Autonomous travel system and autonomous travel method

Abstract

To provide an autonomous travel system and an autonomous travel method capable of causing a work vehicle to appropriately perform autonomous travel in a headland region by creating an auxiliary line available as a path in the headland region.SOLUTION: An autonomous travel system includes a travel path creation part and a selection processing part. The travel path creation part creates a travel path including a plurality of linear paths and a turning path connecting the linear paths with each other for causing a work vehicle to perform autonomous travel so as to perform work in the inside of a peripheral edge of a field. After completion of autonomous travel based on the travel path, the selection processing unit allows a user to select whether to perform the work or finish the work in a headland for which the turning path has been created.SELECTED DRAWING: Figure 11

Description

Technical Field

[0001] The present invention mainly relates to an autonomous driving system and an autonomous driving method for driving a work vehicle equipped with a work implement along a route.

Background Art

[0002] A farm field may be divided into a work area where a work vehicle mainly travels straight to perform work, and a headland area around the work vehicle, for example, for turning the work vehicle. Patent Document 1 describes creating a route for autonomously driving a work vehicle in both this type of work area and headland area.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, Patent Document 1 does not describe in detail a specific method for creating or using a route for the headland area. Since the headland area has characteristics different from those of the work area, the route creation method or usage method in the work area cannot be simply applied.

[0005] The present invention has been made in view of the above circumstances, and its main object is to provide an autonomous driving system and an autonomous driving method capable of appropriately autonomously driving a work vehicle in a headland area by creating an auxiliary line that can be used as a route in the headland area.

Means for Solving the Problems

[0006] An autonomous driving system according to one aspect of the present invention includes a travel route creation unit and a selection processing unit. The travel route creation unit creates a travel route including a plurality of straight routes for causing a work vehicle to perform work by autonomously driving inside the periphery of a farm field and turning routes connecting the straight routes. The selection processing unit causes a user to select whether to perform work or end work on the headland where the turning route is created after completion of autonomous driving based on the travel route.

[0007] An autonomous driving method according to one aspect of the present invention creates a travel route including a plurality of straight routes for causing a work vehicle to perform work by autonomously driving inside the periphery of a farm field and turning routes connecting the straight routes, and causes a user to select whether to perform work or end work on the headland where the turning route is created after completion of autonomous driving based on the travel route.

Brief Description of the Drawings

[0008]

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Embodiments for Carrying Out the Invention

[0009] Next, an autonomous driving system which is an embodiment of the present invention will be described. The autonomous driving system autonomously drives one or a plurality of work vehicles in a farm field (travel area) to execute all or part of the work. In the present embodiment, a tractor will be described as an example of the work vehicle, but the work vehicle includes, in addition to tractors, rice transplanters, combines, civil engineering and construction work equipment, snow removal vehicles, etc., and also includes walking work machines in addition to ride-on work machines. In this specification, autonomous driving means that at least the steering is autonomously performed along a predetermined path by controlling the components related to driving provided in the tractor by a control unit (ECU) provided in the tractor. Also, in addition to steering, a configuration in which the vehicle speed or the work by the work machine is autonomously performed may be adopted. Autonomous driving includes the case where a person is on the tractor and the case where no person is on the tractor.

[0010] Next, the autonomous driving system 100 will be specifically described with reference to FIGS. 1 to 3. FIG. 1 is a side view showing the overall configuration of the tractor 1. FIG. 2 is a plan view of the tractor 1. FIG. 3 is a block diagram showing the main configuration of the control system of the autonomous driving system 100.

[0011] The tractor 1 shown in Fig. 1 is used in the autonomous driving system 100 and is operated by performing wireless communication with the wireless communication terminal 46. The tractor 1 includes a traveling body (vehicle body part) 2 capable of autonomously traveling in the field. A working machine 3 for performing, for example, farming operations is detachably attached to the traveling body 2.

[0012] Examples of this working machine 3 include various working machines such as a tiller, a plow, a fertilizer applicator, a lawn mower, and a seeder. The working machine 3 selected from these is attached to the traveling body 2. Figs. 1 and 2 show an example in which a tiller is attached as the working machine 3. In the tiller, tilling claws 3b are arranged inside a cover 3a, and the tilling field is tilled by rotating the tilling claws 3b around the vehicle width direction as the rotation center. Here, the width (length in the vehicle width direction) at which the working machine 3 performs work is referred to as the working width W1, and the length of the working machine 3 in the vehicle width direction is referred to as the working machine width W2. In the tiller having the shape shown in Fig. 2, the width of the tilling claws 3b corresponds to the working width W1, and the width of the cover 3a corresponds to the working machine width W2. In the tiller, since the tilling claws 3b are arranged inside the cover 3a, the working width W1 < the working machine width W2. However, for example, when a fertilizer applicator that sprays a chemical agent so as to spread in the width direction is attached as the working machine 3, the working width W1 > the working machine width W2 may occur. Thus, which of the working width W1 and the working machine width W2 is larger varies depending on the working machine 3 and the work content. Further, the traveling body 2 is configured to be able to change the height and posture of the attached working machine 3.

[0013] The configuration of the tractor 1 will be described in more detail with reference to Figs. 1 and 2. As shown in Fig. 1, the traveling body 2 of the tractor 1 is supported at its front part by a pair of left and right front wheels (wheels) 7, 7 and at its rear part by a pair of left and right rear wheels 8, 8.

[0014] A bonnet 9 is arranged at the front part of the traveling body 2. An engine 10 which is a drive source of the tractor 1 and a fuel tank (not shown) are accommodated in this bonnet 9. This engine 10 can be constituted by, for example, a diesel engine, but is not limited thereto, and may be constituted by, for example, a gasoline engine. Further, as the drive source, in addition to or instead of the engine, an electric motor may be used.

[0015] A cabin 11 for the user to board is arranged behind the bonnet 9. Inside this cabin 11, a steering wheel (steering device) 12 for the user to perform steering, a seat 13 on which the user can sit, and various operating devices for performing various operations are mainly provided. However, a work vehicle such as the tractor 1 may or may not be provided with the cabin 11.

