Area registration method and area registration system

Abstract

To provide an area registration method and an area registration system that change the size of headland area, etc. which has been set to an arbitrary size so as to set a work area and the headland area desired by a worker again, i.e., the method and system realize set and review of a registration area.SOLUTION: The method and system executes: setting information of a work vehicle autonomously traveling in a travel area; setting a work area which is included in the travel area and in which the work vehicle performs work; setting a headland area which is included in the travel area and located outside the work area; subsequent to setting of the work area and the headland area, when receiving an operation of input of setting information of the headland area, changing the size of the work area and the headland area based on the input setting information.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an area registration method and area registration system that allows an operator or user to appropriately re-set, change, and register desired headland areas, etc. when generating and setting work routes, etc. along which an autonomous work vehicle will work while traveling. [Background technology]

[0002] In order to generate a work route for an autonomous work vehicle to travel, it is necessary to divide and register in advance the travel area into a headland area set aside for making 180-degree turns, and a work area located inside this headland area, etc. A method for generating such a travel route is known from Patent Document 1.

[0003] Patent Document 1 describes a method for setting a headland area by determining the number of work strokes from vehicle information about the work vehicle, and then setting the work area according to the size of the headland area. In this headland area setting method, the headland area is set from vehicle information, and the headland area is automatically set to the minimum range that can ensure a width that ensures the safety of the work vehicle and a width that allows the work vehicle to turn. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] WO2015 / 119263 publication Summary of the Invention [Problem to be solved by the invention]

[0005] However, when the size of the headland area is determined automatically in this way, the size of the work area is also inevitably determined automatically, and it has not been possible for an operator or user (hereinafter collectively referred to as "worker") to set the headland area and work area as desired.

[0006] Therefore, the object of the present invention is to provide an area registration method and an area registration system that allow a worker to re-set the desired work area or headland area by changing the size of a headland area, etc. that has once been set, to any size, i.e., to review the setting of the registered area. [Means for solving the problem]

[0007] The area registration method of the present invention is a method of setting information for a work vehicle that travels autonomously within a travel area, setting a work area that is included in the travel area and in which the work vehicle will perform work, setting a headland area that is included in the travel area and located outside the work area, and when an operation to input setting information for the headland area is received after the work area and headland area have been set, changing the sizes of the work area and headland area based on the input setting information.

[0008] The area registration system of the present invention is a system comprising: a vehicle information setting unit that sets information for a work vehicle that drives autonomously within a driving area; a work area setting unit that sets a work area that is included in the driving area and in which the work vehicle will perform work; a headland area setting unit that sets a headland area that is included in the driving area and located outside the work area; and a modification unit that, when an operation to input setting information for the headland area is received after the working area and headland area have been set, changes the size of the working area and headland area based on the input setting information. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic side view showing an autonomous driving work vehicle, GPS satellites, and a reference station according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a control block diagram showing an autonomous driving work vehicle, GPS satellites, and reference stations according to the first embodiment of the present invention. [Figure 3]FIG. 3 is a block diagram showing the configuration of a remote control device according to the first embodiment of the present invention. [Figure 4] FIG. 4 is an explanatory diagram showing the specifications such as the length of each reference part of the autonomous navigation work vehicle according to the first embodiment of the present invention. [Figure 5] FIG. 5 is an explanatory diagram showing the process for acquiring farm field data. [Figure 6] FIG. 6 is an explanatory diagram showing the travelable directions of the reference route. [Figure 7] FIG. 7 is an explanatory diagram showing the work area, headland, and travel route in the farm field. [Figure 8] FIG. 8 is an explanatory diagram showing the state when the autonomously traveling work vehicle according to the first embodiment of the present invention approaches the work start position. [Figure 9] FIG. 9 is an explanatory diagram showing an operation screen when changing the headland width or the like in the changing unit according to the first embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart of a first example showing an example of operation when changing the headland width or the like in the changing unit according to the first embodiment of the present invention. [Figure 11A] FIG. 11A is an explanatory diagram showing the inadequacy of a set travel route associated with the conventional automatic setting of headland width. [Figure 11B] FIG. 11B is an explanatory diagram showing the appropriateness of the set travel route in this embodiment. [Figure 12] FIG. 12 is a flowchart of a first alternative example showing an example of operation when changing the headland width or the like in the changing unit according to the first embodiment of the present invention. [Figure 13] FIG. 13 is a flowchart of a first alternative example (when the set value is too small) showing an example of operation when changing the headland width or the like in the changing unit according to the first embodiment of the present invention. [Figure 14] FIG. 14 is a flowchart of a first alternative example (when the set value is too large) showing an example of operation when changing the headland width or the like in the changing unit according to the first embodiment of the present invention. [Figure 15]FIG. 15 is an explanatory diagram showing an operation screen when performing a change operation in a change unit according to the first alternative embodiment of the present invention. [Figure 16] FIG. 16 is an explanatory diagram showing a method for setting a work area in a first alternative embodiment of the present invention, where (a) shows the travel trajectory of an autonomously traveling work vehicle, and (b) shows the set work area. [Figure 17] FIG. 17 is an explanatory diagram showing a travel route of an autonomously traveling work vehicle in a set work area in accordance with a first alternative embodiment of the present invention. [Figure 18] FIG. 18 is an explanatory diagram showing an operation screen when changing the work area in the change unit according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0011] First Embodiment In the autonomous work vehicle employing the area registration system of this embodiment, a tractor is used as the autonomous work vehicle 1 that can travel automatically without a driver, and this autonomous work vehicle 1 (hereinafter sometimes referred to as "tractor 1") is equipped with a rotary tiller as the work implement 24. However, in the present invention, the work vehicle is not limited to the tractor 1, but may be a combine harvester or the like, and the work implement is not limited to the rotary tiller, but may be a ridger, mower, rake, seed sower, fertilizer applicator, wagon, or the like.

[0012] First, the overall configuration of tractor 1 will be described with reference to Figures 1 and 2. This tractor 1 has an engine 3 installed inside a hood 2, a dashboard 14 installed inside a cabin 11 behind the hood 2, and a steering wheel 4 serving as a steering operation means installed on the dashboard 14. By turning the steering wheel 4, the direction of front wheels 9 is turned via a steering device.

[0013] The steering direction of the tractor 1 is detected by a steering sensor 20. The steering sensor 20 is made up of an angle sensor, and is disposed at the rotation base of the front wheel 9. The detection value obtained by the steering sensor 20 is input to the control device 30.

[0014] A driver's seat 5 is disposed behind the steering wheel 4, and a transmission case 6 is disposed below the driver's seat 5. Rear axle cases 8 are connected to both the left and right sides of the transmission case 6, and rear wheels 10 are supported on the rear axle cases 8 via axles. The transmission means 44 is connected to the control device 30. The rotation speed of the rear wheels 10 is detected by a vehicle speed sensor 27 and input to the control device 30 as the traveling speed.

[0015] A PTO clutch and a PTO transmission are housed inside the transmission case 6. The PTO clutch is turned on and off by a PTO on / off means 45, which is connected to the control device 30 and can control the connection and disconnection of power to the PTO shaft.

[0016] A front axle case 7 is supported on a front frame 13 that supports the engine 3, and front wheels 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. The front wheels 9 are steerable wheels that can be turned by turning the steering wheel 4. The front wheels 9 can be steered left and right by a steering actuator 40 that is made up of a power steering cylinder that serves as steering drive means. The steering actuator 40 is connected to the control device 30 and is driven under automatic driving control.

