Work vehicle control system

Abstract

To provide a work vehicle capable of autonomously traveling to a work start position.SOLUTION: A control device (S) of a work vehicle includes a control part (CA) for controlling a work vehicle (1) so as to execute work while causing the work vehicle to autonomously travel along work routes (203), and an instruction device (TAB) for instructing to start autonomous travel. The control part (CA) generates a headland route (209) reaching a work start position (203a) from the current position (211) of the work vehicle (1) within a headland area (207), and causes the work vehicle (1) to autonomously move to the work start position (203a) along the headland route (209) in the case that a start of autonomous travel is instructed in the instruction device (TAB).SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a work vehicle control system that controls work vehicles such as tractors, chemical spraying vehicles, rice transplanters, etc. [Background technology]

[0002] 2. Description of the Related Art Regarding technology for autonomously driving work vehicles such as tractors and chemical spraying vehicles, the technology described in Patent Document 1 listed below is conventionally known.

[0003] Patent Document 1 (JP Patent Publication No. 2018-147163) describes a technology for locating the current position of a tractor (1) and autonomously traveling along a work path (K1) and a turning path (K2) set in a first area (R1). In Patent Document 1, a substantially fan-shaped candidate identification area (P) is set ahead of the tractor (1) in the traveling direction, and when the candidate identification area (P) includes multiple work paths (K1), the work path (K1) is selected according to an exclusion condition. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-147163 A Summary of the Invention [Problem to be solved by the invention]

[0005] (Problems with the Prior Art) In the configuration shown in Patent Document 1, the work route is determined in advance, and work is performed from the work start position, but in order to start work, the vehicle needs to be placed at the work start position along the direction of progress of the work. In other words, it is not possible to move autonomously to the work start position on the work route.

[0006] A technical object of the present invention is to provide a work vehicle that is capable of autonomously traveling to a work start position. [Means for solving the problem]

[0007] In order to solve the above technical problem, the invention described in claim 1 provides a control device that controls the work vehicle to perform work while autonomously traveling along the work path based on information on a field having a work area where work is performed and a headland area on the outer periphery of the work area, and information on a work path including a work start position that is preset within the work area, and an instruction device that instructs the start of autonomous traveling, the control device comprising: a work vehicle having a work implement; a positioning means that acquires position information of the work vehicle; A plowing path along which the work vehicle passes while working is generated so as to circle the headland area a plurality of times, and a headland path from the current position of the work vehicle to the work start position is generated along an innermost path of the plowing paths that is closest to the work area; The control system for a work vehicle is characterized in that, when the instruction device instructs the start of autonomous driving, the work vehicle is autonomously moved to the work start position along the headland route.

[0008] The invention described in claim 2 is The peripheral tillage path has a start point at the work end position of the work path, and a path is generated that goes around the innermost periphery to the entrance / exit of the field multiple times while transitioning from the innermost periphery to the outer peripheral tillage path, and the headland path has a portion that deviates from the peripheral tillage path and transitions again to the innermost peripheral tillage path just before transitioning from the innermost periphery of the peripheral tillage path to the outer peripheral tillage path. 2. The control system for a work vehicle according to claim 1.

[0009] The invention described in claim 3 is a control system for a work vehicle as described in claim 1 or 2, characterized in that, when autonomous movement starts, the control unit moves the work vehicle at a speed slower than a predetermined reference vehicle speed until the position of the work vehicle remains within a predetermined distance from the headland route for a predetermined time, and moves the work vehicle at the reference vehicle speed when the position of the work vehicle remains within a predetermined distance from the headland route for a predetermined time. Effect of the Invention

