Work vehicles

Abstract

To provide a working vehicle which can efficiently set a setting route by reflecting a knowledge which has been obtained from the past result of the setting of the setting route between farm fields.SOLUTION: Sensors (41, 42, 43) for detecting an obstacle or the like on a setting route are arranged at a working vehicle, the setting route is formed of a plurality of setting routes (R1, R2, R3), an evaluation point (N) such as the number of times of traveling or the like is imparted to each of the setting routes (R1, R2, R3), the working vehicle is made to automatically travel along the setting route (R1, R2, R3) to which the highest evaluation point (N) is imparted, a prescribed point is added to the evaluation point (N) when the working vehicle arrives at a target farm field, and when the sensor (41, 42, 43 ) detects an obstacle or the like and the working vehicle is stopped, the prescribed point is subtracted from the evaluation point (N).SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a work vehicle that automatically travels along a set route set on a road outside a farm field.

Background Art

[0002] Conventionally, there has been known a technique for setting a set route between farm fields for automatically driving a work vehicle based on the presence or absence of intrusion of a general vehicle onto a road and the vehicle width of the work vehicle and the road width. (Patent Document 1)

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the technique of Patent Document 1 has a problem that the setting of the set route between farm fields is complicated, and the knowledge obtained from past achievements cannot be efficiently reflected in the setting of the set route.

[0005] Therefore, an object of the present invention is to provide a work vehicle capable of efficiently setting a set route by reflecting knowledge obtained from past achievements in the setting of the set route between farm fields.

Means for Solving the Problems

[0006] The present invention that has solved the above problems is as follows. That is, the invention according to claim 1 is a work vehicle including a controller (30) that automatically drives a work vehicle along a set route set on a road connecting farm fields, and a positioning unit (20) that measures the position of the work vehicle, wherein the work vehicle is provided with sensors (41, 42, 43) for detecting obstacles or the like on the set route (R), The controller (30) The set route is formed by a plurality of set routes (R1, R2, R3), assigns an evaluation score (N) for each number of running times to the set routes (R1, R2, R3), automatically runs the work vehicle along the set route (R1, R2, R3) to which the highest evaluation score (N) is assigned, when the work vehicle arrives at the target field, adds a predetermined score to the evaluation score (N), and when the sensor (41, 42, 43) detects an obstacle or the like and stops the work vehicle, subtracts a predetermined score from the evaluation score (N). which is a work vehicle characterized by this.

[0007] The invention according to claim 2 assigns a priority (P) based on the knowledge of each operator to the set routes (R1, R2, R3), and when the evaluation score (N) is the same score, the work vehicle is automatically driven along the set route (R1, R2, R3) to which the highest priority (P) is assigned, which is the work vehicle according to claim 1.

[0008] The invention according to claim 3 is the work vehicle according to claim 1 or 2 in which the upper limit value of the evaluation score (N) is limited to a predetermined value.

[0009] The invention according to claim 4 is the work vehicle according to any one of claims 1 to 3, in which the positioning unit (20) is formed by a positioning satellite (21), a base station (22), and a mobile station (26) provided on the work vehicle.

Effect of the Invention

[0010] According to the invention described in claim 1, a sensor (41, 42, 43) for detecting obstacles or the like on the set route (R) is provided on the work vehicle, The controller (30) the set route is formed by a plurality of set routes (R1, R2, R3), assigns an evaluation score (N) for each number of running times to the set routes (R1, R2, R3), automatically runs the work vehicle along the set route (R1, R2, R3) to which the highest evaluation score (N) is assigned, when the work vehicle arrives at the target field, adds a predetermined score to the evaluation score (N), and when the sensor (41, 42, 43) detects an obstacle or the like and stops the work vehicle, subtracts a predetermined score from the evaluation score (N). so that the setting of the set route can be efficiently performed by reflecting the knowledge obtained from past achievements in the setting of the set route between fields.

[0011] According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, a priority (P) based on the knowledge of each operator is assigned to the set routes (R1, R2, R3), and when the evaluation score (N) is the same score, the work vehicle is automatically driven along the set route (R1, R2, R3) to which the highest priority (P) is assigned. Therefore, the setting of the set route can be performed more efficiently by reflecting the knowledge cultivated by the operator over the years.

