18) in the map information, and when different working machines (18) are mounted, based on the type information and the height during operation of the working machine (18) registered in the map information, the height during operation of the mounted working machine (18) is derived, and the mounted working machine (18) is controlled. The working vehicle according to claim 1 is characterized by this.

Effect of the Invention

[0010] According to the invention described in claim 1, by registering information regarding the operation of the braking device (203) during the running of the vehicle body (1a), the steering information detected by the steering angle detection member (SN1), and the operation information of the switching member (211) corresponding to the position of the vehicle body (1a) in the map information of the field, the state of the field generated by the running of the working vehicle can be made available for subsequent operations.

[0011] According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, by registering the turning operation, the obstacle avoidance operation, and the unevenness coping operation in the sections of the map information, the positions where the turning operation etc. are performed in the field can be registered in sections and made available for subsequent operations.

[0012] According to the invention described in claim 3, in addition to the effect of the invention described in claim 2, by registering the steering start position, the steering angle, the braking pressure, the braking position, the forward / backward switching position, and the running speed of the turning operation in the map information, the registered information can be used to automatically perform turning in autonomous driving.

[0013] According to the invention described in claim 4, in addition to the effect of the invention described in claim 1, based on the type information and the height during operation of the working machine (18) registered in the map information, the height during operation of the mounted working machine (18) is derived, and by controlling the mounted working machine (18), even for a working machine (18) that has never been used, work can be performed using the information on the height during operation of the previously used working machine (18).

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

DETAILED DESCRIPTION OF THE INVENTION

[0015] 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 a 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 a working machine has risen. 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 as an example of a traveling device at the front and rear of a traveling vehicle body (an example of a vehicle body) 1a. Inside the bonnet 6 at the front of the traveling vehicle body 1a, a traveling motor 4 is mounted. 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, a working machine such as a tiller 18 for tilling the ground (field) behind the tractor 1 is attached to the rear part of the tractor 1, and power is transmitted via a PTO shaft 9 to drive the working machine. 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.

[0016] On the upper part of the traveling vehicle body 1a, a cabin 7 is supported. Inside the cabin 7, a driver's seat 8 is arranged at the upper position of the transmission case 5. In front of this driver's seat 8, a steering wheel 10, a parking brake (not shown), etc. are arranged. Also, in front of the driver's seat 8, a display panel (meter panel) such as a speedometer (not shown) and various operation switches (not shown) are arranged. At the lower front part of the driver's seat 8, traveling operation tools such as a brake pedal 12 and an accelerator pedal 13 are arranged.

[0017] In FIG. 1, a hydraulic cylinder case 14 is provided above the rear part of the transmission case 5. On both the left and right sides of this hydraulic cylinder case 14, lift arms 15, 15 are pivotally attached 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. A tiller 18, which is an example of a working machine, is connected to the rear parts of the lower links 16, 16.

[0018] When hydraulic oil is supplied to the hydraulic cylinder 14a housed in the hydraulic cylinder case 14, the lift arms 15, 15 are rotated upward, and the working machine (tiller) 18 rises via the lift rods 17, lower links 16, etc. Conversely, when the hydraulic oil in the hydraulic cylinder 14a is discharged into the transmission case 5 which also serves as a hydraulic tank, 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 9, is not limited to a rotary tilling device for agricultural work. There are working machines such as a plow, a seeding machine, a seedling transplanter, a fertilizer spreader, a chemical agent spreader, etc.

[0019] (Description of the control unit) FIG. 3 is a functional block diagram of the control unit 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. The tractor 1 of the embodiment is configured to be able to transmit and receive information to and from a distribution server 161 as an example of an information processing device and a tablet terminal 162 as an example of a terminal via a communication line 160. The communication line 160 is preferably implemented by wireless communication such as a mobile phone line or a wireless LAN line, but can also be a wired line.

[0020] FIG. 4 is an explanatory diagram of an example of the map information of the embodiment. The distribution server 161 stores map information of the farm field and information on the driving routes when work is performed. Then, the distribution server 161 can distribute map information of the farm field 300 and information on driving routes 301, 302, 303, 304, etc. to the tractor 1. Note that when information for each section 310, 311 of the farm field 300 is transmitted from the tractor 1 in association with (linked to) the map information, the distribution server 161 of the embodiment registers the received information. And at the time of distribution, the information associated with the map information is also transmitted together.