[0016] Examples of the above operating devices include a monitor device 14, a throttle lever 15, a main transmission lever 27, a plurality of hydraulic operating levers 16, a PTO switch 17, a PTO transmission lever 18, a sub-transmission lever 19, a forward and reverse switching lever 25, a parking brake 26, a work implement lift switch 28, etc. shown in FIG. 2. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering wheel 12.

[0017] The monitor device 14 is configured to be able to display various information of the tractor 1. The throttle lever 15 is an operating tool for setting the rotational speed of the engine 10. The main transmission lever 27 is an operating tool for steplessly changing the traveling speed of the tractor 1. The hydraulic operation lever 16 is an operating tool for switching the operation of a hydraulic external extraction valve (not shown). The PTO switch 17 is an operating tool for switching the transmission / shutdown of power to a PTO shaft (power take-off shaft, not shown) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates, and the working machine 3 is driven. On the other hand, when the PTO switch 17 is in the OFF state, the power to the PTO shaft is cut off, the PTO shaft does not rotate, and the working machine 3 stops. The PTO speed change lever 18 is for performing a change operation on the power input to the working machine 3, specifically, an operating tool for performing a speed change operation on the rotational speed of the PTO shaft. The sub-transmission lever 19 is an operating tool for switching the gear ratio of the traveling sub-transmission gear mechanism in the transmission 22. The forward / reverse switching lever 25 is configured to be switchable between a forward position, a neutral position, and a reverse position. When the forward / reverse switching lever 25 is in the forward position, the power of the engine 10 is transmitted to the rear wheels 8, and the tractor 1 moves forward. When the forward / reverse switching lever 25 is in the neutral position, the tractor 1 does not move forward or backward. When the forward / reverse switching lever 25 is in the reverse position, the power of the engine 10 is transmitted to the rear wheels 8, and the tractor 1 moves backward. The parking brake (braking operating tool) 26 is an operating tool that the user operates by hand to generate braking force, and is used, for example, when the tractor 1 is parked for a while. The working machine lift switch 28 is an operating tool for lifting and lowering the height of the working machine 3 mounted on the traveling body 2 within a predetermined range.

[0018] As shown in FIG. 1, a chassis 20 of the tractor 1 is provided below the traveling body 2. The chassis 20 is composed of a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

[0019] The body frame 21 is a support member at the front part of the tractor 1, and supports the engine 10 directly or via a vibration isolation member or the like. The transmission 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

[0020] As shown in FIG. 3, the tractor 1 includes a control unit 4. The control unit 4 is configured as a known computer, and includes an arithmetic device such as a CPU (not shown), a storage device such as a non-volatile memory, and an input / output unit. Various programs and data related to the control of the tractor 1 are stored in the storage device. The arithmetic device can read various programs from the storage device and execute them. By the cooperation of the above-mentioned hardware and software, the control unit 4 can operate as a travel control unit 4a and a work implement control unit 4b. The travel control unit 4a controls the travel (forward, reverse, stop, turning, etc.) of the traveling body 2. The work implement control unit 4b controls the operation (lifting, driving, stopping, etc.) of the work implement 3. Note that the control unit 4 can also perform other controls (for example, analysis of the captured image). Also, the control unit 4 may be composed of one computer or may be composed of a plurality of computers.

[0021] The travel control unit 4a performs vehicle speed control for controlling the vehicle speed of the tractor 1 and steering control for steering the tractor 1. When performing vehicle speed control, the control unit 4 controls at least one of the rotational speed of the engine 10 and the gear ratio of the transmission 22.

[0022] Specifically, the engine 10 is provided with a governor device 41 having a schematic actuator for changing the rotational speed of the engine 10. The travel control unit 4a can control the rotational speed of the engine 10 by controlling the governor device 41. Further, the engine 10 is attached with a fuel injection device 45 for adjusting the injection timing and injection amount of fuel to be injected (supplied) into the combustion chamber of the engine 10. The travel control unit 4a can stop the supply of fuel to the engine 10 and stop the drive of the engine 10 by controlling the fuel injection device 45.

[0023] Further, the transmission 22 is provided with a transmission device 42 which is, for example, a movable vane type hydraulic continuously variable transmission. The travel control unit 4a changes the transmission ratio of the transmission 22 by changing the angle of the swash plate of the transmission device 42 by a schematic actuator. By performing the above processes, the tractor 1 is changed to the target vehicle speed.

[0024] When the travel control unit 4a performs steering control, it controls the rotation angle of the steering wheel 12. Specifically, a steering actuator 43 is provided in the middle of the rotation axis (steering shaft) of the steering wheel 12. With this configuration, when the tractor 1 travels along a predetermined route, the control unit 4 calculates an appropriate rotation angle of the steering wheel 12 so that the tractor 1 travels along the route, and drives the steering actuator 43 so as to obtain the obtained rotation angle, thereby controlling the rotation angle of the steering wheel 12.

[0025] The work implement control unit 4b switches the drive and stop of the work implement 3 by controlling the PTO switch 17 based on whether or not the work execution conditions are satisfied. Further, the work implement control unit 4b controls the raising and lowering of the work implement 3. Specifically, the tractor 1 is provided with a lifting actuator 44 composed of a hydraulic cylinder or the like in the vicinity of a three-point link mechanism that connects the work implement 3 to the traveling body 2. By driving the lifting actuator 44 by the work implement control unit 4b to appropriately lift and lower the work implement 3, the work by the work implement 3 can be performed at a desired height.

[0026] The tractor 1 equipped with the control unit 4 as described above can perform autonomous operations while autonomously traveling in the field by controlling each part of the tractor 1 (traveling body 2, working machine 3, etc.) by the control unit 4 without the user boarding in the cabin 11 and performing various operations.

[0027] Next, a configuration for acquiring information necessary for performing autonomous driving will be described. Specifically, as shown in FIG. 3 and the like, the tractor 1 of the present embodiment includes a positioning antenna 6, a wireless communication antenna 48, a front camera 56, a rear camera 57, a vehicle speed sensor 53, a steering angle sensor 52, and the like. In addition to these, the tractor 1 is provided with an inertial measurement unit (IMU) capable of specifying the attitude (roll angle, pitch angle, yaw angle) of the traveling body 2.