[0012] According to the invention described in claim 3, in addition to the effects of the invention described in claim 1 or 2, since the upper limit value of the evaluation score (N) is restricted to a predetermined value, it is possible to quickly reflect seasonal factors, such as an increase in the occurrence frequency of large puddles due to heavy rain during the rainy season, and perform the setting of the setting route.

[0013] According to the invention described in claim 4, in addition to the effects of the invention described in any one of claims 1 to 3, since the positioning unit (20) is formed by a positioning satellite (21), a base station (22), and a mobile station (26) provided on a work vehicle, it is possible to accurately measure the traveling position and the stopping position of the work vehicle.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0015] As shown in FIGS. 1 to 3, a work vehicle such as a tractor is provided with a pair of left and right front wheels 2 at the front part below the body frame 1, and a pair of left and right rear wheels 3 at the rear part below the body frame 1.

[0016] An engine hood 4 for mounting an engine E is provided at the front part on the upper side of the body frame 1, a control unit 5 for an operator to board is provided at the rear side of the hood 4, and a PTO shaft 6 extending in the front-rear direction for transmitting the output rotation of the engine E is provided at the lower side at the rear of the control unit 5. A working machine 7 such as a manual spreader for spreading compost on a farm field is connected to the rear part of the PTO shaft 6.

[0017] In the control unit 5, a steering wheel 12 is provided in front of the driver's seat 11, a touch panel 13 for displaying the output rotation speed of the engine E is provided in front of the steering wheel 12, and a clutch pedal 15 is provided at the lower part of a steering column 14 that houses a steering shaft.

[0018] As shown in FIG. 4, a positioning unit 20 using the RTK-GPS positioning method is composed of a positioning satellite 21, a base station 22 provided at a known position, and a mobile station 26 provided on the work vehicle. Thereby, the position of the mobile station 26, that is, the position of the work vehicle can be accurately obtained from the position information transmitted from the positioning satellite 21 to the mobile station 26 and the correction position information transmitted from the base station 22 to the mobile station 26.

[0019] The base station 22 is composed of a fixed communication device 23, a fixed GPS antenna 24 for receiving position information from the positioning satellite 21, and a fixed data transmission antenna 25 for transmitting correction position information to the mobile station 26.

[0020] The mobile station 26 is composed of a mobile communication device 27, a mobile GPS antenna 28 for receiving position information from the positioning satellite 21, and a mobile data transmission antenna 29 for receiving correction position information from the base station 22. The mobile GPS antenna 28 and the mobile data transmission antenna 29 are provided at the front part of the upper wall of the cabin 16 of the control unit 5.

[0021] As shown in FIG. 5, the controller 30 is formed by a processing unit 31 composed of a CPU or the like, a storage unit 32 composed of a ROM, a RAM, a hard disk drive, a flash memory, or the like, and a communication unit 33 for data communication with the outside.

[0022] The processing unit 31 selects a set route for automatically driving the work vehicle based on the evaluation scores and priorities stored in the storage unit 32, and determines the presence or absence of obstacles on the set route based on the input information from the laser light sensor (the "sensor" in the claims) 41.

[0023] The storage unit 32 stores map data M around the farmland, a set route R, an evaluation score N of the set route, a priority P of the set route, and the like.

[0024] The communication unit 33 communicates information with the base station 22 via an external portable controller or a mobile communication device 27.

[0025] On the input side of the controller 30, there are a touch panel 13 for inputting the priority P of the set route, a mobile GPS antenna 28 for receiving position information from the positioning satellite 21, a mobile data transmission antenna 29 for receiving correction position information from the base station 22, a changeover switch 40 for switching the work vehicle from manual driving to automatic driving, a laser light sensor 41 such as a lidar for detecting obstacles or the like on the set route, a gyro sensor (the "sensor" in the claims) 42 for detecting vibrations or the like of the work vehicle generated during automatic driving, and a camera (the "sensor" in the claims) 43 for detecting puddles on the set route, which are connected via a predetermined input interface circuit.