[0017] 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 the engine so as not to cause an overload, and transmits the state of the engine 3 to a remote control device 100, which will be described later, so that it can be displayed on a display 102, which serves as display means.

[0018] The display means 49 provided on the dashboard of the tractor 1 is provided with a fuel gauge that displays the remaining amount of fuel, and is connected to the control device 30. Information regarding the remaining amount of fuel is sent from the control device 30 to the remote control device 100, and the remaining amount of fuel and the remaining work time are displayed on the display 102 of the remote control device 100. Also arranged on the dashboard 14 are the display means 49 that displays an engine tachometer, fuel gauge, oil pressure, etc., a monitor that indicates abnormalities, set values, etc.

[0019] Additionally, a rotary tiller 24 is mounted as a work implement at the rear of the tractor 1 via a work implement mounting device 23 so that it can be raised and lowered to perform tilling work. A lifting cylinder 26 is provided on the transmission case 6, and by extending and retracting the lifting cylinder 26, a lifting arm that constitutes the work implement mounting device 23 is rotated, thereby raising and lowering the rotary tiller 24. The lifting cylinder 26 is extended and retracted by the operation of a lifting actuator 25, which is connected to a control device 30.

[0020] 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. Meanwhile, 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, and transmits the measured latitude and longitude to the control device 30, making it possible to determine the current position.

[0021] The tractor 1 is equipped with a gyro sensor 31 for obtaining information on changes in the attitude of the vehicle, and a direction sensor 32 for detecting the direction of travel, and is connected to the control device 30. However, since the direction of travel can be calculated from GPS position measurements, the direction sensor 32 can be omitted.

[0022] The gyro sensor 31 detects the angular velocity of the tilt (pitch) in the longitudinal direction of the body of the tractor 1, the angular velocity of the tilt (roll) in the lateral direction of the body of the tractor 1, and the angular velocity of the turning (yaw) of the tractor 1. The gyro sensor 31 is connected to the control device 30, and inputs information relating to the above three angular velocities to the control device 30.

[0023] The direction sensor 32 detects the direction (traveling direction) of the tractor 1. The direction sensor 32 is connected to the control device 30, and inputs information relating to the direction of the vehicle body to the control device 30.

[0024] In this way, the control device 30 calculates the signals obtained from the gyro sensor 31 and the orientation sensor 32 using the attitude / orientation calculation means, and determines the attitude of the tractor 1 (i.e., direction, inclination in the fore-aft and lateral directions of the vehicle body, and turning direction).

[0025] (How to obtain location information) Next, a method for acquiring the position information of the tractor 1 using a GPS (Global Positioning System) will be briefly described.

[0026] There are various methods available for positioning using GPS, but in this embodiment, the RTK-GPS positioning method, which has high measurement accuracy, is adopted.

[0027] In this embodiment, a mobile receiver 33, a mobile GPS antenna 34, and a data receiving antenna 38 are installed on the tractor 1 as mobile stations, and a fixed receiver 35, a fixed GPS antenna 36, ​​and a data transmitting antenna 39, which are base stations, are arranged in predetermined positions that do not interfere with work in the field.

[0028] A mobile GPS antenna 34 arranged on the tractor 1 receives signals from GPS satellites 37. These signals are transmitted to a mobile receiver 33 for positioning. At the same time, a fixed GPS antenna 36 serving as a reference station receives signals from the GPS satellites 37, which are then used for positioning by a fixed receiver 35 and transmitted to the mobile receiver 33 to determine the position of the mobile station. The position information thus obtained is transmitted to the control device 30.

[0029] The control device 30 in the tractor 1 receives radio waves transmitted from GPS satellites 37·37··· and determines the position information of the vehicle at set time intervals using a mobile receiver 33, and also determines displacement information and orientation information of the vehicle (work vehicle 1) from a gyro sensor 31 and an orientation sensor 32, and controls the steering actuator 40, transmission means 44, etc. based on this position information, displacement information and orientation information so that the vehicle travels along a predetermined travel route R.

[0030] Additionally, an obstacle sensor 41 is provided on the tractor 1 and connected to the control device 30 to prevent the tractor 1 from coming into contact with an obstacle. For example, the obstacle sensor 41 in this embodiment is connected to the control device 30 and controls the tractor 1 to stop traveling when an obstacle approaches within a set distance.

[0031] The tractor 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. Images captured by the camera 42 are displayed on a display 102 of a remote control device 100 carried by the worker.

[0032] The camera image can be displayed constantly or selectively on the display 102 or on the display means 49 provided on the tractor 1.

[0033] The remote control device 100, details of which will be described later, registers and sets the travel route R of the tractor 1, remotely controls the tractor 1, monitors the travel status of the tractor 1 and the operating status of the work implement 24, and stores work data.

[0034] Furthermore, the remote control device 100 and the tractor 1 are configured to be able to communicate with each other wirelessly, and the tractor 1 and the remote control device 100 are each provided with a transceiver 110 and a transceiver unit 104 for communication. The transceiver unit 104 is configured integrally with the remote control device 100. The communication means is configured to enable mutual communication via a wireless LAN such as WiFi. When communication is performed between the tractor 1 and the remote control device 100, measures are taken to avoid communication interference (including virus infection, etc.), interference, etc. For example, a unique protocol, language, etc. may be used.

[0035] (remote control device) As shown in FIG. 3, the remote control device 100 comprises a touch panel type operation screen (hereinafter sometimes referred to as a "touch panel") 101 that can be operated by touching the screen with a finger or the like, a liquid crystal display unit (sometimes called a display or LCD) 102 that displays various switches and the like on this operation screen 101 on a liquid crystal screen, a memory unit (memory) 103 that stores and saves registration information and the like, a transmitter / receiver unit 104 that transmits and receives information to and from the tractor 1, a control unit (CPU) 105 that controls these, a route generation unit 105A that sets a travel route (or work route R) within the work area WA, an alarm unit 106, and a battery, a camera, etc. that are not shown.

[0036] The operation screen 101 is equipped with a vehicle information setting section 101A for inputting and setting various data related to the vehicle (tractor 1, etc.) required for registration as a working area WA, a working area setting section 101B for inputting and setting various data required for registration as the working area WA of the field H (traveling area) where work is to be done, a headland area setting section 101C for setting a headland area located outside the working area WA and excluding the working area WA within the traveling area based on information about the tractor 1, a work start position setting section 101E for setting the position where the tractor 1 should start work, and a change section 101D that makes it possible to change the various data input for registration as a working area, etc. The headland area is made up of a first headland area that includes a turn, and a second headland area that does not include a turn.

[0037] Note that the headland region setting unit 101C may also set only one of the first headland region and the second headland region.

[0038] In addition, the display 102 is configured to display images of the surroundings taken by the camera 42 on the tractor 1, the condition of the tractor 1, information about the work status and GPS (positioning information), the communication status between the remote control device 100 and the tractor 1 (for example, an indication of good or bad, or radio wave strength and communication speed), the positional relationship with the tractor 1, etc., allowing the worker to monitor.

[0039] The route generation unit 105A sets a travel route R within the work area WA based on data calculated by the control unit 105, and the travel route R is displayed as a straight line on the screen of the display 102, as shown in Figures 11 and 17, for example (however, in areas where the tractor 1 is turning, the route is displayed as an approximately U-shape, etc.).