[0021] By installing (installing) a dedicated application program, the tablet terminal 162 can display farm field information, the driving routes 301 to 304 of the tractor 1, the status of the tractor 1 (such as the working status, the remaining fuel amount, the remaining material amount, etc.), control the tractor 1, and give instructions to start / stop autonomous driving.

[0022] (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.

[0023] The vehicle ECU 200 outputs signals to controlled elements (signal output elements) such as a communication unit 201 as an example of communication means, a vehicle meter panel 202 as an example of display means, a traveling motor 4 as an example of a traveling drive source, a vehicle brake 203 as an example of a braking device, a steering motor 204 as an example of a steering device, a forward / reverse clutch 205 as an example of a forward / reverse switching device, a hydraulic cylinder 14a as an example of a lifting device, and a PTO clutch 206.

[0024] The communication unit 201 communicates (transmits and receives information) with a distribution server 161 and a tablet terminal 162 via a communication line 160. The vehicle meter panel 202 displays information such as the traveling speed and engine speed of the tractor 1. The traveling motor 4 drives the wheels 2 and 3. The vehicle brake 203 brakes (applies the brake) the traveling of the tractor 1. The steering motor 204 rotates the steering wheel 10 to change the steering angle and steers the tractor 1. The forward / reverse clutch 205 switches between the forward and reverse of the tractor 1. The hydraulic cylinder 14a raises and lowers the working machine 18. The PTO clutch 206 switches between transmitting and non-transmitting the drive to the working machine 18.

[0025] In addition, signals are input to the vehicle ECU 200 from signal input elements such as the communication unit 201, a forward / reverse lever 211 as an example of a forward / reverse switching member, a steering angle sensor SN1 as an example of a steering angle detection member, a positioning device SN2, and other input switches (not shown). When the operator performs a forward or reverse input operation on the forward / reverse lever 211, a signal of the forward or reverse operation result is input to the vehicle ECU 200. The steering angle sensor SN1 detects the steering angle, which is the operation amount of the steering wheel 10 as an example of a steering member.

[0026] The positioning device SN2 includes a GNSS receiver SN2a and an inertial measurement unit (IMU) SN2b, and measures the current position of the tractor 1. The GNSS receiver SN2a receives positioning signals from artificial satellites using the GNSS (Global Navigation Satellite System) method and measures the current position of the tractor 1. The IMU (Inertial Measurement Unit) SN2b measures acceleration and angular velocity and measures the attitude of the tractor 1 (left and right inclinations and front and rear inclinations). Therefore, by correcting the measurement result of the GNSS receiver SN2a with the IMU SN2b, the positioning device SN2 can measure the current position with higher accuracy compared to the case of measuring the current position only by the GNSS method.

[0027] In addition, signals from sensors installed on the working machine 18 are also input to the vehicle ECU 200 according to the type of the working machine 18 mounted (cultivator, seedling planting device, chemical sprayer, seeder, plow, etc.). For example, when a cultivator is mounted as the working machine 18, a signal from a tillage height sensor SN3 that detects the height of the cultivator (working machine) 18 during operation, that is, the tillage depth, is input. Also, when a seedling planting device is mounted as the working machine 18, a signal from a planting depth sensor SN4 that detects the height of the seedling planting device during operation, that is, the planting depth, is input. Note that the height of the working machine 18 can also be measured using a sensor that measures the inclination angle of the lift arm 15. Note that the accuracy of the measured height of the working machine 18 can be improved by correcting the influence of the height and attitude of the tractor 1 from the measurement results of the GNSS receiver SN2a and the IMU SN2b. Also, the planting depth can be improved in accuracy by correcting it using the rotation angle of the float provided in the seedling planting device.

[0028] The vehicle ECU 200 of the embodiment has the following functional means (functional modules). The map information acquisition means 251 of the vehicle ECU 200 acquires the map information of the field where the tractor 1 performs work. The map information acquisition means 251 acquires the map information from the distribution server 161. When acquiring the map information, if there is information registered in association, it is acquired together. Therefore, if information such as the information of the travel routes 301 to 304, the information of the turning operation, the information of the obstacle avoidance operation, the information of the unevenness response, the steering start positions 302a and 303a, the steering angle, the braking amount (braking pressure), the braking position 304a, the forward / backward switching positions 302b and 302c, etc. is registered in association, these pieces of information are also acquired together.

