Work vehicle support system and work vehicle support method

Abstract

To provide a work vehicle support system and work vehicle support method, which allow a work vehicle to resume autonomous driving from an appropriate location after an interruption of autonomous driving.SOLUTION: A work vehicle support system is used for a work vehicle (self-driving work vehicle 1) configured to self-drive in a field, and is configured to interrupt autonomous driving of the work vehicle (self-driving work vehicle 1) when interrupting conditions for autonomous driving are met while the work vehicle (self-driving work vehicle 1) is self-driving.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] A known technology involves installing a receiving station on a work vehicle that receives satellite signals from GPS satellites on a work vehicle traveling within a specified work area to detect the current position of the work vehicle, installing a monitoring receiving station near the outside of the work area that receives satellite signals from GPS satellites to detect the current position of a monitoring device, communicating between the work vehicle and the monitoring device to detect the relative distance between the two, and sounding an alarm and halting the work vehicle's travel if it moves outside the monitoring range (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

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

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

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

[0006] One embodiment of the work vehicle assistance system is a work vehicle assistance system used for a work vehicle that travels automatically within a field, and when a condition for suspending automatic travel is met while the work vehicle is traveling automatically, the automatic travel of the work vehicle is suspended. One embodiment of the work vehicle assistance method is a work vehicle assistance method used for a work vehicle that travels automatically within a field, and includes suspending the automatic travel of the work vehicle when a condition for suspending the automatic travel is met while the work vehicle is traveling automatically. [Effects of the Invention]

[0007] According to the present invention, a work vehicle assistance system and a work vehicle assistance method can be provided that can easily align the position for starting work after automatic traveling is interrupted, preventing work from being interrupted. [Brief explanation of the drawings]

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

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

[0010] 1 and 2, the overall configuration of a tractor that serves as an autonomous work vehicle 1 will be described. An engine 3 is installed inside a hood 2, a dashboard 14 is provided inside a cabin 11 behind the hood 2, and a steering wheel 4, which serves as a steering operation means, is mounted on the dashboard 14. Rotation of the steering wheel 4 rotates the direction of the front wheels 9 via a steering device. The steering direction of the autonomous work vehicle 1 is detected by a steering sensor 20. The steering sensor 20 consists of an angle sensor such as a rotary encoder, and is placed at the base of the rotation of the front wheels 9. However, the detection configuration of the steering sensor 20 is not limited, and it may be anything that can recognize the steering direction, and it may detect the rotation of the steering wheel 4 or the amount of operation of the power steering. The detection value obtained by the steering sensor 20 is input to a control device 30.

[0011] A driver's seat 5 is located behind the steering wheel 4, and a transmission case 6 is located below the driver's seat 5. Rear axle cases 8 are connected to the left and right sides of the transmission case 6, and rear wheels 10 are supported on the rear axle cases 8 via axles. Power from the engine 3 is changed in speed by a transmission (main transmission and auxiliary transmission) in the transmission case 6 to drive the rear wheels 10. The transmission is, for example, a hydraulic continuously variable transmission, and the speed can be changed by operating a movable swash plate of a variable displacement hydraulic pump with a transmission means 44 such as a motor. The transmission means 44 is connected to a control device 30. The rotation speed of the rear wheels 10 is detected by a vehicle speed sensor 27, and is input to the control device 30 as the traveling speed. However, the method of detecting the vehicle speed and the location of the vehicle speed sensor 27 are not limited.

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

[0013] A front axle case 7 is supported on a front frame 13 that supports the engine 3, and front wheels 9,9 are supported on both sides of the front axle case 7 so that power from the transmission case 6 can be transmitted to the front wheels 9,9. The front wheels 9,9 are steerable wheels that can be turned by turning the steering wheel 4, and the front wheels 9,9 can be steered left and right by a steering actuator 40 consisting of a power steering cylinder that serves as steering drive means. The steering actuator 40 is connected to a control device 30 and is driven under automatic driving control.

[0014] An engine controller 60, which serves as engine rotation control means, is connected to the control device 30, and an engine speed sensor 61, a water temperature sensor, an oil pressure sensor, etc. are connected to the engine controller 60 so as to be able to detect the state of the engine. The engine controller 60 detects the load from the set speed and the actual speed, controls to prevent overload, and transmits the state of the engine 3 to a remote control device 112, which will be described later, so that it can be displayed on a display 113, which serves as display means.