[0040] If the path generating unit 105A cannot set a work path or a travel path R within the work area WA for the input value of headland area width (headland width), the number of work strokes, or the like, the notification unit 106 notifies the worker by sounding a buzzer, turning on a lamp, or displaying a message that the value or number of work strokes arbitrarily input by the worker will not be accepted. Furthermore, if the tractor 1 cannot turn in a headland area of ​​a size corresponding to the input value of headland area width (headland width) or the number of work strokes, the notification unit 106 notifies the worker that the value of headland area width or the number of work strokes will not be accepted. Therefore, upon learning this, the worker can then change the corresponding data again using the change unit 101D and re-register it.

[0041] The data related to work performed by the tractor 1 includes the work route (i.e., the target route or travel route R), the current position, the distance to the headland area calculated from the work process, the remaining work route, the number of work processes, etc., and the work route (or travel route R) can also be displayed on the display 102.

[0042] The information (positioning information) relating to GPS includes the longitude and latitude of the actual position of the tractor 1, the number of satellites captured, and the strength of radio wave reception.

[0043] The display 102 of the remote control device 100 can display not only the surrounding image captured by the camera 42, but also the state of the tractor 1, a preset work route (or travel route R), and the like.

[0044] The tractor 1 can also be remotely controlled by a remote control device 100. That is, the display 102 displays various switches, etc., the details of which will be described later, and by touching these with a finger, it is possible to perform operations such as emergency stopping, temporary stopping, or restarting of the tractor 1. In other words, the remote control device 100 controls the engine controller, accelerator actuator, speed change means 44, PTO on / off means 45, etc. via the transmitter / receiver 104, transceiver 110, and control device 30, allowing the operator to easily remotely control the tractor 1.

[0045] As described above, the tractor 1 of this embodiment is generally configured to include a mobile receiver 33 equipped with a position calculation means (for locating the position of the tractor 1), a steering actuator 40 for operating the steering device, a transmission means 44, an engine controller (ECU) 60 which serves as a rotation control means for the engine 3, and a control device 30 which controls these, and the tractor 1 is caused to travel autonomously along a travel route R (see Figures 7 and 8) stored in the control device 30.

[0046] Meanwhile, in the area registration system employed by the autonomously traveling work vehicle according to the present invention, the various data required for the tractor 1 of this embodiment to travel autonomously in the desired field H is registered using an input device (not shown) provided on the tractor 1 itself, or using the touch panel 101 of the remote control device 100. As mentioned above, in this embodiment, the remote control device 100 used is a portable, portable tablet type that can be used for carrying around.

[0047] Furthermore, if a problem occurs with the tractor 1, the operator can operate or check the remote control device 100 from a position close to the tractor 1 or where it can be easily seen, and can easily take measures to deal with the problem.

[0048] The remote control device 100 is configured as a touch panel tablet having a display (LCD) 102. The display 102 of the remote control device 100 displays the running state of the tractor 1, the state of the engine 3, the state of the work implement 24, and its position relative to the tractor 1, so the operator can easily visually grasp the state of the tractor 1 and can quickly respond if an abnormality occurs in the tractor 1.

[0049] The touch panel 101, which constitutes the interface provided on the display 102, is provided with a vehicle information setting section 101A for setting various information about the tractor 1, a work area setting section 101B for setting the work area, a headland area setting section 101C, a work start position setting section 101E, and a change section 101D that enables these setting information to be changed. Furthermore, the display 102 is configured to be able to display the target travel route (set travel route R) of the tractor 1, which will be described later, the current position, the distance to the headland area, the work time, the work time until completion, the work route, and the like, so that the travel condition and work progress during work can be easily recognized and work plans can be made more easily.

[0050] The display 102 is also configured to display GPS information (positioning information), allowing the reception status from the satellite to be ascertained, and facilitating action to be taken if the signal from the GPS satellite is interrupted.

[0051] Furthermore, as mentioned above, the tractor 1 is equipped with a camera 42 that takes pictures of the area around the vehicle, and the images taken by the camera 42 can be displayed on the display 102, so that the situation around the tractor 1 can be easily recognized from a distance, and it is easy to deal with obstacles, etc.

[0052] (Method for creating target driving route R in desired field) Next, the creation of the target travel route R for the tractor 1 will be described. After the target travel route is created, it becomes the set and registered travel route R. The control device 30 is configured to control the travel and work of the tractor 1 and store it in the storage device 30a.

[0053] The target travel path is generated according to the type of work. There are various types of work, such as a single-travel operation using only the tractor 1, or a combined harvesting operation using an autonomously traveling harvesting vehicle (combine) and an accompanying transport vehicle, etc. In this embodiment, a method for generating a travel path for the tractor 1 equipped with a rotary tiller 24 as a work machine will be described.

[0054] The following describes a method for generating a travel route for an automated operation system that performs various tilling operations while autonomously traveling using the tractor 1. The route generation and setting operations according to the generation method are performed by the route generation unit 105A of the remote control device 100, but can also be performed by the display means 49 of the tractor 1.

[0055] In principle, inputting and selecting setting values ​​on the display 102 of the remote control device 100 is performed by sequentially displaying setting screens on the display 102 as shown below, following the procedures stored in the ROM or the like of the memory unit 103, so as to avoid mistakes or forgetting to set values. Therefore, the operation is simple even for the operator, and settings and input can be performed reliably and without omissions.

[0056] 1. Field outline registration First, as shown in Figures 5 to 8, for example, in order to set the position of the field H, the work area, and the travel route R for the work, the tractor 1 is positioned at the four corners (A, B, C, D, or inflection points) of the field H and a positioning process is performed.

[0057] Tractor 1 enters the field from entrance E and moves to the corner A closest to the entrance. Then, autonomous work vehicle 1 is positioned parallel to the short side or long side of the field outline, and its position is measured and stored as first corner data (latitude and longitude).

[0058] Next, the tractor 1 is moved to the next corner B, turned approximately 90 degrees so that it is parallel to the outline of the field, and its position is measured and stored as second corner data. Similarly, the tractor 1 is moved to the next corner C, and third corner data is acquired and stored, and then the tractor 1 is moved to the next corner D, and fourth corner data is acquired and stored.

[0059] In this way, by drawing a straight line from one corner A to the other corners (B, C, D) in order, as if drawing a single stroke, the shape of the field is determined and acquired as field data. However, if the field shape is irregular (irregularly shaped), data on the positions of corners other than the four corners and inflection points is acquired to determine the field data. For example, if the field is triangular, the position data of three corners is acquired and stored, and if the field is pentagonal, the position data of five corners is acquired and stored.

[0060] Incidentally, data acquisition can be performed and acquired, for example, according to the following procedure and conditions (protocol).

[0061] i) The corners of the field H are a lower concept and the inflection points are a higher concept, so by sequentially positioning the inflection points to obtain position data and traveling around the field, field data can be obtained. ii) In addition, the driving route R can only be created in the area inside the field perimeter data obtained by traveling around the outermost perimeter; if it goes outside this area, an error occurs and the driving route R cannot be created. iii) In addition, when corner data is connected with straight lines, if the straight lines intersect, the data is not recognized as field data because there is a high possibility that a corner or an inflection point is missing. iv) Furthermore, when creating field data, it is prohibited to obtain field data from map data published on the Internet or by map manufacturers, etc., and only location data measured on-site as mentioned above is permitted to be used.

