Work vehicle routing system

Abstract

To suppress generation of an uncultivated region as compared to conventional configurations.SOLUTION: In a work vehicle route setting system (S), in a case where a route along an opposite side (213) of a reference side (211) in a third travel route (231 to 234) is defined to be an opposite side route (233), when an uncultivated region (261) is generated in between the opposite side route (233) and a second travel route (241 to 245), a control unit extends the second travel route (245) adjacent to the opposite route (233).SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a route setting system for a work vehicle that sets a driving route for automatically driving a work vehicle such as a tractor, a chemical spraying vehicle, or a rice transplanter. [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 2019-4748 A) describes a technology for setting a driving path for a riding rice transplanter, which uses position data of the bank edge (B11-B41) to set a detour planting path (L11-L14) along the bank edge (B11-B41), a driving path (L01-L04) inside the detour planting path (L11-L14), and a turning path (LL1-LL3) connecting the driving paths (L01-L04). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-4748 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 detour planting paths (L11-L14) are set parallel to the bank edges (B11-B41), but the travel path (L01-L04) is set parallel to one detour planting path (C2, L13). In other words, the travel path (L01-L04) is set parallel to one bank edge (B21). In Patent Document 1, the field has a ridge edge (B21) and an opposing ridge edge (B41) that are parallel, but there are many fields in which the opposing ridge edges (B21, B41) are not parallel. Therefore, when the opposing ridge edges (B21, B41) are not parallel, the travel path (L04) that is parallel to one ridge edge (B21) and the ridge edge (B41) are inclined, and there is a problem that an area where no work is done (hereinafter referred to as a "residual cultivation area") occurs between them.

[0006] The present invention has a technical object to suppress the occurrence of residual tillage areas compared to conventional configurations. [Means for solving the problem]

[0007] In order to solve the above technical problem, the invention described in claim 1 comprises a work vehicle having a work implement, a positioning device that acquires position information of the work vehicle, and a control unit that generates a first travel route according to the periphery of a quadrangular field based on the positioning result of the positioning device, sets one side of the periphery of the field as a reference side, generates a second travel route parallel to the reference side on the inside of the field of the first travel route, and generates a third travel route that surrounds the second travel route and is inside the first travel route, and when the control unit sets a path of the third travel route that runs along the opposite side of the reference side as an opposite side path, When a reference value derived by the product of the length of the opposite side path and the sine of the angle between the opposite side path and the second travel path does not reach a predetermined value, Extending a second travel path adjacent to the opposite side path At the same time, the opposite side path is erased, and a parallel path that is parallel to the second traveling path is generated as the third traveling path outside the extended second traveling path. The present invention relates to a route setting system for a work vehicle.

[0010] Claim 2 The invention described in the above is characterized in that the control unit turns a work vehicle by either a first turning motion or a second turning motion having a smaller turning radius than the first turning motion, and the control unit turns the work vehicle by the first turning motion when the work vehicle enters a next second traveling path from a second traveling path in which the work vehicle is currently traveling, and turns the work vehicle by the second turning motion when the work vehicle enters the parallel path from the second traveling path. Claim 1 2 is a route setting system for a work vehicle according to the present invention.

[0011] Claim 3The invention described in is characterized in that both ends of the parallel path are disposed outside, in the direction of the parallel path, an intersection point between the parallel path and two sides of the second traveling path other than the second traveling path that are parallel to the reference side. 1 or 2 2 is a route setting system for a work vehicle according to the present invention. Effect of the Invention

[0012] According to the invention described in claim 1, when residual tillage occurs between the opposite side path and the second traveling path, the occurrence of residual tillage areas can be suppressed compared to conventional configurations by extending the second traveling path adjacent to the opposite side path. Also, claim 1 According to the invention described in 、 The occurrence of residual tillage can be determined based on the reference value. Furthermore, claim 1 According to the invention described in 、 The transition from the extended path to the parallel path can be made easier than if no parallel path were created.