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

[0016] On the dashboard 14, there is arranged a display means 49 that displays an engine tachometer, a fuel gauge, oil pressure, etc., a monitor that indicates abnormalities, and setting values, etc.

[0017] A rotary tiller 24 is mounted on the rear of the tractor body via a work implement mounting device 23 so that it can be raised and lowered as a work implement, thereby enabling tilling work to be performed. A lifting cylinder 26 is provided on the transmission case 6, and by extending and retracting this lifting cylinder 26, a lifting arm that constitutes the work implement mounting device 23 is rotated, thereby enabling the rotary tiller 24 to be raised and lowered. The lifting cylinder 26 is extended and retracted by the operation of a lifting actuator 25, which is connected to a control device 30.

[0018] A mobile receiver 33 that constitutes a satellite positioning system is connected to the control device 30. A mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile receiver 33, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11. The mobile receiver 33 is equipped with a position calculation means that performs positioning and transmits the latitude and longitude to the control device 30, making it possible to determine the current position. Note that, in addition to GPS (USA), highly accurate positioning can be achieved by using a global navigation satellite system (GNSS) such as a quasi-zenith satellite (Japan) or a GLONASS satellite (Russia) (referred to as navigation satellites), but this embodiment will be described using GPS.

[0019] The autonomous vehicle 1 is equipped with a gyro sensor 31 to obtain information on changes in vehicle attitude and a direction sensor 32 to detect the vehicle's direction of travel, and these sensors are connected to the control device 30. However, because the vehicle's direction of travel can be calculated from GPS position measurements, the direction sensor 32 can be omitted. The gyro sensor 31 detects the angular velocity of the vehicle's forward-backward tilt (pitch), left-right tilt (roll), and turning (yaw) angles. By integrating these three angular velocities, the forward-backward and left-right tilt angles and turning angles of the autonomous vehicle 1 can be determined. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, and a vibration gyro sensor. The gyro sensor 31 is connected to the control device 30 and inputs information related to the three angular velocities to the control device 30.

[0020] The direction sensor 32 detects the orientation (direction of travel) of the autonomously traveling work vehicle 1. A specific example of the direction sensor 32 is a magnetic direction sensor. The direction sensor 32 is connected to the control device 30, and inputs information related to the orientation of the vehicle to the control device 30.

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

[0022] Next, a method for acquiring position information for the autonomous work vehicle 1 using GPS (Global Positioning System) will be described. GPS is a system originally developed for supporting the navigation of aircraft, ships, and the like, and is composed of 24 GPS satellites (four satellites arranged in six orbital planes) orbiting approximately 20,000 kilometers above the ground, a control station that tracks and controls the GPS satellites, and a user receiver for positioning. Positioning methods using GPS include point positioning, relative positioning, DGPS (Differential GPS) positioning, and RTK-GPS (Real Time Kinematic GPS) positioning, and any of these methods can be used. However, in this embodiment, the RTK-GPS positioning method, which has high measurement accuracy, is adopted, and this method will be described with reference to Figures 1 and 2.

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

[0024] In this embodiment, a mobile receiver 33, which serves as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are placed on the autonomous driving work vehicle 1, while a fixed receiver 35, which serves as a reference station, a fixed GPS antenna 36, ​​and a data transmitting antenna 39 are placed in predetermined positions that do not interfere with work in the field. RTK-GPS (Real Time Kinematic-GPS) positioning in this embodiment involves measuring the phase (relative positioning) at both the reference station and the mobile station, and transmitting positioning data measured by the fixed receiver 35 at the reference station from the data transmitting antenna 39 to the data receiving antenna 38.

[0025] Mobile GPS antenna 34 installed on autonomous work vehicle 1 receives signals from GPS satellites 37·37···. These signals are transmitted to mobile receiver 33 and used to determine the vehicle's position. At the same time, fixed GPS antenna 36, ​​which serves as the reference station, receives signals from GPS satellites 37·37···, and the signals are transmitted to mobile receiver 33, where they are used to determine the vehicle's position. The position information thus obtained is then transmitted to control device 30.

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

[0027] Additionally, an obstacle sensor 41 is provided on the autonomous working vehicle 1 and connected to the control device 30 to prevent the vehicle from colliding with obstacles. For example, the obstacle sensor 41 is made up of an ultrasonic sensor and is provided at the front, side or rear of the vehicle, connected to the control device 30, which detects whether there is an obstacle in front, beside or rear of the vehicle, and controls the vehicle to stop traveling if an obstacle comes within a set distance.