[0062] In this way, when the vehicle is driven during actual work, it is prevented from going outside the field due to an error.

[0063] Furthermore, around the periphery of the field, there may be water intakes and drainage outlets, stakes and stones marking the boundaries, and trees growing in the area. These can be obstacles when traveling in a straight line. Therefore, the field outline is registered while avoiding these obstacles.

[0064] 2. Setting the work start and end positions Furthermore, the field data allows the user to set or select the work start and end positions.

[0065] That is, the work start position setting unit 101E provided in the remote control device 100 allows the work start position and the work end position to be set to positions preferred by the worker.

[0066] 3.Select the reference running start direction This is the step of selecting the reference travel start direction.

[0067] The reference travel start direction is selected as the direction of travel from the work start position X to the work end position for circular work or reciprocating work, or the route from the work end position to the exit (the work direction outside the work area HA). Specifically, as shown in Fig. 6, the reference travel start direction is set to whether work starts and ends in a clockwise direction R, or whether work starts and ends in a counterclockwise direction L. This setting can be easily selected by displaying an arrow, mark, or the like on the display 102 and touching it, for example.

[0068] 4. Setting headland area width and working area Next comes the process of setting the headland area width and working area.

[0069] As shown in FIG. 7, the width Wb of the first headland region HB (hereinafter referred to as "first headland region width Wb") is calculated from the tilling width W1 (see FIG. 4) when the work implement is a rotary tiller 24, for example. Specifically, the tilling width W1 + the width W2 of the chain case 24a (= working width W) is input, and the working width W is set by multiplying the number of revolutions n. Note that the first headland region width Wb is the length in the direction parallel to the direction of travel (longitudinal direction) in which the tractor 1 works in the work area HA. ​​Note that the first headland region width Wb shown in FIG. 7 must be larger than the minimum turning radius, because a margin is required for turning, for example, when turning without turning the steering wheel back and forth.

[0070] Therefore, the minimum turning radius of the autonomously traveling work vehicle (tractor 1) when equipped with a work implement (in this embodiment, a rotary tiller 24) is stored in advance in the memory device 30a, so that values ​​smaller than this minimum turning radius cannot be input during setting.

[0071] Once the first headland region width Wb is determined, the size of the work region is automatically set. Thus, as shown in Figure 7, the work area HA obtained from the field data is made to be a substantially rectangular shape, and this work area HA is displayed on the display 102 of the remote control device 100. Within this work area HA, first headland regions HB are set on both the front and rear of the work direction in which the tractor 1 travels.

[0072] When other implements are attached, the overall length of the implements, the width of the strip, etc. are taken into consideration, so it is possible to input any length as a numerical value for the first headland area width Wb. Since there are cases where work is carried out by going back and forth in the headland area, or where work is completed by going in a spiral around the periphery of the work range including the headland area, the turning direction in the first headland area HB can also be set.

[0073] In another embodiment, the size (width) of the headland area may be set after the work area is set. For example, the work area setting unit 101B sets the work area based on the travel path along which the operator has driven the tractor 1, and the headland area setting unit 101C sets the headland area based on the set work area. Details of this embodiment will be explained in the <First Alternative Embodiment> section below.

[0074] 5. Setting the target driving route R The above numerical values ​​and options are input and set using various buttons on the touch panel 101 that constitutes the interface provided on the remote control device 100. Then, a route generation unit 105A provided on the remote control device 100 (which may be performed by the control device 30 on the tractor 1 side) automatically generates a travel route R so that the autonomously traveling tractor 1 can sequentially perform straight forward and backward travel work in the work area HA and also perform a turn that reverses in the first headland area HB.

[0075] 6. Set the working conditions After the process of generating the travel route R, the next step is the process of setting the work conditions, but a detailed description of this will be omitted here.

[0076] 7. The worker drives tractor 1 and moves it to the work start position X. Finally, once the above settings are completed and the travel route R and the work process along this travel route R are generated, in order to start work, the worker actually drives the tractor 1 to move it to the work start position X. Then, the worker operates the remote control device 100 to start work.

[0077] To start work, the tractor 1 must meet certain start conditions. These work start conditions are stored in the control device 30 of the tractor 1, and when a work start means (not shown) of the remote control device 100 is turned on, the control device 30 determines whether the predetermined work start conditions are met. The work start means in this embodiment is composed of a start button, start switch, etc. of the remote control device 100, but the start button, start switch, etc. may also be provided on the tractor 1.

[0078] Regarding the setting and registration of the travel route R in the desired field described above, after completing the registration of the area using the area registration system of the present invention described later, the tractor 1 may be driven from one end of the field H (work start position X) to the other end (work end position) to register the specific travel route R in the field.

[0079] (How to register an area) Next, the area registration system according to this embodiment will be described in detail with reference to Figures 9 to 13. The present invention may also be an invention of an area registration method in which the remote control device 100 executes part or all of the area registration processing, or an invention of an area registration program for causing the remote control device 100 to execute part or all of the area registration method. The area registration processing may also be executed by a computer (e.g., one or more processors). For example, the area registration method of the present invention is a method in which a computer sets information about a work vehicle that autonomously travels within a travel area, sets a work area that is included in the travel area and in which the work vehicle will perform work, sets a headland area that is included in the travel area and is located outside the work area, and, when an operation to input setting information for the headland area after the work area and the headland area have been set is received, changes the sizes of the work area and the headland area based on the input setting information.

[0080] [First Example] In the area registration system of the present invention shown in Figure 9 (hereinafter sometimes referred to as the "first embodiment"), the operation screen 101 (which is an interface) on the display 102 of the remote control device 100 (see Figures 1 to 3) that displays a menu for area registration is composed of a touch panel.

[0081] On this operation screen (hereinafter sometimes referred to as touch panel 101), a portion of the desired field H is displayed in the left half area, and selection switches S1 to S4 that are operated by touch operation with a finger or the like are displayed and formed in the right half area. Also, in the lower area of ​​this operation screen 101, switch buttons B1 and B2 are displayed and formed for selecting either work stroke number input (stroke number input mode) or headland width designation input (numeric input mode) and for switching between the modes in which data input is performed, and to the right of these, a forward tab T1 and a backward tab T2 are displayed and formed for moving between the previous and next menu pages.

[0082] Selection can be made by touching the selection switch S1 or by other operations (this is referred to as the "first mode"). When the first mode is selected, the registration contents are set as follows: first, the headland widths of the first headland area and the second headland area are set to the minimum values, thereby setting the headland areas, and the area in the field excluding the headland areas is set and registered as the work area.

[0083] At this time, the tilling width W1 (see Figure 4) is uniquely determined based on information on the model of the work vehicle 1 and work implement (in this embodiment, the rotary tillage device 24) that have been registered in advance, and the number of work steps in the work area WA to be tilled by the work vehicle 1 is also automatically calculated, set, and registered based on the size of the registered work area WA.

[0084] The selection switch S2 can also be selected by touching it with a finger or other operation (this is referred to as the "second mode"). The registered content that is set when this second mode is selected is to specify that the headland widths of the first headland area and the second headland area be set to a multiple of the working width W. In this case, the rotary tillage implement 24 used is of the side drive type, and the working width W in this case is defined as the sum of the tillage width W1 and the width W2 of the chain case 24a. Furthermore, the area of ​​the field excluding the headland area is set and registered as the working area WA.