[0028] The positioning antenna 6 receives signals from positioning satellites constituting a positioning system such as a global navigation satellite system (GNSS). As shown in FIG. 1, the positioning antenna 6 is attached to the upper surface of the roof 5 of the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to a position information acquisition unit 49 as a position detection unit shown in FIG. 3. The position information acquisition unit 49 calculates and acquires the position information of the traveling body 2 of the tractor 1 (strictly speaking, the positioning antenna 6) as, for example, latitude and longitude information. The position information acquired by the position information acquisition unit 49 is input to the control unit 4 and used for autonomous driving.

[0029] In the present embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited to this, and other positioning systems may be used as long as high-precision position coordinates can be obtained. For example, it is conceivable to use a relative positioning method (DGPS) or a geostationary satellite-based satellite navigation augmentation system (SBAS).

[0030] The antenna 48 for wireless communication receives signals from the wireless communication terminal 46 operated by the user or transmits signals to the wireless communication terminal 46. As shown in FIG. 1, the antenna 48 for wireless communication is attached to the upper surface of the roof 5 provided in the cabin 11 of the tractor 1. The signal from the wireless communication terminal 46 received by the antenna 48 for wireless communication is input to the control unit 4 after being signal-processed by the wireless communication unit 40 shown in FIG. 3. Also, the signal transmitted from the control unit 4 or the like to the wireless communication terminal 46 is signal-processed by the wireless communication unit 40 and then transmitted from the antenna 48 for wireless communication and received by the wireless communication terminal 46.

[0031] The front camera 56 captures the front of the tractor 1. The rear camera 57 captures the rear of the tractor 1. The front camera 56 and the rear camera 57 are attached to the roof 5 of the tractor 1. The video data captured by the front camera 56 and the rear camera 57 is transmitted from the antenna 48 for wireless communication to the wireless communication terminal 46 by the wireless communication unit 40. The wireless communication terminal 46 that has received the video data displays the content on the display 31.

[0032] The above-mentioned vehicle speed sensor 53 detects the vehicle speed of the tractor 1 and is provided, for example, on the axle between the front wheels 7, 7. The data of the detection result obtained by the vehicle speed sensor 53 is output to the control unit 4. Note that the vehicle speed of the tractor 1 may be calculated based on the moving time of the tractor 1 at a predetermined distance based on the positioning antenna 6 instead of being detected by the vehicle speed sensor 53. The steering angle sensor 52 is a sensor that detects the steering angle of the front wheels 7, 7. In the present embodiment, the steering angle sensor 52 is provided on a kingpin (not shown) provided on the front wheels 7, 7. The data of the detection result obtained by the steering angle sensor 52 is output to the control unit 4. Note that the steering angle sensor 52 may be provided on the steering shaft.

[0033] As shown in FIG. 3, the wireless communication terminal 46 includes a display 31 and a touch panel 32. The wireless communication terminal 46 is a tablet terminal, but it may also be a smartphone, a notebook PC, or the like. When the user rides on the tractor 1 and causes the tractor 1 to perform autonomous driving, the tractor 1 side (for example, the control unit 4) may be provided with the same functions as the wireless communication terminal 46. The user can refer to and check the information displayed on the display 31 of the wireless communication terminal 46 (for example, information from the front camera 56, the rear camera 57, the vehicle speed sensor 53, etc.). Further, the user can operate the touch panel 32 or a hardware key (not shown) to transmit a control signal (for example, a stop signal) for controlling the tractor 1 to the control unit 4 of the tractor 1.

[0034] The wireless communication terminal 46 includes an arithmetic device such as a CPU (not shown), a storage device such as a non-volatile memory, and an input / output unit. The storage device stores various programs and data related to the travel route. The arithmetic device can read and execute various programs from the storage device. Through the cooperation of the above-mentioned hardware and software, the wireless communication terminal 46 can be operated as a display control unit 33, a field acquisition unit 34, a travel route creation unit 35, a reference auxiliary line creation unit (auxiliary line creation unit) 36, an adjacent auxiliary line creation unit (auxiliary line creation unit) 37, an auxiliary line selection unit 38, and a selection processing unit 39 (specific processing will be described later).

[0035] The display control unit 33 creates display data to be displayed on the display 31 and appropriately controls the display content. For example, while the tractor 1 is autonomously driving along the travel route, the display control unit 33 causes the display 31 to display a predetermined monitoring screen, an instruction screen, or the like.

[0036] The field acquisition unit 34 acquires the position and shape of the field for which the tractor 1 is to perform autonomous driving from the storage device. The position and shape of the field are created based on the transition of the position information of the positioning antenna 6 when the tractor 1 travels along the outer periphery of the field. Note that the position and shape of the field may be created by, for example, the user designating a range on the map displayed on the display 31 without actually having the tractor 1 travel. Also, in this embodiment, the information regarding the field is stored in the wireless communication terminal 46, but it may be stored in a server physically separated from the wireless communication terminal 46. In this case, the field acquisition unit 34 acquires the information regarding the field from this server.

[0037] Here, with reference to FIG. 4, the field will be briefly described. The field includes a working area and a headland area. The working area is located in the central part of the field and is an area for performing work (an area whose main purpose is to perform work). The headland area is located outside the working area and is an area used to appropriately perform work in the working area. For example, the headland area is used to move the tractor 1 that has entered the field to the starting position of work in the working area. Further, the headland area is also used to turn the tractor 1 that has traveled straight through the working area. Also, in this embodiment, work is performed not only on the working area but also on the headland area. Specifically, after the tractor 1 travels through the working area to perform work, the tractor 1 travels through the headland area to perform work.