[0013] Claim 2 According to the invention described in claim 1 In addition to the effects of the invention described above, the present invention can prevent a traveling vehicle from coming into contact with the bank, compared to a case in which the second turning operation is not performed. Claim 3 According to the invention described in claim 1 or 2 In addition to the effects of the invention described above, the occurrence of residual tillage areas can be suppressed compared to when both ends of the parallel paths are located inside the intersection point. [Brief description of the drawings]

[0014] [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 setting a travel route in a farm field according to the embodiment, and is an explanatory diagram of a case where positioning is performed at the edge of a bank. [Figure 4]FIG. 4 is an explanatory diagram of setting a travel route in a farm field according to the embodiment, showing a state in which a first travel route has been set after the positioning in FIG. [Diagram 5] FIG. 5 is an explanatory diagram of setting a travel route in a farm field according to the embodiment, and is an explanatory diagram of a state in which a third travel route has been set after the first travel route in FIG. 4 has been set. [Figure 6] FIG. 6 is an explanatory diagram of setting a travel route in a farm field according to the embodiment, and is an explanatory diagram of a state in which a second travel route has been set after the third travel route in FIG. 5 has been set. [Figure 7] FIG. 7 is an explanatory diagram of setting a travel route in a farm field according to the embodiment, and is an explanatory diagram of a state in which the second travel route in FIG. 6 has been set and then extended. [Figure 8] FIG. 8 is an explanatory diagram of setting a travel route in a farm field according to the embodiment, showing a state in which a parallel route is set after the second travel route in FIG. 7 is extended. [Figure 9] FIG. 9 is an explanatory diagram of an example of a case where the tractor according to the embodiment travels along a travel route. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Next, specific examples of the embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited to the following embodiments. 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.

[0016] 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 having the route setting system for a work vehicle of the present invention 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.

[0017] 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.

[0018] (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.

[0019] (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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] The work start instruction means (autonomous driving start instruction means) CB2 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.

[0024] (Control unit of Tractor 1) 2, output signals from a communication module 111 as an example of a communication unit, a GPS device 112 as an example of a positioning device, and other signal output elements such as various sensors (not shown) are input to the control unit CA of the tractor 1. 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.

[0025] 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.

[0026] 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 a GPS device (positioning device) 112.

[0027] FIG. 3 is an explanatory diagram of setting a travel route in a farm field according to the embodiment, and is an explanatory diagram of a case where positioning is performed at the edge of a bank. FIG. 4 is an explanatory diagram of setting a travel route in a farm field according to the embodiment, showing a state in which a first travel route has been set after the positioning in FIG. FIG. 5 is an explanatory diagram of setting a travel route in a farm field according to the embodiment, and is an explanatory diagram of a state in which a third travel route has been set after the first travel route in FIG. 4 has been set. FIG. 6 is an explanatory diagram of setting a travel route in a farm field according to the embodiment, and is an explanatory diagram of a state in which a second travel route has been set after the third travel route in FIG. 5 has been set. FIG. 7 is an explanatory diagram of setting a travel route in a farm field according to the embodiment, and is an explanatory diagram of a state in which the second travel route in FIG. 6 has been set and then extended. FIG. 8 is an explanatory diagram of setting a travel route in a farm field according to the embodiment, showing a state in which a parallel route is set after the second travel route in FIG. 7 is extended.

[0028] The travel route creation means (travel route setting means) CA2 creates and sets a work route as an example of a travel route for autonomous travel in accordance with the shape of the field. As shown in Fig. 3, the travel route creation means CA2 of the embodiment first makes the tractor 1 travel along the bank edges 211-214 of the field 201, and obtains the position information of the traveling tractor 1 from the measurement results of the positioning means CA1. Next, the travel path creation means CA2 generates manual circumferential plowing lines 221-224 as an example of a first travel path along the periphery of the field 201 (ridge edges 211-214) as shown in Fig. 4 from the position information of the ridge edges 211-214. That is, the manual circumferential plowing lines 221-224 are generated as parallel travel paths for each of the ridge edges 211-214. In Fig. 4, in the embodiment, as an example, the manual circumferential plowing lines 221-224 are set as travel paths for two laps of the working width L1 of the tractor 1.

[0029] Next, the travel path creation means CA2 generates automatic circumferential plowing lines 231-234 as an example of a third travel path inside each of the manual circumferential plowing lines 221-224, as shown in Fig. 5. In Fig. 5, the automatic circumferential plowing lines 231-234 are generated as travel paths parallel to the adjacent manual circumferential plowing lines 221-224 on the outside. In this embodiment, the automatic circumferential plowing lines 231-234 are generated as travel paths for one lap of the working width L1 (circumferential plowing working width) of the tractor 1. Next, the travel route creation means CA2 generates automatic intermediate tillage lines 241-245 as an example of a second travel route inside the automatic circumferential tillage lines 231-234 as shown in Fig. 6. In this embodiment, one of the ridge edges 211-214 is set as the reference side 211, and travel routes parallel to the reference side 211 are generated as the automatic intermediate tillage lines 241-245. The reference side 211 can be set manually by the user, or can be set as the shortest or longest side among the four ridge edges 211-214, or as the side where the entrance to the field 201 is formed, and can be arbitrarily set or changed according to the design and specifications. The number of automatic intermediate tillage lines 241-245 is set based on the working width L1 of the tractor 1 and the width of the area inside the automatic circumferential tillage lines 231-234.