[0010] According to the invention described in claim 1, The innermost path among the multiple circumferential cultivation paths is set as the circumferential cultivation path, By having the work vehicle move autonomously along the headland route from the current position of the work vehicle to the work start position, it is possible to provide a work vehicle that can travel autonomously to the work start position. In addition, by having the work vehicle travel along the headland route closest to the work area, the travel path can be shortened compared to when passing through the headland route on the outer periphery, and damage to the banks can be suppressed. . According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, The generated peripheral cultivation path can be used to travel along the innermost path. According to the invention described in claim 3, in addition to the effects of the invention described in claim 1 or 2, the work vehicle can be quickly guided to the headland path by moving at a low speed until it is along the headland path, and can be quickly guided to the headland path by increasing the vehicle speed to the reference vehicle speed after the work vehicle has stabilized in a state along the headland path, thereby enabling it to quickly reach the work start position. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is an explanatory diagram of a control system for a work vehicle according to the present embodiment. [Diagram 2] FIG. 2 is a functional block diagram of the control system for the work vehicle according to this embodiment. [Diagram 3] FIG. 3 is an explanatory diagram of a working area, a headland area, and a working route according to the embodiment. [Figure 4] FIG. 4 is an explanatory diagram of an example of a travel route according to the embodiment. [Diagram 5] FIG. 5 is an explanatory diagram of the relationship between the orientation of the tractor and the traveling direction of the travel route in the embodiment. [Figure 6] FIG. 6 is an explanatory diagram of an example of a case where the tractor of the embodiment travels along a headland route. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Next, specific examples of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following examples. In the description of the embodiment, the left and right directions in the forward movement direction of the aircraft are referred to as left and right, respectively, and the forward movement direction is referred to as front, and the backward movement direction is referred to as rear. In the following description using the drawings, illustrations of components other than those necessary for the description are omitted as appropriate to facilitate understanding.

[0013] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an explanatory diagram of a control system for a work vehicle according to the present embodiment. In Fig. 1, the control system S for a work vehicle of this embodiment has a tractor 1, which is an agricultural machine, as an example of a work vehicle. The tractor 1 has a working implement 2 at the rear. As the working implement 2, a conventionally known working implement such as a tiller, plow, fertilizer applicator, or seeding machine can be used depending on the work to be performed in the field. In addition, although the tractor 1 is shown as an example of a work vehicle, the present invention is not limited to this, and can be applied to any work vehicle such as a chemical spraying vehicle, a rice planting machine, a combine harvester, or a seedling transplanter.

[0014] 1, a work vehicle control system S according to an embodiment has a server 101 as an example of an information processing device. The server 101 is configured to be capable of transmitting and receiving information to and from a tractor 1 via an internetwork N as an example of a communication line. The tractor 1 according to the embodiment is configured to be capable of communicating with the server 101 via the network N by wireless communication. Furthermore, the work vehicle control system S of the embodiment has a tablet terminal TAB as an example of a terminal used by a worker and as an example of an instruction device. The tablet terminal TAB is configured to be able to transmit and receive information to and from the tractor 1 via wireless communication.

[0015] (Explanation of the functional block diagram) FIG. 2 is a functional block diagram of the control system for the work vehicle according to this embodiment. 2, the work vehicle control system S of this embodiment has a control unit CA of the tractor 1, a control unit CB of the tablet terminal TAB, a control unit (not shown) of the server 101, and the like. Each control unit CA, CB is composed of an input / output interface (I / O) for inputting and outputting signals from and to the outside, a ROM (read-only memory) in which programs and information for performing necessary processing are stored, a RAM (random access memory) for temporarily storing necessary data, a CPU (central processing unit) for performing processing according to the programs stored in the ROM or the like, and a small information processing device having an oscillator, a so-called microcomputer (an example of a computer device), and can realize various functions by executing programs stored in storage members such as the ROM, RAM, and non-volatile memory.

[0016] (Control unit of tablet device) 2, a control unit CB of the tablet terminal TAB receives output signals from signal output elements such as a touch panel TAB1 as an example of an input unit, input buttons TAB2 such as a power button and a volume change button, and a communication module TAB3 as an example of a communication unit. Therefore, information and signals can be input to the control unit CB of the tablet terminal TAB from the control unit CA of the tractor 1 and the server 101 via the communication module TAB3.

[0017] The control unit CB of the tablet terminal TAB is connected to a touch panel TAB1 as an example of a display device, a speaker (not shown), a communication module TAB3, and other control elements (not shown), and outputs control signals to each control element. Therefore, information and signals can be output to the control unit CA of the tractor 1 and the server 101 via the communication module TAB3.

[0018] The control unit CB of the tablet terminal TAB has a function of executing a process according to an input signal from the touch panel TAB1 and outputting a control signal to each of the control elements. The control unit CB of the tablet terminal TAB of this embodiment has an operating system OS as an example of basic software, a processing software AP1 as an example of processing means which is an example of application software, and other application software (such as an internet browser or document creation software) not shown. The processing software AP1 has the following control means.