[0028] The autonomously traveling work vehicle 1 is also equipped with a camera 42 that captures images of the area around the vehicle and is connected to the control device 30. The images captured by the camera 42 are provided on the accompanying traveling work vehicle 100, or are displayed on a display 113 of a remotely controlled device 112 carried by the worker. The worker can check for obstacles using the image showing what is ahead, and can check the operating status of the work equipment, the finished state after work, and the positional relationship with the accompanying traveling work vehicle 100 using the image showing the work equipment. The positional relationship between the autonomously traveling work vehicle 1 and the accompanying traveling work vehicle 100 can be determined from the image taken by the camera 42, or from position information provided by the GPS provided in the remotely controlled device 112. However, if the display screen of the display 113 is small, it is also possible to display the images on a separate, larger display, split the screen into multiple sections and display multiple images simultaneously, display the camera images constantly or selectively on a separate dedicated display, or display them on display means 49 provided on the autonomously traveling work vehicle 1.

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

[0030] The accompanying traveling work vehicle 100, which is a manned traveling vehicle, is driven and operated by an operator, and a remote control device 112 is mounted on the accompanying traveling work vehicle 100 so that the autonomous traveling work vehicle 1 can be operated. The basic configuration of the accompanying traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, so a detailed explanation will be omitted. It is also possible to configure the accompanying traveling work vehicle 100 or the remote control device 112 to be equipped with a mobile GPS receiver 33 and a mobile GPS antenna 34.

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

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

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

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

[0035] The work status includes the work route (target route or travel route R), work progress, current position, distance to the headland calculated from the progress, remaining route, number of progresses, work time so far, remaining work time, etc., and the work route of the accompanying traveling work vehicle 100 can also be displayed on the display 113. The remaining routes of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 on the set travel route R can be easily identified by filling in the completed work route from the overall work route. It is also possible to display the uncompleted route and the completed work route in different colors. The current work position can also be displayed by displaying an animation of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 on the work route. In addition, by displaying the next progress from the current position with an arrow, the next progress, such as the turning direction from the current position, can be easily identified. GPS information (positioning information) includes the longitude and latitude of the autonomous traveling work vehicle 1's actual position, the number of satellites captured, radio wave reception strength, etc.

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

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

[0038] As described above, the autonomously traveling work vehicle 1 is equipped with a mobile receiver 33 equipped with position calculation means that uses a satellite positioning system to determine the position of the autonomously traveling work vehicle 1 that serves as the vehicle body, a steering actuator 40 that operates the steering device, an engine controller 60 that serves as engine rotation control means, a transmission means 44, and a control device 30 that controls these, and is caused to travel autonomously along a set travel route R stored in the control device 30, and the autonomously traveling work vehicle 1 can be operated by a remote control device 112 mounted on an accompanying traveling work vehicle 100 that travels alongside the autonomously traveling work vehicle 1 and performs work. This is a side-by-side work system that can perform this function, and the remote control device 112 is portable and can be removably attached to the accompanying traveling work vehicle 100 and / or the autonomous traveling work vehicle 1, so that during side-by-side work, work can be performed with the remote control device 112 attached to the accompanying traveling work vehicle 100, and work can be performed independently using the autonomous traveling work vehicle 1, or if trouble occurs with the autonomous traveling work vehicle 1, the remote control device 112 can be removed and the operator can get on board the autonomous traveling work vehicle 1, or operate or check it from a position close to the autonomous traveling work vehicle 1 or where it can be seen well. This improves operability and makes it easier to deal with problems and the like.

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

[0040] The display 113 also displays the target driving route (set driving route) R (described below) of the autonomous driving work vehicle 1, its current position, the distance to the headland, the work time, the time until completion, and the work route of the accompanying driving work vehicle 100, making it easy to recognize the driving condition and work progress during work, and making it easier to plan work. The display also displays GPS information (positioning information), making it possible to understand the reception status from the satellite and to easily deal with situations such as when the signal from the GPS satellite is interrupted. The autonomous driving work vehicle 1 is also equipped with a camera 42 that captures images around the vehicle, and images captured by the camera 42 can be displayed on the display 113, making it easy to recognize the situation around the autonomous driving work vehicle 1 from a distance, and to easily deal with obstacles, etc.