[0085] If the field H is assumed to be a horizontally long rectangle, then the work vehicle 1 will perform tilling work while moving back and forth vertically. The headland width at this time will depend on the shape of the field, but in general, the width at the headland that is the side margins on both the left and right ends (i.e., headland width) will often be different from the width in the first headland areas on both the top and bottom ends (i.e., first headland width Wb). However, both widths are multiples of the tilling width, which will be described later, and these two types of headland widths are registered as headland widths in this second mode.

[0086] As with the selection switch S1, the tilling width W1 (see Figure 4) is uniquely determined based on information about the model of the work vehicle 1 and work implement (in this embodiment, the rotary tillage device 24) that have been registered in advance, so the number of round trip work strokes in the work area WA to be tilled by the work vehicle 1 is also automatically calculated, set, and registered from the registered width of the work area WA and work width W.

[0087] Selection switch S3 can also be selected by touching it with a finger or other operation (this is referred to as "third mode"). When this third mode is selected, the registration contents that are set are the same as in the second mode, with the first headland area and second headland area being set to widths that are multiples of the working width W, and the area within the field excluding the second headland area (HC) and first headland area (HB) being set and registered as the working area WA.

[0088] Also, here too, if the field H is in the shape of a horizontal rectangle, the work vehicle 1 will perform tilling work while moving back and forth vertically.The headland width at this time depends on the shape of the field, but generally the headland width in the second headland area, which is the side margin on both the left and right ends, and the headland width Wb in the first headland area on both the top and bottom ends may be different (both are multiples of the tilling width, which will be described later), so the least common multiple (LCM) of these two headland widths is registered as the set width in this third mode.

[0089] In this third mode, as in the first and second modes, the tilling width W1 (see Figure 4) is uniquely determined based on information about the model of the work vehicle's tractor 1 and work implement (in this embodiment, the rotary tillage device 24) that has been registered in advance, so the number of round trip work strokes in the work area WA to be tilled by the work vehicle 1 is also automatically calculated, set, and registered based on the width of the registered work area WA.

[0090] The selection switch S4 also allows the area width to be freely set and registered by touching it with a finger or other operation (this is referred to as "fourth mode"), and functions as an operation unit (interface) for the change unit 101D shown in FIG. 3. In this way, the registered contents set when the fourth mode is selected differ from the first to third modes in that the operator or the like can arbitrarily input and register the headland width of the first headland area and the second headland area, the number of work strokes, and so on. However, there is a certain limit to the width of the headland width of the first headland area and the second headland area, and it cannot be set to an infinitely narrow value. Similarly, there is also a limit to the number of work strokes, for example, a maximum of 50 strokes.

[0091] Specifically, the operator can freely set and register the widths of the first headland area and the second headland area (headland width). The headland width can be set by inputting the number of work strokes or the width value. Furthermore, the input number of work strokes can be used as the headland width value, and conversely, the headland width value can be used as the input number of work strokes.

[0092] (Specific steps for area setting registration) Next, the area registration system according to the first embodiment of the present invention will be described mainly with reference to Figures 9 to 11. However, as already explained in the method for creating a target travel route R in a desired field, it is assumed that the following items have already been registered in advance. For the sake of convenience, the input of the number of work strokes and the input of the headland width value are described as being in chronological order, but it is possible to set either by inputting the number of work strokes or the headland width value. Furthermore, by touching the switch buttons B1 and B2 in Figure 9, it is possible to check the values ​​set for the number of work strokes and the headland width value, respectively. (1) In this embodiment, information about the field H to be cultivated (e.g., size, shape, etc.) is assumed to have already been registered in the work area setting unit 101B of the remote control device 100 by actually driving the tractor 1, etc. (2) Furthermore, the tractor 1 as a work vehicle uses a rotary tiller 24 as a working implement, and the tilling width W1 and the width W2 of the chain case 24a (see FIG. 4) are uniquely determined from the specifications of the tractor 1 and the rotary tiller 24. Therefore, the working width W (= W1 + W2) has also already been determined. Therefore, in the vehicle information setting unit 101A of the tablet-type remote control device 100, it is assumed that this information (such as the working width W and the minimum turning radius of the tractor 1) has already been stored (registered) in the memory unit 103 via the control unit 105. (3) It is also assumed that the work start position X (see FIG. 8) on the travel route R has already been determined by the work start position setting unit 101E of the remote control device 100 and stored and saved in the memory unit 103. Note that this work start position X can also be arbitrarily changed (although there are certain area restrictions) via the control unit 105 by operating the work start position setting unit 101E via the change unit 101D.

[0093] The target travel path R is generated within the working area, but the working area is determined by the size of the headland area. Conventionally, the size of the headland area was automatically determined by selecting the first to third modes described above, based on the minimum value of the working width and the number of work steps. In this way, the working area was automatically determined by the size of the headland area, and a restriction arose that prevented the size of the working area from being changed. Therefore, although it was possible to change the work start position (see Figure 8) and end position, it was not possible to set the work start position more flexibly as desired by the operator. Therefore, by allowing the operator to arbitrarily set the size of the headland area, it is possible to set the work start position as desired by the operator.

[0094] 10 is a flowchart of a first example showing an example of operations when changing the headland width, etc., in the changing unit 101D according to the first embodiment. First, a menu page for specifying the headland width, that is, a touch panel screen on which input buttons, switches, etc. are displayed, is displayed on the display 102 as shown in FIG. 9 (first step SA1).

[0095] Then, on this screen, it is determined whether the worker selects the selection switch S4 (second step SA2).

[0096] When the operator selects this selection switch S4, he or she operates this selection switch S4 to set the fourth mode. That is, the operator touches the selection switch S4 with a finger or the like, and also touches, for example, the switch button B1 to select. This makes it possible to input the number of travels in the first headland area and the second headland area on the screen (third step SA3).

[0097] Next, the operator inputs the desired number of work strokes or headland width values ​​for the second headland area and the first headland area. For example, in this example, the operator specifies and inputs two work strokes for the first headland area and four work strokes for the second headland area. After setting the values ​​for the first headland area and the second headland area in this way, by operating the forward tab T1 in Figure 9, the screen transitions to the work setting screen, where the vehicle speed during work and the vehicle speed during turns are set. After that, after a final confirmation of the setting items, the target driving route R is generated (fourth step SA4).

[0098] In addition, in the input menu for the number of work strokes, the operator can switch to an input menu for the headland width value (m) by touching, for example, switch button B2, and can also set and change the value numerically. Also, for example, if the working width W is 2 m and the first headland region width is 4.5 m, the number of work strokes will be 4.5 (m) / 2 (m) = 2.25 (strokes), which is not an integer. In such a case, the number is rounded up to 3 strokes, so the number of work strokes in the headland region is displayed as 3. Note that the calculation work up to this point is performed by the control unit 105 of the remote operation device 100 based on various data in the memory unit 103, and the numerical values ​​obtained by the calculation are displayed on the screen.

[0099] Furthermore, once the work route R has been generated, the worker can confirm whether there are any problems (inconveniences) with the work start position X or the work end position by performing an appropriate operation, for example by touching the forward tab T1 to switch the screen, thereby displaying the work route R on the display 102 of the remote control device (tablet) 100. The worker then determines whether there are any problems with the work start position X or the work end position of the displayed work route R (fifth step SA5). For example, by displaying the tractor 1 and the work route R superimposed on each other as shown in FIG. 11A, the worker can confirm for himself whether there are any problems with the work start position X1 or the work end position.