[0019] The information display means CB1 displays images for setting a work route, information such as the set work route and the operating status of the tractor 1, on the touch panel TAB1.

[0020] FIG. 3 is an explanatory diagram of a working area, a headland area, and a working route according to the embodiment. The work path generating means CB2 generates a work path according to the setting of the work area by the user. In Fig. 3, the work path generating means CB2 automatically generates the width (outer frame) of the work area 202, the work path 203, the turning path 204, and the headland area 207 in the field 201 according to the position of the entrance / exit 201a of the field, the turning radius of the tractor 1, and the working width of the working implement. In the first embodiment, a circumferential cultivation path 208 is set as a path through which the tractor 1 passes while working in the headland area 207. The circumferential cultivation path 208 is set so that its end point is the entrance / exit 201a of the field and the tractor 1 makes three revolutions around the outside of the work area 202, for example. In other words, an area equivalent to three revolutions of the circumferential cultivation path 208 is automatically set as the headland area 207. Then, a work end position 203b of the work path 203 is set corresponding to a start position 208a of the circumferential tillage path 208, and the turning path 204, the work path 203, and the work start position 203a are automatically set by calculating backwards from the work end position 203b. Then, the area surrounding the work path 203 becomes the work area 202.

[0021] The work start instruction means (autonomous driving start instruction means) CB3 transmits instruction information to start work, that is, start autonomous driving, to the tractor 1 in response to an input by the operator to the touch panel TAB1.

[0022] (Control unit of Tractor 1) 2, the control unit CA of the tractor 1 receives output signals from signal output elements such as a communication module 111 as an example of a communication unit, a GPS device 112 as an example of a positioning device, a gyro sensor 113 as an example of a direction acquisition device, and various other sensors (not shown). Therefore, information and signals can be input to the control unit CA of the tractor 1 from the control unit CB of the tablet terminal TAB and the server 101 via the communication module 111.

[0023] The control unit CA of the tractor 1 is connected to the running system such as the engine and clutch, the steering system such as the handle, a communication module 111, and other control elements not shown, and outputs control signals to each control element.

[0024] The control unit CA of the tractor 1 has a function of executing a process according to an input signal from each signal output element and outputting a control signal to each of the control elements. The control unit CA of the tractor 1 in this embodiment has the following control means. The positioning means CA1 acquires position information of the current position of the tractor 1 based on a signal from the GPS device 112.

[0025] The direction acquisition means CA2 acquires the traveling direction (forward direction) of the tractor 1 based on a signal from the gyro sensor 113. Note that the method for measuring the direction is not limited to the gyro sensor, and any method capable of measuring the direction, such as a compass, can be adopted. The work path information acquisition means CA3 acquires information on the work path 203. The work path information acquisition means CA3 of the embodiment acquires and stores information including position information of the field 201, information on the work area 202, information on the work path 203 and the work start position 203a, and information on the turning path 204 through communication with the tablet terminal TAB.

[0026] FIG. 4 is an explanatory diagram of an example of a travel route according to the embodiment. FIG. 5 is an explanatory diagram of the relationship between the orientation of the tractor and the traveling direction of the travel route in the embodiment. The movement path generation means CA4 has a current position discrimination means CA4a and a traveling direction discrimination means CA4b, and when an instruction is given for the tractor 1 to start autonomous driving, it generates a movement path (headland path) 209 from the current position of the tractor 1 to the work start position 203a based on the current position and traveling direction of the tractor 1. In FIG. 4, the movement path generating means CA4 of the embodiment generates a movement path 209 along the peripheral cultivation path 208 from the current position 211 and the traveling direction 212 of the tractor 1. As an example, in the embodiment, the path closest to the working area 202, that is, the innermost path, is selected as the movement path 209 from the three peripheral cultivation paths 208. Then, a connection path 209a that connects the current position 211 to the movement path 209 is generated. As an example, the connection path 209a is set to a position where a straight line that runs from the current position of the tractor 1 toward the movement path 209 in a direction inclined by a predetermined upper limit of turning (60 degrees) intersects with the movement path 209. It is also possible to set the connection path 209a so that the turning angle and steering angle are as small as possible, that is, so that the connection path 209a gradually approaches the movement path 209.