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

[0042] The target travel path R is generated according to the type of work. Work types include solo travel by the autonomous work vehicle 1 alone, parallel travel by the autonomous work vehicle 1 and accompanying work vehicle 100, and combined harvesting work by an autonomous harvester (combine) and an accompanying transport vehicle, etc. In this embodiment, the generation of a travel path for parallel travel by the autonomous work vehicle 1 and accompanying work vehicle 100 will be described. Furthermore, parallel travel work includes horizontal side-by-side cooperative work shown in FIG. 3, and vertical side-by-side overlapping work and vertical side-by-side cooperative work shown in FIG. 4. Note that parallel travel work by the autonomous work vehicle 1 and accompanying work vehicle 100 can shorten work time and can be achieved by adding the autonomous work vehicle 1 to the accompanying work vehicle 100 already owned, eliminating the need to purchase two new autonomous work vehicles 1 and reducing costs.

[0043] Specifically, in the lateral side-by-side cooperative work shown in Figure 3, the accompanying work vehicle 100 travels diagonally behind the autonomous work vehicle 1, partially overlapping the work area (overlapping is not necessary if the work implement of the accompanying work vehicle 100 is a trencher, etc.), allowing one person to work at once over an area approximately twice the width of the work implement, thereby reducing the time required. In the longitudinal side-by-side overlapping work shown in Figure 4, the autonomous work vehicle 1 and the accompanying work vehicle 100 travel in a line front to back, equipped with the same work implement, with the first vehicle performing rough plowing and the second vehicle performing soil harrowing, thereby dividing up the work. In the longitudinal side-by-side cooperative work, the autonomous work vehicle 1 and the accompanying work vehicle 100 travel in a line front to back, with the first vehicle performing plowing (soil harrowing) and the second vehicle using a different work implement such as fertilizing or sowing, allowing two or more tasks to be divided up between the front and rear.

[0044] This section describes the generation of a travel path for an automated work system in which the autonomously traveling work vehicle 1 performs work while autonomously traveling in the above-described side-by-side cooperative work. The setting operation is performed using the remote control device 112, but can also be performed using the display means 49 of the autonomously traveling work vehicle 1. First, the reference length for tilling work is input in advance into the storage device 30a of the control device 30. As shown in FIG. 5, the reference length is determined by obtaining the working width W1 of the work implement attached to the tractor, the distance L1 from the mobile GPS antenna 34 mounted on the machine body to the end of the work implement, the overall length L2 of the machine body (or the minimum turning radius L3), and, if the work implement is positioned eccentrically, the amount of eccentricity S1 from the lateral center as shown in FIG. 6 from a machine body specification table and storing these values ​​in the storage device 30a of the control device 30. Furthermore, if the work implement is a rotary tiller 24, either a side drive or center drive type is selected. If the work implement is a side drive type, the position of the chain case 24a and the width W2 values ​​are also stored in the storage device 30a. Furthermore, the area (L2 × (W1 + W2)) occupied by the total length L2 of the vehicle body and the width (W1 + W2) of the work implement is defined as the maximum area Q occupied by the autonomously traveling work vehicle 1 and the work implement (rotary tiller 24) while traveling, and is stored in the storage device 30a. If a front work implement is attached, the distance from the front end of the front work implement to the rear end of the vehicle body is L2. If a mid-work implement is attached instead of the rotary tiller 24, (W1 + W2) becomes W1 if the mid-work implement is wider than the vehicle body width (the outer width of the left and right rear wheels). Furthermore, the maximum area Q is not limited to a rectangle, and can also be the circumscribing circle Q1 of this rectangle. Using the circumscribing circle Q1 makes it easier to recognize interference with ridges, etc., when turning. Similarly, the reference length of the accompanying traveling work vehicle 100 is also input to the storage device 30a of the control device 30 or the remote control device 112, as described above.

[0045] Next, to set the field position, work area, and travel route R along which work will be performed, the autonomous work vehicle 1 is positioned at the four corners of the field (A, B, C, D, or inflection points) and a positioning process is performed. Specifically, as shown in FIG. 7, positioning is performed at the entrance / exit E of field H, and the latitude and longitude are stored in the storage device 30a of the control device 30 as entrance / exit position data. By setting the entrance / exit E, it is possible to easily set the work start position X and work end position along travel route R. When travel route R is created by taking measurements while traveling around the perimeter of the field, positioning may be performed using a correction signal from either a fixed base station or a simple base station. Therefore, it is important to be able to identify which base station the positioning was performed from, so that any inconsistencies that may arise when creating travel route R can be easily understood.