[0030] Next, in FIGS. 6 and 7, when the traveling route creation means CA2 sets the route along the opposite side 213 of the reference side 211 among the automatic surrounding tillage lines 231 to 234 as the opposite side route 233, if a remaining tillage area (an area where no work is performed) 261 is generated between the opposite side route 233 and the automatic intertillage lines 241 to 245 (see FIG. 6), the automatic intertillage line 245 adjacent to the opposite side route 233 is extended (see FIGS. 6 and 7). Specifically, in the embodiment, when the reference value derived based on the angle θ formed by the opposite side route 233 and the automatic intertillage line 245 does not reach a predetermined value, it is determined that remaining tillage occurs. As an example, when the length of the opposite side route 233 is L, the reference value is L·sinθ, and the predetermined value (threshold value) is La. When L·sinθ < La, it is determined that remaining tillage occurs. Also, in the embodiment, the automatic intertillage line 245 closest to the opposite side route 233 is extended until it intersects with the other automatic surrounding tillage lines 232 and 234 (generating an extended route 245′).

[0031] Next, in FIGS. 7 and 8, when L·sinθ < La, the traveling route creation means CA2 deletes the opposite side route 233 and generates, as an automatic surrounding tillage line, a parallel route 233′ (see FIG. 8) parallel to the extended route 245′ outside the extended route 245′. In the embodiment, for the parallel route 233′, both ends 233a and 233b are arranged outside in the direction of the parallel route 233′ from the intersection points 233c and 233d of the parallel route 233′ with the two sides 232 and 234 other than the second traveling route 231 parallel to the reference side 211 among the automatic surrounding tillage lines 231 to 234. That is, in the embodiment, the length of the parallel route 233′ is set to be longer than the interval between the intersection points 233c and 233d. If the length of the parallel route 233′ is short, turning will start at a position in front of both ends 233a and 233b, and if it is too far in front, there is a risk that the remaining tillage area 261 will remain. However, by making the parallel route 233′ sufficiently long, the generation of the remaining tillage area 261 is suppressed.

[0032] The length of the ends 233a, 233b and the intersections 233c, 233d of the parallel path 233' is preferably 1 / 2 to 1 times the working width L1, for example. If it is less than 1 / 2, the risk of the residual tillage area 261 occurring increases, and if it exceeds 1, the risk of the tractor 1 contacting the ridge during turning increases, so 1 / 2 to 1 times is preferable. For example, when the angle θ is small, residual tillage is likely to occur, so it is preferable to set it to 1 time, and when the angle θ is large, it is preferable to set it to 1 / 2 times. Note that the specific numerical values ​​can be arbitrarily changed depending on the design, specifications, etc. Also, it is possible to allow the user to set the specific numerical values ​​on a tablet terminal TAB or the like. In addition, when the extension route 245' or the parallel route 233' is set, it is possible to configure the tablet terminal TAB or the like to notify the user that the extension route 245' has been set. By notifying the user, it is possible for the user to recognize in advance the possibility of contacting the bank, although this is unlikely.

[0033] FIG. 9 is an explanatory diagram of an example of a case where the tractor according to the embodiment travels along a travel route. The travel control means CA3 controls the travel (forward, reverse, stop, steering, turning) of the tractor 1. After the work start position 241a, the travel control means CA3 makes the tractor 1 travel along the routes 231, 232, 233', 234, 241-244, 245'. When traveling on the automatic intermediate tillage lines 241-244 other than the extended route 245', the travel control means CA3 of the embodiment performs a turning operation (first turning operation) using the width of the automatic surrounding tillage lines 232, 234 when proceeding from the automatic intermediate tillage line 241-243 currently traveled to the next automatic intermediate tillage line 242-244. On the other hand, when entering the extended route 245' from the automatic intermediate tillage line 244, a back-and-forth turning operation with a small turning radius (second turning operation) is performed. For example, the first turning operation can be an operation in which the tractor 1 turns while moving both the left and right wheels forward, and the second turning operation can be an operation in which the tractor 1 stops once in the middle of the turn and moves in reverse to make a tight turn. In the tractor 1 of the first embodiment, the ridge edges 211-214 and the manual peripheral plowing lines 221-224 are not autonomously driven by the travel control means CA3, but are manually driven by the operator.