[0100] If it is determined that there are no problems with the work start position X or the work end position, the work of generating the work route R is deemed to be complete, and the series of work up to this point is terminated.

[0101] On the other hand, if the worker determines that there is some problem with the work start position X or the like, he or she returns to the second step SA2 and starts the work again. Therefore, the worker can touch the selection switch S4 on the menu screen, for example, to display the headland area width setting screen, and re-enter the number of work steps and values ​​for the headland area width to register the setting again. Figure 11B shows the work route R and work start position X2 after resetting. By performing the above-described work again in this way, the worker can change the work start position to his or her own desired one.

[0102] If the fourth mode is not selected in the second step SA2, another mode, which will be described later, is selected and work is performed in that mode (sixth step SA6).

[0103] [Second Example] Next, another area registration system of the present invention (hereinafter, this may be referred to as a "second embodiment") will be specifically described with reference to FIG. 12 and other figures.

[0104] In this second embodiment, unlike the first embodiment, a case will be described in which the value of the headland width that was automatically set by any of the first to third modes shown in Figure 9 is changed again by the operator to an arbitrary value.

[0105] In the second embodiment, as in the first embodiment, it is assumed that the following items have already been stored and registered in the memory unit 103: information about the field (e.g., area, shape, etc.), such as the working width W and the minimum turning radius of the tractor 1, and the work start position X of the travel route R (see FIG. 8).

[0106] First, the menu page for specifying the headland width, i.e., the screen of the display 102 as shown in FIG. 9, is displayed (first step SB1), and if the first mode is selected from the first to third modes (second step SB2), the process proceeds to the third step SB3.

[0107] For example, if the operator selects the first mode from the first to third modes, which sets the first headland area and the second headland area to their minimum values, the values ​​for each headland area are automatically entered (third step SB3). In this case, as shown in Figure 11A, the width of the first headland area, which includes turning, is determined by the turning width that the work vehicle can turn and a safety margin (about 1 m). Also, the width of the second headland area, which does not include turning, is determined by the width required for the work vehicle to travel and a safety margin (about 1 m).

[0108] Next, a target travel route R is generated based on the automatically input widths of the first headland area and the second headland area (fourth step SB4). Next, it is determined whether the work start position X on the target travel route R is set to a position desired by the worker (fifth step SB5).

[0109] If the work start position X is set to the position desired by the worker, the work of creating the work route can be completed here, but if the work start position X etc. is not set to the desired position, the process returns to the second step SB2. If the worker selects any of the first to third modes, the worker can change the widths of the first headland area and the second headland area on the screen in Figure 9.

[0110] After setting the width values ​​of the first headland area and the second headland area, the operator operates the forward tab T1 in Fig. 9 to transition to the work setting screen where the vehicle speed during work and the vehicle speed during turning are set, as in Example 1. After that, after final confirmation of the setting items, the target driving route R is generated.

[0111] On the other hand, if the answer is NO in the second step SB2, that is, if the operator does not wish to select any of the first to third modes and wishes to set the headland area width using the fourth mode, the process proceeds to the sixth step SB6. In this case, the operator can arbitrarily input values ​​for the width of the first headland area and the second headland area. For example, here, the operator specifies and inputs that the number of work strokes in the second headland area is 2 and the number of work strokes in the first headland area is 4. Then, if the operator wishes to select the fourth mode, he or she touches the selection switch S4 (seventh step SB7).

[0112] Here, the same operations as in Example 1 can be performed. On the other hand, if a mode other than the first or fourth mode, i.e., the second or third mode, is selected in the sixth step SB6, the process proceeds to processing in the other mode (eighth step SB8).

[0113] [Third Example] Next, another area registration system of the present invention (hereinafter referred to as a "third embodiment") will be specifically described with reference to FIGS. 13 and 14. FIG.

[0114] In this third embodiment, unlike the first and second embodiments, the control unit 105 of the remote control device 100 will explain the cases where the number of work strokes or width value for the headland width set and registered by the worker does not reach or exceeds the preset value.

[0115] In the third embodiment, as in the first and second embodiments, it is assumed that the following items have already been stored and registered in the memory unit 103: information about the field (e.g., area, shape, etc.), such as the working width W and the minimum turning radius of the tractor 1, and the work start position X of the travel route R (see FIG. 8).

[0116] Here, a case where the specified value does not reach the preset value will be described with reference to Figure 13. First, a menu page for inputting the desired number of work strokes, i.e., a screen display as shown in Figure 9, is displayed on the display 102 (first step SC1). Then, it is determined whether or not to set the fourth mode (second step SC2). To do this, the operator touches the selection switch S4 with a finger or the like. This makes it possible to input the numerical values ​​of the number of work strokes or headland width in the first headland area and the second headland area on the screen.

[0117] Next, the operator inputs numerical values ​​for the desired number of work strokes or headland width for the second headland area and the first headland area (third step SC3).

[0118] For example, suppose the working width is 2 m, two strokes are input in the first headland region, and four strokes are input in the second headland region.

[0119] Here, the path generating unit 105A and the control unit 105 of the remote operation device 100 (tablet) determine whether the set number of work steps (or value) is too small (whether it is below the limit value) (fourth step SC4). If the set number of work steps is equal to or greater than the limit value, the process proceeds to fifth step SC5.

[0120] Then, a work route R is generated based on the set number of work steps (fifth step SC5).

[0121] Then, the worker determines whether there are any problems with the work start position X on the generated work route R (sixth step SC6). If it is determined that there are no problems with the work start position X, etc., the area registration work is terminated.

[0122] On the other hand, if it is determined in SC6 that there is a problem (NO), that is, if the operator wishes to change the set values ​​for the first headland area and the second headland area, the process returns to the second step SC2. As a result, when the fourth mode is set again, the operator can input the number of work strokes or the headland width value. On the other hand, if the operator does not wish to change the set values, the target travel route R is generated after checking the work setting screen and setting items, as in the first embodiment.

[0123] If it is determined in second step SC2 that the fourth mode is not desired, the process proceeds to seventh step SC7, where processing in other modes is performed until the processing is completed.

[0124] Furthermore, if the value set for the headland width (for example, the number of work strokes) in the fourth step SC4 falls below the limit value, the minimum width for the first headland area and the second headland area is automatically input and set (eighth step SC8). That is, if travel is not possible in the first headland area without three strokes or more, the minimum value of three strokes (6 m in headland width value) is set. In other words, a value different from the input value specified by the operator is set.

[0125] In this case, a screen is displayed notifying the user that the value specified by the operator has not been set (ninth step SC9).

[0126] In the next tenth step SC10, a work path is generated in the same manner as in the first and second embodiments described above (tenth step SC10).

[0127] After the work path is generated, the process proceeds to a sixth step SC6, and the same work is repeated.

[0128] Furthermore, when performing the same operations as in the above-described procedural processing flow, a case where the set value is not too small but too large in the fourth step SC4 (determining whether or not it exceeds a preset upper limit value) will be described with reference to Fig. 14. In this case, the first step SD1 to the third step SD3 are essentially the same in content as the first step SC1 to the third step SC3 in the third embodiment shown in Fig. 13, so the description up to this point will be omitted and the description will begin with the fourth step SD4.

[0129] In the fourth step SD4, it is determined whether the specified value exceeds a preset threshold value (fourth step SD4). If the specified value does not exceed the preset threshold value, the same processes as the fifth and sixth steps SC5 and SC6 shown in Fig. 13 are performed, and a predetermined work route, etc. is set and registered.