[0046] The autonomous vehicle 1 enters the field through the entrance / exit E and moves to the corner (corner) A closest to the entrance. It positions itself parallel to either the short or long side of the field (hereafter referred to as the ridge), measures its position, and stores the position as first corner data (latitude and longitude). The unmanned tractor then moves to the next corner B, turns approximately 90 degrees so that it is parallel to the ridge, measures its position, and stores the position as second corner data. Then, in the same manner as above, it moves to the next corner C, acquires and stores third corner data, and then moves to the next corner D, acquires and stores fourth corner data. In this way, the shape of the field is determined by drawing straight lines from corner A to corners B, C, and D in order, as if drawn in one stroke, and the field data is acquired. However, if the field shape is irregular, data on the positions of corners other than the four corners and inflection points is acquired and stored to determine the field data. For example, if the field shape is triangular, position data on three corners is acquired and stored, and if the field shape is pentagonal, position data on five corners is acquired and stored. Since corners are a subordinate concept and inflection points are a superior concept, field data can be acquired by sequentially positioning inflection points, acquiring position data, and traveling around the entire field. Furthermore, travel route R can only be created within the area inside the field perimeter data obtained by traveling around the outermost perimeter. Any deviation from the outer perimeter results in an error, preventing the creation of travel route R. Furthermore, when connecting corner data with straight lines, if the lines intersect, the data is not recognized as field data. This is because this is not a field and there is a high possibility that a corner or inflection point is missing. Furthermore, when creating field data, obtaining field data from map data published on the Internet or by map manufacturers is prohibited; only location data acquired locally as described above is permitted. This prevents errors that can lead to the robot going outside the field during actual work.

[0047] Furthermore, around the periphery of a field, there may be water intakes and drainage outlets, stakes and stones marking boundaries, and trees growing in the area. These get in the way when driving in a straight line, so they can be located and set as obstacles. These obstacles are set as obstacles when creating field data. If these obstacles are set, the driving route R is set so that they will avoid the obstacles during autonomous driving.

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

[0049] In this way, as shown in FIG. 9, the working area HA obtained from the field data is made to be a roughly rectangular shape, and this working area HA is displayed on the display 113 of the remote control device 112. Within this working area HA, headland HB is set on both the front and rear of the working direction in which the autonomous working vehicle 1 will travel. The width Wb of the headland HB is calculated from the tilling width W1 when the working implement is a rotary tiller 24. For example, the tilling width can be input and an integer multiple thereof can be selected. However, the width Wb of the headland HB is the length in the direction parallel to the direction of travel (longitudinal direction) in which the autonomous working vehicle 1 will work within the working area HA. ​​Note that the headland width Wb must be larger than the minimum turning radius, as it is necessary to turn without turning the steering wheel back and with a margin to allow for slippage and other factors. Therefore, by storing in advance in the storage device 30a the minimum turning radius of the autonomously traveling work vehicle 1 with a work implement (the rotary tiller 24 in this embodiment) attached, it is not possible to input a value smaller than this minimum turning radius when setting it. However, the turning radius to be set may also be the turning radius when there is no accelerated turning or auto-steering function.

[0050] Note that if the accompanying travelling work vehicle 100 is larger than the autonomous travelling work vehicle 1, or if the work implement attached to the accompanying travelling work vehicle 100 is larger than the work implement attached to the autonomous travelling work vehicle 1, the standard length of the accompanying travelling work vehicle 100 is used as the width Wb of the headland HB. When other work implements are attached, the overall length of the work implement and the width of the row are taken into consideration, so any length can be input as a numerical value for the headland width Wb. Since work may be performed by going back and forth across the headland or by circling the work area including the headland in a spiral pattern to finish work, the turning direction in the headland HB can also be set. Furthermore, since there are ridges around the field, additional work may be required to process the ridges, so the width Wc of the end HC on the work start side (distance from the ridge) can also be set to any length.