[0029] The positioning means 252 measures the current position of the tractor 1 from the measurement result of the positioning device SN2. The steering angle detection means 253 detects the steering angle of the tractor 1 from the measurement result of the steering angle sensor SN1. The travel control means 254 controls the travel motor 4, the vehicle brake 203, the steering motor 204, the forward / backward clutch 205, etc. to control the travel of the tractor 1.

[0030] The travel speed control means 254a controls the rotation speed of the travel motor 4 to control the travel speed of the tractor 1. The travel speed control means 254a controls the travel speed according to the operation amount (depression amount) of the accelerator pedal 13 during manual travel. Also, the travel speed control means 254a controls the travel speed according to a predetermined travel speed (working speed or autonomous travel speed) during automatic travel. The braking control means 254b controls the vehicle brake 203 to perform braking on the tractor 1. The braking control means 254b controls the braking amount (strength of the brake) according to the operation amount (depression amount) of the brake pedal 12 during manual travel. Also, the braking control means 254b performs braking when the travel speed exceeds due to a downhill slope or the like or when the load on the travel motor 4 becomes overloaded according to a predetermined travel speed (working speed or autonomous travel speed) during automatic travel.

[0031] The steering control means 254c controls the steering motor 204 to steer the tractor 1. When the tractor is manually driven, the steering control means 254c controls the steering amount, that is, the steering amount of the front wheels 2, according to the operation amount of the steering wheel 10. Further, when the tractor is automatically driven, the steering control means 254c steers the tractor 1 so that it travels on the preset travel routes 301 to 304 based on the preset travel routes 301 to 304 and the measured current position of the tractor 1. Therefore, in the turning section 302 of the travel routes 301 to 304, the steering control means 254c steers along the travel route (turning route 302) to turn the tractor 1. Furthermore, when an obstacle is detected, or when it is determined in advance from the map information that an obstacle 306 exists in the traveling direction, the steering control means 254c of the embodiment steers to avoid the obstacle 306.

[0032] The forward / backward control means 254d controls the forward / backward clutch 205 to switch between the forward and backward movement of the tractor 1. When the tractor is manually driven, the forward / backward control means 254d switches the forward / backward clutch 205 to forward or backward according to the operation of the forward / backward lever 211. Further, when the tractor is automatically driven, when the tractor 1 reaches the preset switching positions 302b and 302c on the travel routes 301 to 304, the forward / backward control means 254d switches the forward / backward movement of the tractor 1. The work implement control means 255 includes a lifting control means 255a and an operation control means 255b, and controls the work implement 18 by controlling the hydraulic cylinder 14a and the PTO clutch 206. The lifting control means 255a controls the hydraulic cylinder 14a to raise and lower the work implement 18. The lifting control means 255a of the embodiment lowers the work implement 18 to a predetermined height during work, and raises the work implement 18 during non-work such as turning or traveling on the road.

[0033] The operation control means 255b controls the PTO clutch 206 to operate or stop the work implement 18. The operation control means 255b of the embodiment turns on the PTO clutch 206 to operate the work implement 18 during work, and turns off the PTO clutch 206 to stop the work implement 18 during non-work such as turning or traveling on the road. The braking amount detection means 256 detects the braking amount (braking strength, braking pressure) of the vehicle brake 203 controlled by the braking control means 254b.

[0034] The switching detection means 257 detects the switching operation of the tractor 1. The switching detection means 257 of the embodiment detects that a switching operation has been performed when the forward and reverse switching of the forward and reverse clutch 205 is performed within a predetermined time (for example, 3 minutes) during manual driving. Therefore, for example, when the switching from forward to reverse is performed and then the switching from reverse to forward is performed within 3 minutes, it is detected that a switching operation has been performed. Note that the determination of the switching operation is not limited to the case where it is performed within a predetermined time, and it is also possible to determine that a switching operation has been performed when the forward and reverse switching is performed within a predetermined distance.

[0035] The turning operation determination means 258 determines whether or not a turning operation for turning the tractor 1 has been performed. The turning operation determination means 258 of the embodiment determines that a turning operation has been performed when, during manual driving, the steering amount (steering angle) reaches a predetermined steering amount, and the braking amount reaches a predetermined braking amount, and a switching operation is detected (see path 302 in FIG. 4). Note that in the embodiment, a turn that does not include a switching operation is regarded as a turn with less field damage, and the turning operation determination means 258 determines a turn with large field damage. Therefore, when determining a turn with less field damage as well, for example, it is possible to adopt a mode of determination using only two parameters, i.e., the steering amount and the braking amount, or a mode of determination using only the steering amount. Note that the turning operation determination means 258 of the embodiment determines the section 311 where the turning operation has been performed as the edge of the ridge (311-1).