[0027] 5, in the embodiment, when the angle θ1 between the traveling direction (vector) 208b of the circumferential cultivation path 208 and the traveling direction (vector) 212 of the tractor 1 is within ±60 degrees, for example, the movement path 209 and the connection path 209a are set. When the angle θ1 exceeds ±60 degrees, a message is displayed on the tablet terminal TAB stating that "the tractor cannot automatically move to the work start position because the deviation in orientation has exceeded the allowable range," and the operator is prompted to change the traveling direction of the tractor 1. Although the allowable range of the angle θ1 is exemplified as ±60 degrees, the range is not limited to this. The numerical value can be changed according to the turning radius of the tractor 1, and the specific numerical value can be changed according to the extent to which roughness of the headland area 207 is allowed due to reversing or turning of the tractor 1. Therefore, if the headland area 207 is allowed to be rough, the allowable range of the angle θ1 can be set to 360 degrees, that is, a configuration can be adopted in which the travel route 209 is set regardless of the angle θ1.

[0028] In the embodiment, a case has been exemplified in which the travel route 209 and the connection route 209a are not set if the angle θ1 is not within the allowable range, but the present invention is not limited to this. It is also possible to configure the determination of the angle θ1 to be performed when an instruction to start traveling is given, rather than when the travel route 209 is generated. In other words, it is also possible to configure the travel route 209 and the connection route 209a to be generated without determining the angle θ1 when an instruction to generate the travel route 209 is given, by allowing the instruction to generate the travel route 209 and the instruction to start traveling to be given separately.

[0029] FIG. 6 is an explanatory diagram of an example of a case where the tractor of the embodiment travels along a headland route. The travel control means CA5 controls the travel (forward, backward, stopping, steering, turning) of the tractor 1. After the work start position 203a, the travel control means CA5 makes the tractor 1 travel along the work path 203, the turning path 204, and the circumferential cultivation path 208. In addition, when a movement path 209 is set, the travel control means CA5 makes the tractor 1 autonomously move toward the work start position 203a. The travel control means CA5 of the embodiment makes the tractor 1 travel at a predetermined vehicle speed (reference vehicle speed) when the tractor 1 travels on the work path 203 or the circumferential cultivation path 208. In FIG. 6, in the embodiment, when the tractor 1 travels along the travel path 209, it is determined whether or not the current position of the tractor 1 is within a predetermined distance from the travel path 209. That is, when the current position of the tractor 1 deviates from the travel path 209 due to steering or turning of the tractor 1, it is determined whether or not the deviation is within a predetermined range (within ±30 cm, for example). If the deviation is outside the predetermined range, the tractor 1 is made to travel at a low vehicle speed that is slower than the reference vehicle speed. If the deviation is within the predetermined range for a predetermined time (3 seconds, for example), the speed of the tractor 1 is increased to the reference vehicle speed.

[0030] It is preferable to configure the tractor 1 to travel at a low speed when the current position of the tractor 1 deviates from the travel route 209 by more than a predetermined range, but it is also possible to configure the tractor 1 to travel at a reference vehicle speed. It is also preferable to maintain the low speed until the deviation within the predetermined range continues for a certain period of time, but it is also possible to configure the tractor 1 to quickly increase its speed to the reference vehicle speed when the deviation falls within the predetermined range.

[0031] The work machine control means CA6 controls the operation (activation and stoppage) of the work machine 2. The work machine control means CA6 in the embodiment stops and raises the work machine 2 while the tractor 1 is moving along the travel path 209 or the turning path 204, and activates and lowers the work machine 2 while the tractor 1 is moving along the work path 203 or the circumferential cultivation path 208.

[0032] (Operation of the embodiment) In the control system S for the work vehicle of the embodiment having the above-mentioned configuration, a movement path 209 is automatically generated according to the position and orientation of the tractor 1 in the headland area 207 outside the work area 202. The tractor 1 then travels autonomously along the generated movement path 209 to the work start position 203a, and from the work start position 203a, travels along the work path 203 to perform work. Thus, even if an operator does not drive the tractor 1 to the work start position 203a, it can be moved to the work start position 203a by remote control. Therefore, for example, it is possible for a user (operator) to get on the tractor 1 up to the edge of the bank, and after the user gets off, the tractor 1 can be moved autonomously to the work start position.