[0051] Next, the process of setting the overlap amount (overlapping width) begins. The overlap amount Wr (FIG. 3) is the width of overlap between the outbound and return routes when working with work implements (e.g., rotary tillers) in a round-trip operation, or the overlapping width of the left and right rotary tillers when the autonomously traveling work vehicle 1 and the accompanying traveling work vehicle 100 work side-by-side in a cooperative operation. The overlap amount Wr is set to an arbitrary length so that no tilled area is left uncovered, even on slopes or uneven surfaces. Note that if the overlap amount Wr is set, in the case of longitudinally traveling side-by-side overlapping work, the work implements may collide when turning and passing each other on the headland. Alternatively, the autonomously traveling work vehicle 1 may stop traveling due to detection by the obstacle sensor 41. To avoid this, the accompanying traveling work vehicle 100 skips one or more rows during work to avoid collisions. Alternatively, when approaching the headland, "passing control" is performed to prevent the work implements from colliding. "Passing control" is a control that, for example, raises one implement and lowers the other when they pass each other. However, when working with implements that do not need to overlap, such as transplanters, seed sowers, and trenchers with a single central row, there is no need to set row spacing or perform "passing control," and these can be selected according to the work mode.

[0052] The field data also allows the user to set or select a work end position. For example, if the work end position is located opposite the entrance / exit E after the travel route R is set, or if the remaining field HD within the rectangular work area HA of the field H is located far from the entrance / exit E, the work end position can be set as a priority, avoiding overlapping work as much as possible and completing the work without disturbing the field. In this case, the work start position X is set by tracing the work travel route R in the reverse direction from the work end position. Therefore, the work start position X may be located far from the entrance / exit E. Furthermore, the work start position X and work end position can be set to positions preferred by the operator, and the work start direction and work end direction can be changed by setting a free-traveling process in which no work is performed. By inputting and setting the above values ​​and options, the control device 30 automatically generates the travel route R so that the vehicle performs straight forward and backward travel within the work area HA and then turns around at the headland HB. Furthermore, the work route R' (Figure 3) for the accompanying traveling work vehicle 100 is also generated simultaneously.

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

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

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

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

[0057] In order to remotely operate the autonomously traveling work vehicle 1 using the remote control device 112, the control device 30 is connected to a steering actuator 40, a brake actuator, an accelerator actuator, a transmission means 44, a PTO on / off means 45, a clutch actuator, a lifting actuator 25, etc.

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

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

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

[0061] Furthermore, because the width Wb of the headland HB is an integer multiple of the work implement width (W1 + W2), headland setting can be easily performed. Furthermore, because the width Wb of the headland HB is set to be larger than the minimum turning radius L3 of the autonomous work vehicle 1 with the work implement attached, it is possible to turn at the headland without having to turn back, and work efficiency will not decrease.

[0062] After creating the work travel route R in this way, work begins. To begin this work, the operator drives the autonomous work vehicle 1 to the work start position. At this time, the current position determined by GPS is displayed on a map, but it is difficult to move the vehicle accurately to the work start position X. Therefore, as shown in FIG. 13, guidance is provided by sound and display means when the autonomous work vehicle 1 is moving to the work start position X. For example, when the sound is changed in stages to notify the vehicle that it is approaching the work start position X, the sound may be soft or the interval between intermittent sounds may be longer if the vehicle is far from the work start position X, and the sound may become louder or the interval between intermittent sounds may be shorter as the vehicle approaches the work start position X. Then, once the vehicle enters the work start position X, the sound quality may change or the sound may become continuous. It is also possible to provide guidance by sound not only about distance but also about direction. Furthermore, guidance to the work start position X on the display means (display 113) is displayed by an arrow or the like.

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

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

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

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

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

[0068] Next, a determination is made as to whether there is an abnormality in the autonomously traveling work vehicle 1 (S8). If an abnormality is found, the nature of the abnormality is displayed (S9), and work is not initiated and the abnormality is repaired (S10). Examples of abnormalities include an engine stall, an increase in oil or water temperature, a disconnection or short circuit in the electrical system, a work machine not operating, a door to the autonomously traveling work vehicle 1 not being closed (detected by a sensor), or the operator not paying attention to (away from) the remote control device 112. Whether the operator is not paying attention to (away from) the remote control device 112 is determined by detection using a camera or touch sensor provided on the remote control device 112. If no abnormality is found, a determination is made as to whether the engine 3 is started (S11). If not started, autonomous traveling does not begin, and the operator gets on the autonomously traveling work vehicle 1 and performs the start operation (S12). If the engine is started, autonomous traveling and work begin (S13). When determining whether the above-mentioned start conditions are met, it is also possible to change the display one by one each time one is completed. If the work vehicle is electrically driven, the control unit 100 determines whether power can be supplied from the battery to the electric motor.