[0038] The travel route creation unit 35 creates a travel route for performing work in the work area. In the present embodiment, the travel route creation unit 35 creates a straight route 71 and a turning route 72 shown in FIG. 4 based on various settings made by the user using the wireless communication terminal 46. The straight route 71 is parallel to one side (short side) of the periphery of the farmland and the periphery of the work area. The arrangement interval of the straight routes 71 is a value obtained by subtracting the overlap amount (the length indicating how much the adjacent work ranges overlap in the vehicle width direction) from the work width W1, or a value obtained by adding the work interval (the length indicating how much interval is provided between the adjacent work ranges in the vehicle width direction) to the work width W1. Further, the turning route 72 is a route connecting the straight routes 71 to each other. In the present embodiment, the turning route 72 connects the adjacent straight routes 71, but may connect the non-adjacent straight routes 71. Also, the turning route 72 of the present embodiment is a route that reaches the next straight route 71 by reversing the tractor 1 by turning 90 degrees, then reversing, then switching to forward and turning 90 degrees again. However, instead of this type of turning route 72, a turning route that reaches the next straight route 71 by reversing the tractor 1 by performing a 180-degree turn may be created. The travel route created in this way is stored in the wireless communication terminal 46.

[0039] The user appropriately operates the wireless communication terminal 46 to input (transfer) the information of the travel route created by the travel route creation unit 35 to the control unit 4 of the tractor 1. Thereafter, the user drives the tractor 1 and positions the tractor 1 at the start position of the travel route. Subsequently, the user operates the wireless communication terminal 46 to instruct the start of autonomous driving. Thereby, the tractor 1 performs work while traveling along the straight route 71 and the turning route 72.

[0040] The reference auxiliary line creation unit 36 and the adjacent auxiliary line creation unit 37 perform a process of creating auxiliary lines for autonomous driving in the headland area. When the user performs a predetermined operation on the wireless communication terminal 46, the tractor 1 autonomously drives along the auxiliary lines. In this embodiment, turning on the headland area and switching the driving and stopping of the work implement 3 are configured to be operated by the user, and the tractor 1 does not perform them autonomously. Also, these processes may be configured to be autonomously performed by the tractor 1. The processes performed by the auxiliary line selection unit 38 and the selection processing unit 39 will be described later.

[0041] Hereinafter, the auxiliary lines created by the reference auxiliary line creation unit 36 and the adjacent auxiliary line creation unit 37 will be described in detail. The reference auxiliary line creation unit 36 and the adjacent auxiliary line creation unit 37 can create two types of auxiliary lines according to a user's instruction or the like. The first auxiliary line is an auxiliary line when performing an operation (for example, tilling) that requires eliminating the remaining work in the headland area. The second auxiliary line is an auxiliary line when performing an operation (seeding, ridging, etc.) that wants to keep the work pitch constant even if remaining work occurs in the headland area.

[0042] First, with reference to FIGS. 5 to 7, a method for creating the first auxiliary line will be described. As shown in FIG. 5, the first auxiliary line includes a first reference auxiliary line 81 and a first adjacent auxiliary line 82.

[0043] First, the field acquisition unit 34 acquires information on the field for creating the first auxiliary line (S101). The information acquired here includes, for example, the field, the work area, and the positions of the perimeters (contours) of the headland area.

[0044] Next, the reference auxiliary line creation unit 36 creates a first reference auxiliary line 81 by separating (offsetting) the field periphery (each side constituting the outer contour of the field) inward by a first reference interval T1 (S102). Therefore, the first reference auxiliary line 81 is parallel to the field periphery (basically also parallel to the working area periphery). Also, since the first reference auxiliary line 81 is created for each side of the field periphery, four first reference auxiliary lines 81 are created when the field is rectangular. Further, as shown in FIG. 7, the first reference interval T1 is 1 / 2 of the working width W1 or 1 / 2 of the implement width W2. It is preferable to set the first reference interval T1 to 1 / 2 of the larger one of the working width W1 and the implement width W2. Thereby, when the tractor 1 travels along the first reference auxiliary line 81, it is possible to prevent work from being performed outside the field or prevent the implement from going outside the field.

[0045] Next, the adjacent auxiliary line creation unit 37 creates a first adjacent auxiliary line 82 by separating (offsetting) the first reference auxiliary line 81 inward by an auxiliary line interval S (S103). Therefore, the first adjacent auxiliary line 82 is parallel to the first reference auxiliary line 81. Also, as shown in FIG. 7, the auxiliary line interval S is a value obtained by subtracting the overlap amount R from the working width W1 or a value obtained by adding the working interval D to the working width W1. Note that the overlap amount R and the working interval D are the same as the values used when creating the straight path 71, but they may be different. Also, the auxiliary line interval S and the working width W1 may be the same value (in other words, the overlap amount R or the working interval D may be zero).

[0046] The adjacent auxiliary line creation unit 37 creates zero, one, or a plurality of first adjacent auxiliary lines 82. The specific number of creations is as follows. That is, the number of creations of the first auxiliary line for one side of the field perimeter (i.e., the total number of creations of the first reference auxiliary line 81 and the first adjacent auxiliary line 82) is the value obtained by rounding up the decimal part of the headland width L / auxiliary line interval S. The headland width L is the distance from the field perimeter to the work area. By rounding up the decimal part, the headland area can be worked without omission (excluding the work interval D of the work width W1). Depending on the conditions, the first adjacent auxiliary line 82 may be created on the work area (even in this case, the path is for working the headland area). Also, when the headland width L differs depending on the side of the field perimeter, the number of creations of the first auxiliary line may differ depending on the side.

[0047] Also, in this embodiment, the endpoints of the first reference auxiliary line 81 and the first adjacent auxiliary line 82 are made to coincide with the field perimeter, but these endpoints may be set at positions different from the field perimeter (for example, distant positions). That is, since the turning of the tractor 1 starts at the user's discretion, there is no problem even if the first reference auxiliary line 81 and the first adjacent auxiliary line 82 are long.

[0048] Next, with reference to FIGS. 8 to 10, the method of creating the second auxiliary line will be described. In the following description, the description of parts common to the method of creating the first auxiliary line may be simplified or omitted. As shown in FIG. 8, the second auxiliary line includes a second reference auxiliary line 91 and a second adjacent auxiliary line 92.

[0049] First, the field acquisition unit 34 acquires information on the field for creating the second auxiliary line (S201).