[0036] The obstacle avoidance operation determination means 259 determines whether or not an operation to avoid the obstacle 306 is performed by the tractor 1. The obstacle avoidance operation determination means 259 according to the embodiment determines that an obstacle avoidance operation in which steering is performed to avoid the obstacle 306 is performed when, during manual driving, the steering amount (steering angle) reaches a predetermined steering amount, the braking amount does not reach a predetermined braking amount, and no switching operation is detected (see the path 303 in FIG. 4). The unevenness corresponding operation determination means 260 determines whether or not an unevenness corresponding operation in which the tractor 1 passes through unevenness (local depressions and protrusions) in the field is performed. The unevenness corresponding operation determination means 260 according to the embodiment determines that an unevenness corresponding operation in which braking is performed due to a temporary increase in speed on a downhill slope after entering a depression or after crossing a protrusion is performed when, during manual driving, the steering amount does not reach a predetermined steering amount, the braking amount reaches a predetermined braking amount, and no switching operation is detected (see the path 304 in FIG. 4).

[0037] The section dividing means 261 divides the field 300 into predetermined sections (meshes) 310 in the map information. The section dividing means 261 according to the embodiment divides the field 300 into sections 310 of a predetermined size (width). The section dividing means 261 according to the embodiment registers information on the traveling speed and the height of the working machine 18 in association with the sections 310 in which no turning operation, obstacle avoidance operation, or unevenness corresponding operation is determined from the information on the current position of the tractor 1. Then, the section dividing means 261 according to the embodiment subdivides (quadruples in the embodiment as an example) the section 310 in the section 311 in which a turning operation (see the path 302), an obstacle avoidance operation (see the path 303), or an unevenness corresponding operation (see the path 304) is determined from the information on the current position of the tractor 1, and registers information on the turning operation and the like in association with the subdivided section 311 according to the current position information of the tractor 1 in addition to the traveling speed and the height of the working machine 18. The information on the turning operation and the like includes, in addition to the traveling speed, the steering start positions 302a, 303a, the steering angle, the braking position 304a, the braking amount, the forward / backward switching positions 302b, 302c, and the like.

[0038] In addition, in the embodiment, identification information indicating that the section 311 (311-1) where the turning operation has been performed is the section 311-1 at the edge of the ridge is also registered for the section 311 where the turning operation has been performed. Therefore, in the ridge where turning is performed, the subdivision of the section 310 is likely to occur, and particularly, in the corner portion of the farm field, the section 310 is likely to be subdivided. Thus, in the embodiment, information can be managed in the large section 310 in the portion where the farm field is not easily damaged, and in the ridge edge or the corner of the farm field 300 where the farm field 300 is easily damaged, information is managed in the subdivided section 311, and fine traveling control according to the situation of the farm field 300 can be performed, and the working accuracy can be improved.

[0039] The map information registration means 262 registers the information acquired during the traveling of the tractor 1 in the map information. The map information registration means 262 in the embodiment transmits the history information when the tractor 1 travels in the farm field 300, that is, the traveling routes 301 to 304, the traveling speed, the braking position 304a and the braking amount, the steering start positions 302a, 303a and the steering amount, the forward / backward switching positions 302b, 302c, the turning operation, the obstacle avoidance operation, the unevenness coping operation and other information to the distribution server 161 and registers it in the map information. At this time, each piece of information is registered in association with the information of the sections 310 and 311, and when the section 310 is subdivided, the information on the subdivision of the section 310 is also included in the registration. Further, in the map information registration means 262 of the embodiment, the type information for specifying the type of the working machine 18 (cultivator, seedling planting device, etc.) and the information on the height of the working machine 18 during the operation are also registered in association. The height of the working machine 18 can use the information measured by the sensor of the lift arm 15, the tillage height sensor SN3, the planting depth sensor SN4, etc.