[0026] On the output side of the controller 30, there are a travel start switch 50 for starting the automatic driving of the work vehicle, a stop switch 51 for stopping the automatic driving of the work vehicle, and an alarm switch 52 for notifying the operator of the occurrence of an abnormality, which are connected via a predetermined output interface circuit.

[0027] <Method for setting the set route> As shown in FIG. 6, in step S1, the processing unit 31 of the controller 30 determines whether the changeover switch 40 for switching the work vehicle from manual driving by the operator to automatic driving has been input and turned on. If it is determined that the input of the changeover switch 40 is on, the process proceeds to step S2. If it is determined that the input of the changeover switch 40 is not on, step S1 is repeated. For the sake of clarity, the description will be made with appropriate reference to the explanatory diagram of FIG. 7. In FIG. 7, although three set routes R1 etc. are set on a road with a wide road width, the set routes R1 etc. can also be set on different roads connecting fields to each other.

[0028] In step S2, the processing unit 31 reads out the map data M around the field stored in the storage unit 32 and proceeds to step S3. In FIG. 7, the map data M of fields F1 to F3 is read out.

[0029] In step S3, the processing unit 31 reads out the set route R stored together with the map data M and proceeds to step S4. In FIG. 7, currently, the set route R1 proximal to the part of the field F1 etc. on the road connecting the field F1 where compost is being spread to the next field F3 where compost is to be spread, the set route R2 at the central part of the road, and the set route R3 distal to the part of the field F1 etc. are read out.

[0030] In step S4, the processing unit 31 reads out the evaluation score N of the set route R stored in the storage unit 32 and proceeds to step S5. In FIG. 7, based on past performance, the evaluation score N of the set route R1 is 5 points, the evaluation score N of the set route R2 is 4 points, and the evaluation score N of the set route R3 is 3 points.

[0031] In step S5, the processing unit 31 reads out the priority P of the set route R stored in the storage unit 32 and proceeds to step S6. In FIG. 7, the priority P of the set route R1 input by the operator from the touch panel 13 is medium, the priority of the set route R2 is high, and the priority of the set route R3 is low. Also, the priority P can be arbitrarily set by the operator based on past experience.

[0032] In step S6, the processing unit 31 compares the evaluation scores N and determines whether there is a set route R having the highest evaluation score N. If there is no set route R having the highest evaluation score N, that is, if there are a plurality of set routes R having the highest evaluation score N, the process proceeds to step S7. If there is a set route R having the highest evaluation score N, the set route R having the highest evaluation score N is selected and the process proceeds to step S8. Thereby, based on past performance, the work vehicle can be quickly moved from the field F1 where compost is being spread to the next field F3 where compost is to be spread. In FIG. 7, since the evaluation score N of the set route R1 is 5 points and is higher than the evaluation scores N of the set routes R2 and R3, the set route R1 is selected.

[0033] In step S7, the processing unit 31 compares the priority levels P and selects the set route R having the highest priority level P and proceeds to step S8. Thereby, even when the evaluation scores N of the set routes R are the same, the set route R can be quickly selected. For example, if the evaluation scores N of the set routes R1 to R3 are all 5 points, since the priority level P of the set route R2 is high and higher than the priority levels P of the set routes R2 and R3, the set route R2 is selected.

[0034] In step S8, the processing unit 31 inputs the travel start switch 50 for automatically traveling the work vehicle and proceeds to step S9. Thereby, the work vehicle can be automatically traveled along the selected set route R. In FIG. 7, the work vehicle automatically travels along the set route R1.

[0035] In step S9, the processing unit 31 determines whether there are obstacles such as fallen trees on the set route R, severe unevenness on the set route R, or large puddles on the set route R. If it is determined that there are no obstacles such as fallen trees on the set route R, severe unevenness on the set route R, or large puddles on the set route R, automatic driving is continued and the process proceeds to step S10. If it is determined that there are no obstacles such as fallen trees on the set route R, severe unevenness on the set route R, or large puddles on the set route R, the process proceeds to step S13. Further, it is preferable to planarize the determination of the presence or absence of obstacles, unevenness, and large puddles not only on the set route R but also in the peripheral part of the set route R.