[0050] Next, the reference auxiliary line creation unit 36 creates a second reference auxiliary line 91 by separating (offsetting) the periphery of the work area outward by a second reference interval T2 (S202). Therefore, the second reference auxiliary line 91 is parallel to the periphery of the work area (basically also parallel to the periphery of the field). Also, the second reference auxiliary line 91 is created for each side of the periphery of the work area. Further, as shown in FIG. 10, the second reference interval T2 is a value obtained by subtracting the overlap amount R from 1 / 2 of the work width W1, or a value obtained by adding the working interval D to 1 / 2 of the work width W1. Thereby, work can be started from an appropriate position outside the work area. Therefore, even if the work is performed while traveling in the headland area, the work is only performed in the headland area and basically does not enter the work area.

[0051] Next, the adjacent auxiliary line creation unit 37 creates a second adjacent auxiliary line 92 by separating (offsetting) the second reference auxiliary line 91 outward by an auxiliary line interval S (S203). Therefore, the second adjacent auxiliary line 92 is parallel to the second reference auxiliary line 91.

[0052] The adjacent auxiliary line creation unit 37 creates zero, one, or a plurality of second adjacent auxiliary lines 92. The specific number of creations is as follows. That is, the number of creations of the second auxiliary line for one side of the field periphery (that is, the total number of creations of the second reference auxiliary line 91 and the second adjacent auxiliary line 92) is the value obtained by truncating the decimal part of the headland width L / auxiliary line interval S. Although there may be a remaining work by truncating the decimal part, the working pitch can be made constant while preventing the work from being performed outside the field. Also, when the headland width L differs depending on the side of the field periphery, the number of creations of the second auxiliary line may differ depending on the side. Also, similar to the first auxiliary line, the length of the second auxiliary line can be appropriately changed.

[0053] Next, the adjacent auxiliary line creation unit 37 determines whether the distance X between the outermost second adjacent auxiliary line 92 and the field periphery is less than 1 / 2 of the working width W1 or 1 / 2 of the working machine width W2 (S204). Here, if the distance X is less than 1 / 2 of the working width W1, there is a possibility that work is performed outside the field, and if the distance X is less than 1 / 2 of the working machine width W2, there is a possibility that the working machine 3 goes out of the field. Therefore, if the answer is Yes in step S204, the adjacent auxiliary line creation unit 37 deletes this outermost second adjacent auxiliary line 92 (S205). Also, it is preferable to set the condition that the distance X is less than both 1 / 2 of the working width W1 and 1 / 2 of the working machine width W2, rather than just one of them. Note that if the answer is No in step S204, the outermost second adjacent auxiliary line 92 is not deleted.

[0054] Therefore, the number of created second auxiliary lines finally created is "the value obtained by truncating the decimal part of the "cushion width L / auxiliary line interval S" or the value obtained by subtracting 1 from the value". Also, in the present embodiment, after creating the second adjacent auxiliary line 92 under the condition of step S203, it is configured to determine whether it is necessary to delete the outermost second adjacent auxiliary line 92 in step S204. Instead of this, a configuration may be adopted in which the second adjacent auxiliary line 92 that satisfies the deletion condition of step S204 is not created from the beginning (in other words, the processes similar to steps S204 and S205 may be incorporated into step S203).

[0055] Next, the parallel movement of the auxiliary line will be briefly described. The first auxiliary line is created with reference to the field periphery. Therefore, for example, when the position of the field periphery changes, the first auxiliary line moves in parallel accordingly. Also, since the first auxiliary line corresponds to each side of the field periphery, for example, when the position of one side of the field periphery changes, the position of the first auxiliary line corresponding to that side is changed. Note that, for example, if the cushion width L further changes, the process of FIG. 6 is performed again to recreate the first reference auxiliary line 81 and the first adjacent auxiliary line 82.

[0056] Also, the second auxiliary line is different only in that the reference line is the working area periphery instead of the field periphery. When the position of the working area periphery changes, the same process as that of the first auxiliary line is performed.

[0057] Next, with reference to FIGS. 11 and 12, the specific flow of the processing related to the work in the work area and the headland area will be described. FIG. 11 is a flowchart showing the processing related to the work in the work area and the headland area. FIG. 12 is a diagram showing the video displayed on the wireless communication terminal 46 after the route is created.

[0058] After the user completes the registration of the farmland, etc., the user inputs information (for example, the working width W1, the working machine width W2, the type of the working machine, the start position, and the end position, etc.) for creating the working route in the work area and the headland area into the wireless communication terminal 46. Thereafter, the traveling route creation unit 35 creates a traveling route for the work in the work area (S301). Further, the reference auxiliary line creation unit 36 and the adjacent auxiliary line creation unit 37 create auxiliary lines for the work in the headland area (S302). If the processes of steps S301 and S302 have been performed in advance, the wireless communication terminal 46 omits the processes of steps S301 and S302 and first performs the process of step S303.

[0059] In step S302, the wireless communication terminal 46 may be configured to create both the first auxiliary line and the second auxiliary line, or may be configured to create only one of them. When creating only one of the auxiliary lines, the wireless communication terminal 46 (auxiliary line selection unit 38) may select the auxiliary line to be created. The wireless communication terminal 46 creates the auxiliary line suitable for the working machine 3 according to the type of the working machine 3 registered in advance. For example, when the working machine 3 to be used is a tiller, since it is important to eliminate the remaining work, the first auxiliary line is selected and created. On the other hand, when the working machine 3 to be used is a fertilizer applicator, since it is important to keep the working pitch constant even if the remaining work occurs, the second auxiliary line is selected and created.

[0060] Next, as shown in FIG. 12, the wireless communication terminal 46 (display control unit 33) displays on the display 31 the travel routes (straight route 71 and turning route 72) for work in the work area and the auxiliary lines (first reference auxiliary line 81 and first adjacent auxiliary line 82) for work in the headland area (S303). For example, if the wireless communication terminal 46 creates both the first auxiliary line and the second auxiliary line in step S302, it may display either one or both of the auxiliary lines on the display 31. Also, when displaying either one of the auxiliary lines, the auxiliary line selection unit 38 may select the auxiliary line to be displayed in the same manner as described above.