[0040] Note that the information registered in association with the map information is not limited to the exemplified information and can be increased or decreased. For example, it is also possible to register in association with the growth status of seedlings, image information of the field, etc. In addition, for each section 310, 311 of the field 300, when the growth conditions (amounts of fertilizers and chemicals, etc.) and planting conditions (number of seedlings per plant, planting depth, etc.) are changed, the growth conditions and planting conditions can be associated with each section 310, 311, or information on the seedling boxes planted in the sections 310, 311 can be associated and registered. When a harvester is used as the working machine 18, it is also possible to register the crop yield and crop quality (taste, moisture content, protein content, etc.) in association with the sections 310, 311. In this case, from the growth conditions, planting conditions, and harvest results, it is easier for the user to confirm the growth conditions of the sections 310, 311 with good harvest results and can be utilized for work in the following year. Note that instead of the mode for the user to confirm, it is also possible to adopt a mode in which artificial intelligence performs machine learning and proposes to the user the growth conditions with good harvest results.

[0041] In addition, for example, it is also possible to register the value of the steering angle and the value of the braking amount (brake amount) itself, but it is also possible to register arbitrary parameters for the steering angle, such as the difference value with respect to straight-ahead, the ratio with respect to straight-ahead, the difference value with respect to the maximum steering angle, and the ratio with respect to the maximum steering angle. In addition, it is also possible to register the number of forward and backward movements.

[0042] FIG. 5 is an explanatory diagram of an example of the brake pressure map of the embodiment. In FIG. 5, it is also possible to adopt a mode of storing map information in a form such as map information (brake pressure map) associated only with braking amount information. In an example of the brake pressure map shown in FIG. 5, for each of the sections 310 and 311, it is also possible to adopt a mode of classifying and registering the measured brake pressure into three levels (high, medium, low). In FIG. 5, the brake pressure is high in the section 311 of the path 304 of the unevenness corresponding operation, medium in the section 311 of the turning operation path 302, and low in the other sections 310 and 311. Note that it is not limited to registration in three levels, and it is also possible to use four or more levels or two levels, or to register the brake pressure value itself in association with each of the sections 310 and 311. Similarly, it is also possible to use map information (steering angle map) associated only with steering angle information. Therefore, it is also possible to use map information associated with the distribution of the roughness of the field in which information such as turning operation, obstacle avoidance operation, and unevenness corresponding operation is integrated.

[0043] The autonomous driving control means 263 autonomously drives the tractor 1 based on the information of the travel routes 301 to 304 registered in association with the map information and the current position of the tractor 1. When an input to start autonomous driving is received from a switch in the cabin 7 of the tractor 1 or from the tablet terminal 162, the autonomous driving control means 263 performs work while autonomously driving the tractor 1 via the travel control means 254 and the work implement control means 255. When information such as a turning operation is registered in association with the map information of the distribution server 161, the autonomous driving control means 263 in the embodiment turns the tractor 1, performs an obstacle avoidance operation, or performs an unevenness corresponding operation during autonomous driving based on the information such as the turning operation.

[0044] The working implement height derivation means 264 derives the height of the working implement 18 when the work is being performed. When the height of the working implement 18 corresponding to the type of the working implement 18 mounted on the tractor 1 is registered in association with the map information, the working implement height derivation means 264 of the embodiment uses the registered information. On the other hand, when the height of the working implement 18 corresponding to the type of the working implement 18 mounted on the tractor 1 is not registered, if the information on the heights of different types of working implements 18 is registered in association with the map information, based on the registered height information and the information on the type of the working implement 18, the height of the working implement 18 mounted on the tractor 1 during operation is derived. As an example, when the tilling height of a tiller is registered and a transplanter is mounted on the tractor 1 as the working implement 18, the tilling height is converted into the planting depth to derive the height during operation with the transplanter. Note that the derivation of the planting depth from the tilling height can be derived in advance by experiments or the like. Therefore, even when using a type of working implement 18 that has never been used in that field before, if the working result (information on the height during operation) of the working implement 18 in the previous process is registered, autonomous driving is possible even with the working implement 18 used for the first time with the derived information.

[0045] In the tractor 1 of the embodiment having the above configuration, the braking amount, steering amount, and forward / backward switching information during the running of the tractor 1 are acquired and registered in association with the map information. When braking (applying brakes), steering, or forward / backward switching occurs, the field will be roughened or the soil will be piled up by the wheels 2 and 3. If the field becomes rough or the soil is uneven, it may have an adverse effect on the running or the operation of the working implement 18 in the next working process, or may have an adverse effect on the planting and growth of crops. In contrast, in the embodiment, the braking amount, steering amount, etc. are registered in the map information, and the state of the field (roughness of the field and unevenness of the soil) generated by the running of the work vehicle (tractor 1) is stored as information. Therefore, the information on the state of the field can be used for the next and subsequent works. For example, it is possible to use it for the next and subsequent works, such as adding a meticulous leveling work for the rough parts or the parts where the soil is uneven, or adjusting the speed during the next running for the parts that are rough and prone to slipping.