[0034] The work machine control means CA4 controls the operation (activation and stoppage) of the work machine 2. The work machine control means CA4 in the embodiment stops and raises the work machine 2 while the tractor 1 is turning, and activates and lowers the work machine 2 while the tractor 1 is traveling straight along the routes 211-214, 221-224, 231, 232, 233', 234, 241-244, 245'.

[0035] (Operation of the embodiment) In the control system S for the work vehicle of the embodiment having the above-described configuration, the manual circumferential plowing lines 221-224 and the automatic circumferential plowing lines 231-234 are automatically set based on the measured ridge edges 211-214. In the conventional technology described in Patent Document 1, the reference side 211 and the opposite side 213 are parallel, so as shown in Fig. 6, a remaining tilled area 261 is generated. Therefore, in the autonomous driving, an area where no work is performed is generated. Therefore, after the autonomous driving, the user has to manually work on the remaining tilled area 261, which is a time-consuming problem. In contrast to this, in the embodiment, the automatic intermediate tillage line 245 on the opposite side 213 side is changed to an extended path 245'. Therefore, the remaining tillage area 261 can also be worked on by autonomous travel.

[0036] In addition, a parallel path 233' is also generated along with the generation of the extension path 245'. If the parallel path 233' is not generated, when trying to transition to the original automatic circumferential cultivation line 233 after traveling along the extension path 245', the turning radius may become smaller or the same place may be passed twice (work performed twice). However, in the embodiment, a parallel path 233' parallel to the extension path 245' is generated, so transitioning to the parallel path 233' is easy and unnecessary work can be suppressed. Furthermore, when entering the parallel path 233' from the extended path 245', the tractor 1 makes a turn with a small turning radius. Since the parallel path 233' is closer to the ridge edge 213 than the original path 233, the tractor 1 may come into contact with the ridge in the case of a normal turn (first turning operation). In contrast, in the embodiment, the tractor 1 makes a turn from the extended path 245' to the parallel path 233', making it less likely for the tractor 1 to come into contact with the ridge.

[0037] In the embodiment of the work vehicle control system S, the route generation is performed by the control unit CA of the tractor 1, but the present invention is not limited to this. It is also possible to configure the route generation to be performed by the tablet terminal TAB or the server 101. Also, while the process can be centralized in a specific device, it is also possible to perform distributed processing among multiple devices. In addition, for example, the manual circumferential plowing lines 221-224 are set for two revolutions, and the automatic circumferential plowing lines 231-234 are set for one revolution, but this is not limited to the above. The number of revolutions to be set can be changed arbitrarily depending on the design, specifications, etc. [Explanation of symbols]

[0038] 1...Work vehicle, 2...Work equipment, 112... Positioning device, 201...field, 211...reference edge, 211~214: Field perimeter, 213…opposite side, 221~224…First route, 231~234…Third route, 233…opposite side route, 233'...Parallel path, 233a, 233b...both ends of parallel paths, 233c,233d...intersection, 241~245…Second route, 245...a second travel path adjacent to the opposite side path; 245'...extended second route, 261...Remaining tillage, CA: Control unit, La: a predetermined value, L sinθ: Reference value, S...Route setting system for work vehicles, θ...Angle between the opposite side path and the second traveling path.

Claims

1. A work vehicle having a work implement; A positioning device for acquiring position information of the work vehicle; generating a first travel route according to a periphery of a quadrangular field based on a positioning result of the positioning device; a second travel route is generated on the inside of the field of the first travel route, the second travel route being parallel to the reference side, the second travel route being set as a reference side of the outer periphery of the field; a control unit that generates a third travel route that surrounds the second travel route and is inside the first travel route; Equipped with When a path of the third traveling path along the opposite side of the reference side is defined as an opposite side path, if a reference value derived by a product of a length of the opposite side path and a sine of an angle between the opposite side path and the second traveling path does not reach a predetermined value, the control unit extends the second traveling path adjacent to the opposite side path and erases the opposite side path to generate a parallel path parallel to the second traveling path as the third traveling path outside the extended second traveling path. A route setting system for a work vehicle.

2. the control unit causes the work vehicle to turn using either a first turning operation or a second turning operation having a smaller turning radius than the first turning operation, the control unit turning using the first turning operation when the work vehicle enters a next second traveling path from a second traveling path in which the work vehicle is currently traveling, and turning using the second turning operation when the work vehicle enters the parallel path from the second traveling path; 2. The route planning system for a work vehicle according to claim 1, further comprising:

3. Both ends of the parallel path are disposed on the outside of an intersection between the parallel path and two sides of the second travel path other than the second travel path that are parallel to the reference side, in the direction of the parallel path.

3. A route setting system for a work vehicle according to claim 1 or 2.

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