[0069] During autonomous driving work, a determination is made as to whether the work has been completed (S14). When the work is completed, the autonomous driving work vehicle 1 stops traveling and ends (S15). If the work has not ended, a determination is made as to whether the work has been interrupted midway (S16). The interruption conditions will be described later. If an interruption condition does not occur, the autonomous driving work continues. If the work is interrupted, the interruption location is stored in the storage device 30a (S17). When the work is interrupted, a determination is made as to whether the work can be resumed (S18). If it is resumed, the interruption location is displayed as the restart location (S19), and the process returns to step 1. Note that the restart location after an interruption can be selected to be a different work start location from the interruption location. Furthermore, if the autonomous driving work vehicle 1 is moved to a different location when resuming work for refueling, repairs, etc., it is also possible to control the autonomous driving work vehicle 1 to automatically move to the restart location.

[0070] As described above, when a work start operation is performed using a switch or the like to start work with the autonomously traveling work vehicle 1, the control device 30 controls the vehicle not to allow work to begin if the vehicle's current position is further away from the work start position X on the set travel route R by more than a set range. This prevents the unworked area at the work start position X from becoming too large, and allows the vehicle to quickly return to the set travel route R if there is a slight positional deviation within the set range. The control device 30 also comprises a first control device 301 that controls the travel and work of the autonomously traveling work vehicle 1, and a second control device 302 that calculates and stores the travel route R. The first control device 301 is provided on the autonomously traveling work vehicle 1, and the second control device 302 is provided on the autonomously traveling work vehicle 1 or the remote control device 112. This allows calculations (control processing) to be performed in parallel (distributed), reducing the control burden and speeding up calculations (control). Furthermore, providing the second control device 302 on the remote control device 112 allows the vehicle to perform setup work from a home or other location far from the vehicle.

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

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

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

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

[0075] The system also determines whether the output values ​​of the gyro sensor 31, which detects attitude, and the orientation sensor 32, which detects orientation, are within normal ranges (S25). If an abnormal value is detected, the system stops the vehicle (S21). It may also determine whether there are any abnormalities due to dead reckoning. For example, if inertial navigation is also applied, the system also determines whether there are any abnormalities in the sensor values ​​related to inertial navigation, such as the axle (traveling wheel) rotation speed sensor. It also determines whether the remaining fuel level is below a set level (S26). If the remaining fuel level falls below the set level, the vehicle stops (S21). However, the set level can be set arbitrarily. This eliminates the need to refuel during work, prevents the vehicle from running out of fuel midway, and prevents engine damage. Instead of calculating the remaining fuel level, the system can integrate fuel consumption based on engine speed, load, operating time, etc., and control the system to stop when the integrated value exceeds a predetermined value. In this case, the amount of fuel added or the remaining fuel level is input. Furthermore, if any other abnormality occurs in the machine or the like (S27), travel is stopped and suspended (S21). Other abnormalities include when the engine does not rotate normally, when abnormal vibration occurs in the machine, when the work equipment does not operate, when the machine skids and the difference between the axle rotation and the travel distance exceeds a predetermined range, when the door opens if the machine is equipped with a cabin, when communication with the remote control device 112 is lost, or when the remote control device 112 separates from the operator in a mode in which the remote control device 112 is carried and operated by the operator. Travel is also suspended in these cases. Detection of the remote control device 112 separation from the operator can be detected, for example, when the impact acceleration of the remote control device 112 is detected and exceeds a set value, when the attitude of the remote control device 112 is detected and it takes an abnormal attitude (upside down or upside down), when a camera is attached to the remote control device 112 and a face recognition function is added and the operator cannot be recognized for a certain period of time, or when a human presence sensor is provided and the wearer cannot be detected, etc.

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

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

[0078] In addition, in transmissions that use a sliding gear transmission, a power clutch transmission, a belt-type continuously variable transmission, or the like, the means for stopping the vehicle's movement turns off the main clutch located between the output shaft of the engine 3 and the input shaft of the transmission case to stop the vehicle from moving and activates the brakes. In this way, even when the vehicle is stopped on a slope, it is prevented from descending along the slope.

[0079] When the vehicle stops traveling, the PTO on / off means 45 is activated to turn off the PTO clutch, stopping the operation of the work equipment, and the engine 3 speed is reduced to idle speed. This prevents unexpected sudden movements and damage to the work surface. However, the engine speed when the vehicle stops traveling can be set as desired.