[0036] In step S10, the processing unit 31 confirms that the work vehicle has automatically traveled along the set route R and arrived at the target farm field, and then proceeds to step S11. Note that the fact that the work vehicle has automatically traveled along the set route R and arrived at the target farm field is confirmed based on the information input from the mobile GPS antenna 28 and the mobile data transmission antenna 29.

[0037] In step S11, the processing unit 31 determines whether the evaluation score N is less than 5 points. If it is determined that the evaluation score N is less than 5 points, the process proceeds to step S12. If it is determined that the evaluation score N is less than a predetermined score, in this embodiment, less than 5 points, the process returns to step S1. Note that it is preferable to set the predetermined score to 3 to 7 points. Thereby, seasonal factors, for example, an increase in the occurrence frequency of large puddles due to heavy rain during the rainy season, can be promptly reflected.

[0038] In step S12, the processing unit 31 adds 1 point to the evaluation score N and returns to step S1. Thereby, the past performance can be reflected in the set route R, and the work vehicle can be efficiently automatically driven on a suitable set route R.

[0039] In step S13, the processing unit 31 inputs the stop switch 51 to stop the automatic driving of the work vehicle and proceeds to step S14. Thereby, a collision between the work vehicle and an obstacle or the like can be avoided. In FIG. 7, a light truck 45 as an obstacle is parked on the set route R1, and the work vehicle cannot automatically travel along the set route R1.

[0040] In step S14, the processing unit 31 inputs the warning switch 52 to inform the operator that an abnormality has occurred in the work vehicle. Thereby, the operator working away from the work vehicle can be notified of the occurrence of an abnormality in the work vehicle, and the operator can switch to manual driving.

[0041] In step S15, the processing unit 31 subtracts 1 point from the evaluation score N and returns to step S1. In FIG. 7, at this time, the evaluation score N of the set route R1 is 4 points, the evaluation score N of the set route R2 is 4 points, and the evaluation score N of the set route R3 is 3 points. Since the priority of the set route R1 is medium, the priority of the set route R2 is high, and the priority of the set route R3 is low, when the changeover switch 40 is input in step S1, the work vehicle automatically travels along the set route R2.

Explanation of Signs

[0042] 20 Positioning unit 21 Positioning satellite 22 Base station 26 Mobile station 30 Controller 41 Laser light sensor (sensor) 42 Gyro sensor (sensor) 43 Camera (sensor) N Evaluation score R Set route R1 Set route R2 Set route R3 Set route P Priority

Claims

1. A work vehicle including a controller (30) for automatically driving the work vehicle along a set route set on a road connecting farm fields, and a positioning unit (20) for measuring the position of the work vehicle, The work vehicle is provided with sensors (41, 42, 43) for detecting obstacles or the like on a set route (R); The controller (30) forms the set route with a plurality of set routes (R1, R2, R3), assigns an evaluation score (N) for the number of times each of the set routes (R1, R2, R3) is driven, and causes the work vehicle to automatically drive along the set route (R1, R2, R3) to which the highest evaluation score (N) has been assigned, and when the work vehicle arrives at a destination field, adds a predetermined number to the evaluation score (N), and when the sensors (41, 42, 43) detect an obstacle or the like and stop the work vehicle, subtracts a predetermined number from the evaluation score (N).

2. A priority order (P) is assigned to the set routes (R1, R2, R3) based on the knowledge of each operator, 2. A work vehicle according to claim 1, wherein, when the evaluation scores (N) are the same, the work vehicle is automatically driven along the set route (R1, R2, R3) to which the highest priority (P) is assigned.

3. 3. A work vehicle according to claim 1, wherein an upper limit value of said evaluation score (N) is limited to a predetermined value.

4. 4. A work vehicle according to claim 1, wherein the positioning unit (20) is formed by a positioning satellite (21), a base station (22), and a mobile station (26) provided on the work vehicle.

Images