[0130] On the other hand, if the set value is too large (exceeds the threshold) in the fourth step SD4, the process proceeds to the eighth step SD8. The remote control device (tablet) 100 then determines that the set value is too large and displays a message to that effect. For example, suppose the work width is 2 m and the number of work strokes for the first headland area and the second headland area are each input as 50 strokes. If the number of work strokes makes the work area too small and a travel route cannot be generated, an error message is displayed on the screen. This message may be displayed as a pop-up on the screen, for example, to draw attention.

[0131] In this case, the mode will shift to the second mode SD2, and the operator can select and set the fourth mode there to re-input the numerical values.

[0132] If the user does not wish to select the fourth mode in the second mode SD2, the process proceeds to the seventh step SD7, where another desired mode can be set and the process can be continued until the end of the process.

[0133] Thereafter, the worker changes the set values ​​for the widths of the first headland area and the second headland area, and after checking the work setting screen and setting items, the target driving route R is generated, as in Example 1.

[0134] As described above, according to this embodiment, the headland area that has been set (or specified by the operator) can be changed to a desired value and registered by the operator by accessing the change unit 101D via the selection switch S4 (by operating the change unit 101D) and changing the headland area (indirectly, the work area) to a desired value. In other words, by operating the selection switch S4, the operator can review the sizes of the headland area and the work area using the change unit 101D and change (or reset) the settings.

[0135] In other words, in the conventional travel path setting screen, the first headland width and the second headland width could only be set automatically to the minimum number of work steps through control by the control unit. In contrast, with this configuration, the operator can freely change the size of the headland area and work area, for example, by operating the selection switch S4 constituting the interface, via the headland area setting unit 101C, and inputting desired values ​​into the change unit 101D. As a result, a travel path can be generated that matches the work start position desired by the operator. This makes it possible to change and set a travel path that takes into account not only the work area but also the number of work steps in the headland area.

[0136] <First Alternative Embodiment> Next, a region registration system according to a first alternative embodiment will be described in detail with reference to FIGS.

[0137] In the first embodiment, the work area is set by setting the width of the headland area and the number of work strokes, but in another first embodiment, the work area is set before setting the size of the headland area. In the area registration system of the present invention shown in Figure 15, an operation screen 101' displaying a menu for area registration on the display 102 of the remote control device 100' (see Figures 1 to 3) is provided with a selection switch S5 for setting the work area in addition to selection switches S1 to S4.

[0138] This selection switch S5 is connected to the work area setting unit 101B of the remote control device 100', and in addition to the automatic setting of the work area HA by the control unit 105, the work area WA may be set, reviewed, and changed via the work area setting unit 101B by operating this selection switch S5.

[0139] That is, before setting or changing the headland width (or without setting or changing the headland width), the worker drives the tractor 1, which is the work vehicle, through the desired area to be set and registered, and sends data relating to this driving trajectory to the work area setting unit 101B of the remote control device 100' via wireless communication, thereby making it possible to freely set the work area HA. ​​Note that setting or changing this work area also changes the headland width.

[0140] In setting and registering these work areas WA, specifically, for example, a self-propelled tractor 1 may be operated in a straight-line mode for automatic driving, and the driving trajectory may be registered as the work area WA. Alternatively, while manually driving along the boundary of the desired work area WA (see FIG. 16(a)), each point of the area that constitutes the boundary of the work area WA that will become the desired cultivation area (for example, in FIG. 16(b) , the four corners A'B'C'D' of a rectangle, or each vertex of a pentagon or other polygon) can be registered. In this way, the desired work area can be formed and set / registered by connecting these points with straight lines.

[0141] That is, in forming the work area WA at this time, the operator visually checks the points A' to D' displayed on the touch panel 101, which is the display screen of the display 102, obtained by actually driving the tractor 1 (see FIG. 16(a)), (for example, displayed on the internal area S of the field shown in FIG. 16(b)), and traces between these points with a touch pen (not shown), etc., to geometrically form the outline S' of the work area. This makes it possible to easily set the work area WA, which is a roughly rectangular shape (more accurately, somewhat trapezoidal), as shown in FIG. 17. Therefore, this work area WA may be registered as a "work area HA" in the memory unit 103 via the work area setting unit 101B of the remote control device 100.

[0142] In addition to this, it is also possible for the operator to freely input and register the desired work area WA geometrically on the screen without actually running the tractor 1, by operating the selection switch S5, for example, to select the work area input mode.

[0143] After the work area WA is registered, the tractor 1 is actually driven around the periphery of the work area WA to confirm whether it can be driven safely, as shown in Fig. 17. If the safety of driving is confirmed, the work area WA is set and registered as the work area HA. ​​Also, the route generation unit 105A can now display a work route (or driving route R) as shown by the solid line in Fig. 17 on the screen of the display 102.

[0144] In this way, it is possible to set the working area HA without setting or changing the headland width, which reduces the number of steps required to set the working area HA and allows for more efficient work.

[0145] <Second embodiment> Next, a second embodiment will be described with reference to FIG.

[0146] In the first alternative embodiment, the work area is set by driving along the outline of the area that will become the work area, but in the second embodiment, the work area is set from the driving path of a straight line. In the area registration system of the second embodiment, in addition to the selection switches S1 to S4 for setting the work area, a selection switch S6 is additionally provided on the touch panel 101 of the display 102 of the remote control device 100'' (see Figures 1 to 3).

[0147] When this selection switch S6 is touched with a finger or the like, an operation screen 101'' shown in FIG. 18 is displayed, which displays a menu for registering a work area via the work area setting section 101B. A work area WA is automatically formed in advance on this screen.

[0148] Also, in the second embodiment, for example, the tractor 1 is first driven, and the working area WA is formed and registered from data on the working width and number of work strokes based on the linear travel path that the tractor 1 has traveled. However, what differs from the first alternative embodiment is that, while the first alternative embodiment drives the tractor 1 along the outline of the working area WA, the second embodiment registers the working area WA only from the linear travel path. In other words, the working area WA can be registered using the linear travel path, the working width that has been set and registered in advance, and the number of work strokes.

[0149] This makes it possible to set and register two work areas WA within a field area. For example, in a large field, different crops can be grown in each work area WA, which is practically convenient.

[0150] [Notes on the Invention] The first characteristic configuration of the present invention is that it comprises a vehicle information setting unit that sets information about a work vehicle that travels autonomously within a travel area; a work area setting unit that sets a work area for the work vehicle to perform work; a headland area setting unit that is arranged outside the work area and sets a headland area consisting of a headland area that includes turns and / or a headland area that does not include turns, excluding the work area within the travel area, based on information about the work vehicle; and a modification unit that can change the size of both or either the headland area that includes turns and the headland area that does not include turns, of the headland areas set by the headland area setting unit.

[0151] According to this configuration, the headland area and working area that have been set can be changed by the operator to desired values ​​using the change unit. In other words, it is possible to review the size of the headland area and working area and change (or reset) the settings.

[0152] In other words, in the conventional travel path setting screen, it was only possible to set the headland width (headland width) and headland turning width (turning headland width) so that each had the minimum number of strokes. However, with this configuration, for example, the operator can freely change the width of the set headland area by inputting a desired value using the change unit. As a result, a travel path can be generated that matches the work start position desired by the operator. This makes it possible to change and set a travel path that takes into account not only the work area but also the number of work strokes in the headland area.