[0080] Furthermore, if the autonomous work vehicle 1 stalls and stops during work due to an increase in load or the like, the operator will stop work and get into the autonomous work vehicle 1. Then, the operator will restart the engine and take action to avoid the cause of the increased load. For example, the operator may raise the work equipment or lower the gear position to travel at a slower speed. Once the vehicle has passed through the high-load area, normal work will resume.

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

[0082] Furthermore, the control device 30 controls the robot to stop traveling when the actual position deviates from the set traveling route R by more than a set range, so that the robot stops before it deviates too far from the set traveling route R, preventing deterioration of work accuracy and preventing the robot from getting stuck too deeply or climbing over an obstacle and becoming unable to move.

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

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

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

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

[0087] In the third aspect, automatic driving is immediately suspended based on the establishment of an automatic driving suspension condition, and after the automatic driving is suspended, a warning is issued indicating that automatic driving has been suspended. Automatic driving is resumed from the resumption position based on the operation of a specified operating tool by the supervisor, and before the automatic driving is resumed, a notification is issued indicating that automatic driving will resume.

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

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

[0090] An automatic work system according to one aspect of the present invention is an automatic work system capable of performing automatic work while a work vehicle is automatically traveling along a travel route, and is capable of starting automatic travel when an automatic travel start condition is met at an automatic travel start position on the travel route, and while the automatic travel is traveling along the travel route, automatic travel is interrupted when an automatic travel interruption condition is met, and when automatic work is resumed after the automatic travel is interrupted, the position where the automatic travel was interrupted is displayed on a display unit as the work restart position.

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

[0092] In one aspect, a work vehicle assistance system is a work vehicle assistance system for use with a work vehicle that automatically travels within a field, and sets specific information related to the automatic travel of the work vehicle, the specific information including at least one of information related to the work vehicle and information related to a work implement provided on the work vehicle. A work vehicle assistance method according to one aspect is a work vehicle assistance method used for a work vehicle that automatically travels within a field, the method comprising: setting specific information related to the automatic travel of the work vehicle, the specific information including at least one of information related to the work vehicle and information related to a work implement provided on the work vehicle. [Industrial Applicability]

[0093] The present invention can be used in construction machinery, agricultural work vehicles, and the like that can be automatically stopped when an abnormality occurs. [Explanation of symbols]

[0094] 1. Autonomous work vehicle 30 Control device 40 Steering actuator 44 Transmission means 60 Engine Controller 100 Accompanying work vehicle 112 Remote Control Device

Claims

1. A work vehicle assistance system used in a work vehicle that automatically travels within a field, When an automatic driving interruption condition is met while the work vehicle is automatically driving, the automatic driving of the work vehicle is interrupted. Work vehicle support system.

2. When the interruption condition is met, the automatic traveling of the work vehicle is interrupted and the traveling of the work vehicle is stopped. The work vehicle support system according to claim 1 .

3. When the automatic traveling of the work vehicle is interrupted, a display indicating that the automatic traveling has been stopped is displayed on the display unit.

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

4. When the interruption condition is met, a cause for interrupting the automatic traveling of the work vehicle is notified. The work vehicle support system according to any one of claims 1 to 3.

5. the interruption condition includes an abnormality in a signal from a satellite of a satellite positioning system for detecting the current position of the work vehicle; The work vehicle support system according to any one of claims 1 to 4.

6. the interruption condition includes an abnormality in communication between the work vehicle and a remote control device for remotely controlling the work vehicle. The work vehicle support system according to any one of claims 1 to 5.

7. The interruption condition includes the remaining fuel amount of the work vehicle being equal to or less than a set amount. The work vehicle support system according to any one of claims 1 to 6.

8. If the automatic driving is interrupted, the automatic driving of the work vehicle is resumed after the cause of the interruption is resolved. The work vehicle support system according to any one of claims 1 to 7.

9. After the cause of the interruption is resolved and a predetermined operation is performed by the operator, the automatic traveling of the work vehicle is resumed. The work vehicle support system according to claim 8.

10. When the automatic traveling of the work vehicle is resumed, a notification is sent to the surroundings of the work vehicle. The work vehicle support system according to claim 9.

11. A work vehicle assistance method used for a work vehicle that automatically travels in a field, comprising: When an automatic driving interruption condition is met while the work vehicle is automatically traveling, the automatic driving of the work vehicle is interrupted. Work vehicle support method.

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