[0061] Furthermore, the wireless communication terminal 46 (selection processing unit 39) displays a screen for asking the user whether to work in either the "work area" or the "headland area" and accepts the user's selection (S303). The display mode of this screen is various. For example, it may be configured to allow the user to select the area (or the travel route or auxiliary line on the area) displayed as a diagram on the display 31 as shown in FIG. 12, or it may be configured to allow the user to select items displayed in characters such as "work area" and "headland area". If the work in the work area is not completed, the user selects the "work area". On the other hand, if the work in the work area has already been completed, the user selects the "headland area".

[0062] When the wireless communication terminal 46 determines that the "work area" has been selected by the user (Yes in step S304), it executes the work in the work area (S305). Specifically, it instructs the tractor 1 (travel control unit 4a) to perform autonomous travel along the created travel routes (straight route 71 and turning route 72). When performing the work in the work area, it may be further configured such that the user can select either a manned mode in which the user boards the tractor 1 or an unmanned mode in which the user does not board the tractor 1.

[0063] After the work in the working area is completed, the wireless communication terminal 46 (selection processing unit 39) displays a screen for allowing the user to select either "work in the headland area" or "end of work", and accepts the user's selection (S306). If the user wishes to currently perform the work in the headland area, the user selects "work in the headland area". On the other hand, if the user wishes to perform the work in the headland area later or if the work in the headland area itself is unnecessary, the user selects "end of work".

[0064] When the wireless communication terminal 46 determines that "work in the headland area" is selected (Yes in step S307), it executes the work in the headland area (S308). Also, when "headland area" is selected in step S304 in the wireless communication terminal 46 (that is, when "working area" is not selected, No in step S304), it similarly executes the work in the headland area (S308). Specifically, it instructs the tractor 1 (travel control unit 4a) to perform autonomous travel along the created first auxiliary line (first reference auxiliary line 81 and first adjacent auxiliary line 82) or the second auxiliary line (second reference auxiliary line 91 or second adjacent auxiliary line 92). For example, in step S302, when both the first auxiliary line and the second auxiliary line are created, the auxiliary line selection unit 38 may select the auxiliary line to be used in the work in the headland area in the same manner as above. Alternatively, the user may be allowed to select which of the first auxiliary line and the second auxiliary line to perform the work with. In this case, in response to the user's operation on the touch panel 32 or the like, the auxiliary line selection unit 38 performs a process of selecting one of the auxiliary lines.

[0065] When the work in the headland area is completed and when "end of work" is selected in step S307, the work in the field by the tractor 1 ends (is interrupted).

[0066] Next, with reference to FIGS. 13 and 14, the display of the travel route and the auxiliary line on the wireless communication terminal 46 will be described. In the following description, the first auxiliary line and the second auxiliary line are collectively referred to as the auxiliary line.

[0067] As shown in Fig. 13, when the tractor 1 is autonomously driving along the travel route, the travel route and the auxiliary line are displayed so that the travel route is more prominent than the auxiliary line. In the example shown in Fig. 13, the travel route is made prominent by thickening the line width, but the colors may be different or the line types (solid line, dashed line, chain line) may be different. On the other hand, when the tractor 1 is autonomously driving along the auxiliary line, as shown in Fig. 14, the travel route and the auxiliary line are displayed so that the auxiliary line is more prominent than the travel route. Note that even when the tractor 1 is not running, the display modes of the travel route and the auxiliary line may be made different. This makes it easier for the user to check the route.

[0068] As described above, the autonomous driving system 100 of the present embodiment includes a field acquisition unit 34, a reference auxiliary line creation unit 36, an adjacent auxiliary line creation unit 37, and a travel control unit 4a. The field acquisition unit 34 acquires information on a work area where a travel route for performing work by autonomously driving with the tractor 1 to which the work implement 3 is attached is set, and a field having a headland area formed between the work area and the field periphery. The reference auxiliary line creation unit 36 creates a first reference auxiliary line 81 in the headland area at a position spaced inward from the field periphery by a first reference interval T1 that is 1 / 2 of the working width W1 or 1 / 2 of the implement width W2. The adjacent auxiliary line creation unit 37 creates a first adjacent auxiliary line 82 at a position spaced inward from the first reference auxiliary line 81 by an auxiliary line interval S, which is a value obtained by subtracting the overlap amount R from the working width W1 or a value obtained by adding the working interval D to the working width W1. The total number of the first reference auxiliary line 81 and the first adjacent auxiliary line 82 created inside a predetermined side of the field periphery is a value obtained by rounding up the decimal part of the headland width L / auxiliary line interval S. The travel control unit 4a autonomously drives the tractor 1 along at least a part of the first reference auxiliary line 81 and the first adjacent auxiliary line 82.

[0069] By creating the first auxiliary line based on the field periphery and autonomously driving the tractor 1 along the first auxiliary line, it is possible to prevent the occurrence of remaining work in the headland area.

[0070] In addition, the autonomous driving system 100 of the present embodiment includes a field acquisition unit 34, a reference auxiliary line creation unit 36, an adjacent auxiliary line creation unit 37, and a driving control unit 4a. The field acquisition unit 34 acquires information on a work area where a travel route for performing work by autonomous driving is set on a tractor 1 to which a working machine 3 is attached, and a field having a headland area formed between the work area and the field periphery. The reference auxiliary line creation unit 36 creates a second reference auxiliary line 91 in the headland area at a position spaced outward from the periphery of the work area by a second reference interval T2, which is a value obtained by subtracting an overlap amount R from 1 / 2 of the working width W1 or a value obtained by adding a working interval D to 1 / 2 of the working width W1. The adjacent auxiliary line creation unit 37 creates a second adjacent auxiliary line 92 at a position spaced outward from the second reference auxiliary line 91 by an auxiliary line interval S, which is a value obtained by subtracting the overlap amount R from the working width W1 or a value obtained by adding the working interval D to the working width W1. The total number of the second reference auxiliary line 91 and the second adjacent auxiliary line 92 created outside a predetermined side of the periphery of the work area is a value obtained by rounding down the decimal part of the headland width L / auxiliary line interval S or a value obtained by subtracting 1 from the value. The driving control unit 4a autonomously drives the tractor 1 along at least a part of the second reference auxiliary line 91 and the second adjacent auxiliary line 92.