[0153] A second characteristic configuration of the present invention is that the change unit is configured to allow the operator to change the size of the headland area according to the input value of the headland area width or the number of work strokes.

[0154] According to this configuration, similarly to the second characteristic configuration, the size of the headland area (and therefore the size of the work area) can be changed to a value desired by the operator.

[0155] A third characteristic configuration of the present invention is that it includes a notification unit that notifies the user that the input value of headland area width or number of work strokes will not be accepted if the work vehicle cannot turn in the headland area.

[0156] According to this configuration, for example, if the headland area width is too narrow, the value input by the operator is not accepted, and this situation can be notified to the operator. This allows the operator to be sure that this situation is known and not overlooked. As a result, for example, by changing the setting again, the setting can be changed to a safe headland area. In this way, it becomes possible for a work vehicle such as a tractor to safely autonomously travel within a headland area that has been reset to a safe width without deviating from the headland area.

[0157] A fourth characteristic configuration of the present invention is that it includes a route generation unit that sets a travel route within the work area, and a notification unit that, if the route generation unit cannot set a travel route within the work area for the input value of the headland area width or number of work strokes, notifies the user that the value of the headland area width or number of strokes will not be accepted.

[0158] According to this configuration, as with the third characteristic configuration, when the area setting in the work area is reviewed and changed at the request of the worker, if an efficient and safe travel route is not set, the worker can be notified of this situation, which allows the worker to be sure to be aware of the situation without overlooking it, and can re-set a safe and efficient travel route.

[0159] A fifth characteristic configuration of the present invention is that the work vehicle is provided with a work start position setting unit that sets the position at which the work vehicle starts work, and if the size of the headland area is changed by the changing unit, the worker can change the set work start position.

[0160] According to this configuration, by changing the size of the headland area, it is possible to set the work start position as desired by the worker.

[0161] A sixth characteristic configuration of the present invention is that the headland area can be set automatically, and the data that has already been automatically set can be modified by the operator by inputting a specified value.

[0162] This configuration is convenient because the worker can correct not only data that was input by the worker, but also data that was input automatically.

[0163] The area registration system of the present invention may be configured as a system including the autonomously traveling work vehicle 1 and the remote control device 100, or may be configured as a standalone remote control device 100. In other words, the remote control device 100 is an example of the area registration system of the present invention.

[0164] The present invention is not limited to the above-described embodiments, but also includes configurations in which the components disclosed in the above-described embodiments are mutually replaced or the combination is changed, publicly known inventions, and configurations in which the components disclosed in the above-described embodiments are mutually replaced or the combination is changed, etc.

[0165] Furthermore, the technical scope of the present invention is not limited to the above-described embodiments, but extends to the matters set forth in the claims and their equivalents.

[0166] [Notes on the Invention] <Appendix 1> Setting information about a work vehicle that travels autonomously within a travel area; setting a work area included in the travel area and in which the work vehicle will perform work; Setting a headland area that is included in the travel area and is located outside the work area; When an operation to input setting information for the headland area is accepted after the working area and the headland area have been set, the sizes of the working area and the headland area are changed based on the input setting information; The area registration method to perform.

[0167] <Appendix 2> When an operation to input the width of the headland area or the number of work strokes is received after the working area and the headland area have been set, the size of the headland area is changed in accordance with the input width of the headland area or the number of work strokes, and the size of the working area is changed in accordance with the size of the headland area after the change. The area registration method described in Appendix 1.

[0168] <Appendix 3> If the work vehicle cannot turn in the headland area whose size has been changed in accordance with the input width of the headland area or the number of work strokes, a notification is given that the input width of the headland area or the number of work strokes will not be accepted. The area registration method described in Appendix 2.

[0169] <Appendix 4> further performing setting a travel path within the work area; When the travel route cannot be set within the work area whose size has been changed according to the input width of the headland area or the number of work strokes, a notification is given that the input width of the headland area or the number of work strokes will not be accepted. The area registration method described in Appendix 2.

[0170] <Appendix 5> further executing setting a work start position, which is a position where the work vehicle starts work within the work area; When the sizes of the work area and the headland area are changed after the work start position is set, the set work start position is changed. An area registration method according to any one of appendices 1 to 4.

[0171] <Appendix 6> The headland area can be automatically set based on predetermined conditions, The automatically set headland area can be changed by inputting the width of the headland area or the number of work strokes. An area registration method according to any one of Supplementary Notes 1 to 5.

[0172] <Appendix 7> The headland area is set based on information about the work vehicle. setting the work area based on the set setting information of the headland area; An area registration method according to any one of Supplementary Notes 1 to 6.

[0173] <Appendix 8> The headland region includes a first headland region including a turn and a second headland region not including a turn, Changing the size of at least one of the first headland area and the second headland area based on the input setting information. An area registration method according to any one of Supplementary Notes 1 to 7.

[0174] <Appendix 9> a vehicle information setting unit that sets information about a work vehicle that travels autonomously within a travel area; a work area setting unit that sets a work area included in the travel area and in which the work vehicle performs work; a headland area setting unit that sets a headland area that is included in the traveling area and is arranged outside the working area; a change unit that, when an operation to input setting information for the headland area is received after the work area and the headland area have been set, changes the sizes of the work area and the headland area based on the input setting information; A territory registration system comprising: [Explanation of symbols]

[0175] 1. Autonomous work vehicle (tractor) 24 Implements (rotary tillage equipment) 24a chain case 30 Control device 30a storage device 42 Camera 49 Display means on the tractor side 100, 100´, 100´´ Remote control device (tablet) 101,101´,101´´ Operation screen (touch panel) 101A Vehicle information setting section 101B Work area setting section 101C Headland area setting section 101D Change Section 101E Work start position setting section 102 LCD display (display) 103 Memory 104 Transmitter / Receiver 105 Control Unit (CPU) 105A Route Generation Unit 106 Information Department A, B, C, D Four corners of the field B1~B3 switch button E entrance H Field (travel area) HA Work Area (Registered Work Area) HB 1st headland area (headland area) HC 2nd headland area (headland area) R Travel route S1~S6 selection switch T1 Advance Tab T2 Reverse tab W Working width (= tillage width W1 + width W2 of chain case 24a) W1 Tilling width W2 Chain case width WA Work Area Wb Turning headland width X Starting point Y1, Y2 Remaining headland width

Claims

1. Displaying a plurality of setting items for setting a headland area on a setting screen for setting the headland area that is disposed outside a work area where an autonomously navigable work vehicle performs work; Setting the headland area based on the user's settings for the plurality of setting items; The area registration method to perform.

2. If a setting error occurs in the setting content, the user is prompted to change the setting content. The area registration method according to claim 1 .

3. When the headland area is set based on the setting content and a travel route cannot be generated in the work area, the user is prompted to change the setting content. The area registration method according to claim 2 .

4. When the setting error occurs, a message prompting the user to change the setting content is displayed on the setting screen. The area registration method according to claim 2 or 3.

5. The plurality of setting items include at least one of a setting item for setting a headland width and a setting item for setting a number of work strokes in the headland area. The area registration method according to any one of claims 1 to 4.

6. a setting screen for setting a headland area that is located outside a work area in which an autonomously navigable work vehicle performs work, displaying a plurality of setting items for setting the headland area; The headland area is set based on the user's settings for the plurality of setting items. Territory registration system.

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