[0046] In addition, in the tractor 1 of the embodiment, turning operations, obstacle avoidance operations, and unevenness adaptation operations are discriminated and registered. Therefore, it is registered that there is a possibility that the field 300 may be rough during turning, obstacle avoidance, or unevenness adaptation. Also, the section 311-1 of the turning operation where the field 300 is most likely to become rough, the section 311-2 of obstacle avoidance where the field 300 is likely to become rough along the width direction of the tractor 1, and the section 311-3 of unevenness adaptation where the field 300 is likely to become rough along the traveling direction of the tractor 1 are registered as map information and can be used in subsequent operations.

[0047] Furthermore, in the tractor 1 of the embodiment, the information of the turning operation includes the steering start positions 302a, 303a, the steering angle, the braking pressure, the braking position 304a, the forward / backward switching positions 302b, 302c, and the traveling speed, and can be used during autonomous driving. Therefore, during autonomous driving, it is possible to automatically perform the same turning as the registered turning operation. Also, the information on the ridge where disturbances such as changes in slope and soil quality are more likely to occur than in other field areas can also be used for steering and braking in subsequent operations, such as reducing the speed at the ridge. Note that the discrimination and detection of the ridge are not limited to the discrimination based on the turning operation as in the embodiment. For example, it is also possible to detect the ridges of the field 300 from aerial photographs taken by a drone, an aircraft, a satellite, etc., and register the ridge information in the map information.

[0048] In addition, in the tractor 1 of the embodiment, the type of the working machine 18 and the height during work are also registered in association with the map information. When performing work with the same type of working machine 18, the registered information (past work information) can be used. And even for a working machine of a type that is used for the first time with a different working machine 18, it is possible to perform work while autonomously driving at the height during work derived by the working machine height derivation means 264.

Explanation of Reference Numerals

[0049] 1... Working vehicle, 1a... Vehicle body, 2, 3... Traveling device, 18... Working machine, 203... Braking device, 211... switching member, SN1... steering angle detection member, SN2... positioning device.

Claims

1. A vehicle body (1a), An implement (18) supported by the vehicle body (1a) and performing work on a field, A traveling device (2, 3) supported by the vehicle body (1a) and causing the vehicle body (1a) to travel, A braking device (203) for braking the vehicle body (1a), A steering angle detection member (SN1) for detecting the steering angle of the vehicle body (1a), A switching member (211) for switching between forward and reverse travel of the vehicle body (1a), A positioning device (SN2) for measuring the position of the vehicle body (1a), comprising registering information on the operation of the braking device (203) during travel of the vehicle body (1a), steering information detected by the steering angle detection member (SN1), and operation information of the switching member (211) in correspondence with the position of the vehicle body (1a) in the map information of the field. A work vehicle characterized by the above.

2. When the braking device (203) operates, the steering is detected, and forward / backward switching is performed by the switching member (211), operation information is registered in the map information as a turning operation, When only the steering is involved, operation information is registered in the map information as an obstacle avoidance operation, When only the braking device (203) operates, operation information is registered in the map information as a field unevenness coping operation, The operation information is registered in the section corresponding to the position of the vehicle body (1a) in a section of a predetermined size defined in the map information. The work vehicle according to claim 1, characterized by the above.

3. The section where the turning operation is performed is determined as a ridge edge, The steering start position, steering angle, braking pressure, braking position, forward / backward switching position, and traveling speed of the turning operation are registered in the map information as operation information of the turning operation. When an input for autonomously driving the vehicle body (1a) is received, the vehicle body (1a) is turned based on the information on the turning operation. The work vehicle according to claim 2, characterized in that.

4. The type information of the work implement (18) and the height of the work implement (18) during operation are registered in the map information. When different work implements (18) are mounted, based on the type information and the working height of the work implement (18) registered in the map information, the working height of the mounted work implement (18) is derived, and the mounted work implement (18) is controlled. The work vehicle according to claim 1, characterized in that.

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