[0071] Thereby, by creating a second auxiliary line based on the periphery of the work area and autonomously driving the tractor 1 along the auxiliary line, the working pitch of the headland area can be made constant.

[0072] Further, in the autonomous driving system 100 of the present embodiment, the reference auxiliary line creation unit 36 can create a first reference auxiliary line 81 and can also create a second reference auxiliary line 91. The adjacent auxiliary line creation unit 37 can create a first adjacent auxiliary line 82 and can also create a second adjacent auxiliary line 92. In addition, the autonomous driving system 100 further includes an auxiliary line selection unit 38 that selects either the first reference auxiliary line 81 and the first adjacent auxiliary line 82 or the second reference auxiliary line 91 and the second adjacent auxiliary line 92. The driving control unit 4a autonomously drives the tractor 1 along at least a part of the auxiliary line selected by the auxiliary line selection unit 38.

[0073] As a result, the tractor 1 can be autonomously driven in the headland area based on either the first auxiliary line with reference to the field perimeter or the second auxiliary line with reference to the work area perimeter.

[0074] Further, in the autonomous driving system 100 of the present embodiment, when the distance X between the second adjacent auxiliary line 92 and the field perimeter is smaller than 1 / 2 of the working width W1 or 1 / 2 of the implement width W2, it is preferable not to create the second adjacent auxiliary line 92 or to delete it after creation.

[0075] This can prevent the creation of a path where the implement 3 contacts the field perimeter or a path where work is performed outside the field.

[0076] Further, the autonomous driving system 100 of the present embodiment includes a selection processing unit 39 that performs a process (S303) of allowing the user to select whether to perform work in the work area or the headland area, and a process (S306) of allowing the user to select whether to perform work in the headland area or end the work. When it is determined that the user has selected to perform work in the headland area, the travel control unit 4a autonomously drives the tractor 1 along at least a part of the auxiliary lines created by the reference auxiliary line creation unit 36 and the adjacent auxiliary line creation unit 37.

[0077] As a result, the user can cause the tractor 1 to perform autonomous driving in the headland area by performing a simple operation.

[0078] Although the preferred embodiments of the present invention have been described above, the above configuration can be modified as follows, for example.

[0079] The wireless communication terminal 46 in the above embodiment has a function of creating both the first auxiliary line and the second auxiliary line, but may have a configuration having only one of the functions.

[0080] In the above-described embodiment, the work in the headland area is performed using either the first auxiliary line or the second auxiliary line. Instead of this, it is also possible to perform the work in the headland area using an auxiliary line created by another method (for example, an auxiliary line drawn so as to equally divide the periphery of the field and the periphery of the work area). Therefore, it is possible to cause the wireless communication terminal 46 to perform the processing of each step shown in FIG. 11 using various auxiliary lines for headland work. Further, the selection processing unit 39 may be configured to perform only the processing of either step S303 or step S306.

[0081] <Supplementary Note of the Invention> According to the first aspect of the present invention, an autonomous driving system having the following configuration is provided. That is, this autonomous driving system includes a field acquisition unit, a reference auxiliary line creation unit, an adjacent auxiliary line creation unit, and a travel control unit. The field acquisition unit acquires information on a work area in which a travel route for performing work by autonomously driving a work vehicle equipped with a working machine is set, and a headland area formed between the work area and the field periphery. The reference auxiliary line creation unit creates a first reference auxiliary line in the headland area at a position spaced inward from the field periphery by a first reference interval that is 1 / 2 of the working width or 1 / 2 of the width of the working machine. The adjacent auxiliary line creation unit creates a first adjacent auxiliary line at a position spaced inward from the first reference auxiliary line at intervals of an auxiliary line interval that is a value obtained by subtracting an overlap amount from the working width or a value obtained by adding a working interval to the working width. The total number of the first reference auxiliary line and the first adjacent auxiliary line created inside a predetermined side of the field periphery is the headland width, which is the distance from the field periphery to the work area, as L, and when the auxiliary line interval is S, it is a value obtained by rounding up the decimal part of L / S. The travel control unit causes the work vehicle to autonomously travel along at least a part of the first reference auxiliary line and the first adjacent auxiliary line.

[0082] Thereby, by creating an auxiliary line based on the field periphery and causing the work vehicle to autonomously travel along the auxiliary line, it is possible to prevent the occurrence of remaining work in the headland area.

[0083] According to a second aspect of the present invention, an autonomous driving system having the following configuration is provided. That is, this autonomous driving system includes a field acquisition unit, a reference auxiliary line creation unit, an adjacent auxiliary line creation unit, and a driving control unit. The field acquisition unit acquires information on a work area in which a travel route for performing work by autonomously driving a work vehicle equipped with a working machine is set, and a field having a headland area formed between the work area and the field periphery. The reference auxiliary line creation unit creates a second reference auxiliary line in the headland area at a position spaced outward from the periphery of the work area by a second reference interval, which is a value obtained by subtracting an overlap amount from 1 / 2 of the working width or a value obtained by adding a working interval to 1 / 2 of the working width. The adjacent auxiliary line creation unit creates second adjacent auxiliary lines at positions spaced outward from the second reference auxiliary line by an auxiliary line interval, which is a value obtained by subtracting an overlap amount from the working width or a value obtained by adding a working interval to the working width. The total number of the second reference auxiliary line and the second adjacent auxiliary line created outside a predetermined side of the periphery of the work area is a value obtained by truncating the decimal part of L / S or a value obtained by subtracting 1 from the value, where L is the headland width, which is the distance from the field periphery to the work area, and S is the auxiliary line interval. The driving control unit causes the work vehicle to autonomously drive along at least a part of the second reference auxiliary line and the second adjacent auxiliary line.