[0033] In addition, in the tractor 1 of the embodiment, the innermost peripheral cultivation path 208 is used as the moving path 209. Of the three peripheral cultivation paths 208, the outermost or central peripheral cultivation path 208 can also be used. However, if the outermost peripheral path is used, there is a risk that the body of the tractor 1 or a part of the working machine 2 may come into contact with the ridge and destroy the ridge or damage the tractor 1. In addition, since the tractor 1 will eventually move to the work start position 203a, when moving along the center or outermost peripheral path, there is a possibility that a sharp turn or the like will be made near the end of the moving path 209 toward the work start position 203a. In addition, when the center or outermost peripheral path is used, there is also a problem that the moving distance along the moving path 209 is longer than when the innermost peripheral path is used. Therefore, it is preferable to use the innermost peripheral path compared to when the center or outermost peripheral path is used. It is preferable to provide the tractor 1 with a sensor (detection means) for detecting objects such as banks and obstacles, and to apply a configuration in which the tractor 1 stops traveling when the sensor detects an object.

[0034] Furthermore, in the tractor 1 of the embodiment, the travel path 209 is set in a direction along the traveling direction of the circumferential cultivation path 208, and the circumferential cultivation path 208 can be used, making it easy to set. Note that the travel path 209 can also be a path that travels in reverse along the circumferential cultivation path 208. In addition, in the embodiment, if the direction of travel of the tractor 1 at the start of movement along the movement path 209 (connection path 209a) is outside a predetermined range (±60 degrees), the tractor 1 does not start moving, and the damage to the field is prevented compared to when the tractor 1 starts moving by reversing, making a sharp turn, etc.

[0035] Furthermore, in the embodiment, when traveling along the travel route 209, if the current position of the tractor 1 is off the travel route 209, the tractor 1 moves at a low speed. Therefore, compared to when the tractor 1 moves at high speed while off the travel route, the tractor 1 can easily return to the travel route 209 quickly, the travel distance can be prevented from becoming long, and the headland area 207 can be prevented from becoming rough.

[0036] In the embodiment of the work vehicle control system S, the work route 203 and the like are generated by the tablet terminal TAB, and the travel route 209 is generated by the tractor 1, but the present invention is not limited to this. It is possible to generate each of the routes 203, 204, 209 by the tablet terminal TAB, by the tractor 1, or by the server 101. In this case, it is possible to perform centralized processing by a specific device, but it is also possible to perform distributed processing by multiple devices. Also, for example, the work start position 203a is automatically set as an example, but the present invention is not limited to this and may be configured so that the worker inputs the position. Furthermore, it is also possible to provide an option on the tablet terminal TAB for selecting whether or not to automatically move to the work start position 203a. [Explanation of symbols]

[0037] 1...Work vehicle, 2...Work equipment, 201...field, 202...Work area, 203...Work path, 203a...Work start position, 207...Headland area, 209…Headland Route, CA,CB: control unit, CA1: Positioning means, CA2...direction acquisition means, S: Work vehicle control system, TAB…Instruction device.

Claims

1. A work vehicle having a work implement; A positioning means for acquiring position information of the work vehicle; a control unit that controls the work vehicle to perform work while autonomously traveling along the work path, based on information of a field having a work area where work is performed and a headland area on the outer periphery of the work area, and information of a work path including a work start position that is preset within the work area; An instruction device that instructs the start of autonomous driving; Equipped with The control unit is A plowing path along which the work vehicle passes while working is generated so as to circle the headland area a plurality of times, A headland path from the current position of the work vehicle to the work start position is generated along an innermost path among the surrounding tillage paths that is closest to the work area, When the instruction device instructs the start of autonomous traveling, the work vehicle is autonomously moved to the work start position along the headland route. A work vehicle control system comprising:

2. The starting point of the peripheral tillage path is the end position of the work path, and a path is generated that goes around the innermost circumference multiple times to the entrance / exit of the field, transitioning to the outer peripheral tillage path, The headland path has a portion where, just before the transition from the innermost circumference of the peripheral cultivation path to the outer peripheral cultivation path, the headland path deviates from the peripheral cultivation path and transitions again to the innermost peripheral cultivation path.

2. The work vehicle control system according to claim 1 .

3. The control unit is At the start of the autonomous movement, the work vehicle is moved at a speed slower than a predetermined reference vehicle speed until a state in which the position of the work vehicle is within a predetermined distance from the headland route continues for a predetermined time, When the state in which the position of the work vehicle is within a predetermined distance from the headland route continues for a predetermined time, the work vehicle is moved at the reference vehicle speed.

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

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