[0084] Thereby, by creating an auxiliary line based on the periphery of the work area and causing the work vehicle to autonomously drive along the auxiliary line, the working pitch in the headland area can be made constant.

[0085] In the above-described autonomous driving system, it is preferable to have the following configuration. That is, the reference auxiliary line creation unit can create the first reference auxiliary line and can also create the second reference auxiliary line. The adjacent auxiliary line creation unit can create the first adjacent auxiliary line and can also create the second adjacent auxiliary line. Further, the autonomous driving system further includes an auxiliary line selection unit that selects either the first reference auxiliary line and the first adjacent auxiliary line or the second reference auxiliary line and the second adjacent auxiliary line. The travel control unit causes the work vehicle to autonomously travel along at least a part of the auxiliary line selected by the auxiliary line selection unit.

[0086] Thereby, the work vehicle can be made to autonomously travel in the headland area based on either the auxiliary line based on the periphery of the field or the auxiliary line based on the periphery of the work area.

[0087] In the above-described autonomous driving system, when the distance between the second adjacent auxiliary line and the field periphery is less than 1 / 2 of the working width or 1 / 2 of the working implement width, it is preferable that the adjacent auxiliary line creation unit does not create the second adjacent auxiliary line or deletes it after creation.

[0088] Thereby, it is possible to prevent the creation of a path where the working implement contacts the field periphery or a path where work is performed outside the field.

[0089] In the above-described autonomous driving system, it is preferable to have the following configuration. That is, this autonomous driving system includes a selection processing unit that performs a process of allowing the user to select whether to perform work in the work area or the headland area, and a process of allowing the user to select either to perform work in the headland area or to end the work. When it is determined that the user has selected to perform work in the headland area, the travel control unit causes the work vehicle to autonomously travel along at least a part of the auxiliary line created by the reference auxiliary line creation unit and the adjacent auxiliary line creation unit.

[0090] Thereby, the user can cause the work vehicle to perform autonomous driving in the headland area by performing a simple operation.

[0091] According to a third aspect of the present invention, an autonomous driving system having the following configuration is provided. That is, this autonomous driving system includes a field acquisition unit, an auxiliary line creation unit, a selection processing unit, and a travel control unit. The field acquisition unit acquires information on a work area in which a travel route for performing work by performing autonomous driving with a work vehicle equipped with a work implement is set, and a field having a headland area formed between the work area and the field periphery. The auxiliary line creation unit creates an auxiliary line for causing the work vehicle to perform autonomous driving in the headland area. The selection processing unit performs a process of allowing a user to select whether to perform work in the work area or the headland area, and a process of allowing the user to select whether to perform work or end work in the headland area. When it is determined that the user has selected to perform work in the headland area, the travel control unit causes the work vehicle to perform autonomous driving along at least a part of the auxiliary line created by the auxiliary line creation unit.

[0092] Thereby, the user can cause the work vehicle to perform autonomous driving in the headland area by performing a simple operation.

[0093] The autonomous driving system according to one aspect of the present invention includes a field acquisition unit, an auxiliary line creation unit, and a display control unit. The field acquisition unit acquires information on a work area in which a travel route for performing work by performing autonomous driving with a work vehicle equipped with a work implement is set, and a field having a headland area formed between the work area and the field periphery. The auxiliary line creation unit creates an auxiliary line for causing the work vehicle to perform autonomous driving in the headland area. The display control unit displays the travel route and the auxiliary line. The display control unit displays a screen for allowing the user to select whether to perform work or end work in the headland area after completion of work in the work area.

[0094] The autonomous driving system according to one aspect of the present invention includes an auxiliary line creation unit and a display control unit. The auxiliary line creation unit creates an auxiliary line for causing a work vehicle to perform autonomous driving based on the field periphery. The display control unit displays the auxiliary line.

[0095] An autonomous driving system according to an aspect of the present invention includes an auxiliary line creation unit and a display control unit. The auxiliary line creation unit creates an auxiliary line for autonomously driving the work vehicle based on the periphery of a work area where work is performed by causing the work vehicle to autonomously drive. The display control unit displays the auxiliary line.

[0096] An autonomous driving method according to an aspect of the present invention creates an auxiliary line for autonomously driving a work vehicle based on the periphery of a farm field or the periphery of a work area where work is performed by causing the work vehicle to autonomously drive, and displays the auxiliary line.

Explanation of Signs

[0097] 1 Tractor (Work Vehicle) 34 Farm Field Acquisition Unit 35 Travel Route Creation Unit 36 Reference Auxiliary Line Creation Unit (Auxiliary Line Creation Unit) 37 Adjacent Auxiliary Line Creation Unit (Auxiliary Line Creation Unit) 38 Auxiliary Line Selection Unit 39 Selection Processing Unit 46 Wireless Communication Terminal

Claims

1. A travel route creation unit that creates a travel route including a plurality of straight routes for causing a work vehicle to perform work by autonomously traveling inside the periphery of a field and a turning route that connects the straight routes; A selection processing unit that causes a user to select whether to perform work or end work on the headland where the turning route is created after completion of autonomous travel based on the travel route, and an autonomous driving system. Autonomous driving system.

2. The autonomous driving system according to claim 1, further comprising an auxiliary line creation unit that creates an auxiliary line for autonomously driving the work vehicle on the headland. The autonomous driving system according to claim 1.

3. The autonomous driving system according to claim 2, further comprising a control unit that causes the work vehicle to autonomously travel along the auxiliary line when it is selected to perform work on the headland after completion of autonomous travel based on the travel route and a predetermined user operation is performed. The autonomous driving system according to claim 2.

4. The autonomous driving system according to claim 2 or 3, further comprising a display control unit that simultaneously displays the auxiliary line and the position of the work vehicle. The autonomous driving system according to claim 2 or 3.

5. Create a travel route including a plurality of straight routes for causing a work vehicle to perform work by autonomously traveling inside the periphery of a field and a turning route that connects the straight routes, and After completion of autonomous travel based on the travel route, cause the user to select whether to perform work or end work on the headland where the turning route is created, an autonomous driving method. Autonomous driving method.

Images