Autonomous driving method and autonomous driving system for a work vehicle

Abstract

This reduces the burden of positioning the work vehicle at the work start position, thereby improving work efficiency. In this method for autonomously driving a work vehicle, a work start position is set within a field where the work vehicle will begin work by autonomous driving. When the work vehicle is instructed to move to the work start position, it moves by autonomous driving from its current position to the work start position.

Description

Technical Field

[0001] The present invention relates to an autonomous driving method and an autonomous driving system for a work vehicle.

Background Art

[0002] Conventionally, work vehicles such as tractors are known to be capable of autonomous driving (driverless driving) along a set route. For example, there is one disclosed in Patent Document 1. The work vehicle disclosed in Patent Document 1 is provided with a control program for determining a work route in each of a work area (the central part of the work site) where work is performed by the work vehicle and an area excluding the work area (the peripheral part). By autonomously driving the work vehicle along the work route according to the control program, it is possible to automate a predetermined work.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in a conventional work vehicle capable of autonomous driving as disclosed in Patent Document 1, it was necessary for an operator to drive the work vehicle until the start position of the work. For this reason, conventionally, after the operator places the work vehicle at the work start position, it is necessary to return to another accompanying work vehicle, and there is a problem that work cannot be started immediately after the work vehicle is placed. Also, when the placement of each work vehicle is far apart, the labor required for the operator to move becomes large.

[0005] The present invention has been made in view of such problems in the current situation, and aims to provide an autonomous driving method and an autonomous driving system for a work vehicle that can reduce the burden of the work of arranging the work vehicle at the work start position (work start point) and improve the work efficiency.

Means for Solving the Problems

[0006] The problems to be solved by the present invention are as described above. Next, the means for solving these problems will be described.

[0007] That is, the autonomous driving method for a work vehicle according to one aspect of the present invention sets a work start position in the field where the work vehicle starts work by autonomous driving. When the work vehicle is instructed to move to the work start position, it moves from the current position to the work start position by autonomous driving. In addition, the autonomous driving system for a work vehicle according to another aspect of the present invention sets a work start position in the field where the work vehicle starts work by autonomous driving, and includes an operation device that instructs the movement from the current position to the work start position. When the work vehicle is instructed to move to the work start position by the operation device, it moves from the current position to the work start position by autonomous driving.

Effects of the Invention

[0008] According to the autonomous driving method and the autonomous driving system for a work vehicle according to the present invention, it is no longer necessary to arrange the work vehicle at the work start position (work start point) by the operation of the operator, and the efficiency of the work performed using the work vehicle can be improved.

Brief Description of the Drawings

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Embodiments for Carrying Out the Invention

[0010] The configuration of an autonomous driving work vehicle, which is a work vehicle according to an embodiment of the present invention, will be described with reference to FIGS. 1 to 5. As shown in FIG. 1, an autonomous driving work vehicle (hereinafter sometimes referred to as an unmanned vehicle) 1 that can autonomously drive without a driver, and an occupied driving work vehicle (hereinafter sometimes referred to as an occupied vehicle) 100 in which an operator performs a steering operation in cooperation with the autonomous driving work vehicle 1 are tractors, and an embodiment in which a rotary tillage device is mounted on each of the autonomous driving work vehicle 1 and the driving work vehicle 100 as a working machine will be described. However, the work vehicle is not limited to a tractor, and may be a combine or the like, and the working machine is not limited to a rotary tillage device, and may be a ridger, a lawn mower, a rake, a seeder, a fertilizer applicator, or the like.

[0011] As used in this specification, "autonomous driving" means that the components related to the driving of a tractor are controlled by a control unit (ECU) provided in the tractor, and the tractor travels along a predetermined route. Performing farming operations in a single field with unmanned vehicles and manned vehicles may be referred to as cooperative operations, following operations, accompanying operations, etc. of farming operations. Note that as cooperative operations of farming operations, in addition to "performing farming operations in a single field with unmanned vehicles and manned vehicles", "performing farming operations in different fields such as adjacent fields simultaneously with unmanned vehicles and manned vehicles" may also be included.

[0012] In FIGS. 1 and 2, the overall configuration of the tractor serving as the autonomous driving work vehicle 1 will be described. The vehicle body 2 of the tractor has an engine 4 installed inside the bonnet 3, a dashboard 14 is provided inside the cab 12 at the rear of the bonnet 3, and a steering wheel 5 serving as steering operation means is provided on the dashboard 14. By rotating the steering wheel 5, the directions of the front wheels 10·10 are rotated via the steering device. The steering actuator 40 for operating the steering device is connected to the steering controller 301 that constitutes the control unit 30. The steering direction of the autonomous driving work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 consists of an angle sensor such as a rotary encoder and is arranged at the rotation base of the front wheel 10. However, the detection configuration of the steering sensor 20 is not limited as long as the steering direction can be recognized, and the rotation of the steering wheel 5 or the operation amount of the power steering may be detected. The detection value obtained by the steering sensor 20 is input to the steering controller 301 of the control unit 30.

[0013] The control unit 30 includes a steering controller 301, an engine controller 302, a shift control controller 303, a leveling control controller 304, a work control controller 305, a positioning control unit 306, an autonomous driving control controller 307, etc., each of which is equipped with a storage device such as a CPU (Central Processing Unit), a RAM, a ROM, and an interface. The storage device stores programs, data, etc. for operation, and can communicate so as to be able to transmit and receive information, data, etc. through CAN communication. In addition, the autonomous driving control controller 307 is equipped with a memory 309 which is a storage unit for storing programs, data, etc.

[0014] A driver's seat 6 is arranged behind the steering wheel 5, and a transmission case 7 is arranged below the driver's seat 6. Rear axle cases 9·9 are connected in series on both the left and right sides of the transmission case 7, and rear wheels 11·11 are supported by the rear axle cases 9·9 via axles. The power from the engine 4 is transmitted through a transmission (main transmission and auxiliary transmission) in the transmission case 7 to enable driving of the rear wheels 11·11. The transmission is configured by, for example, a hydraulic continuously variable transmission, and the swash plate of a variable displacement hydraulic pump can be actuated by a transmission means 44 such as a motor to enable speed change. The transmission means 44 is connected to the shift control controller 303 of the control unit 30. The rotational speed of the rear wheel 11 is detected by a vehicle speed sensor 27 and input to the shift control controller 303 as the traveling speed. However, the method for detecting the vehicle speed and the arrangement position of the vehicle speed sensor 27 are not limited.

[0015] A PTO clutch and a PTO transmission are housed in the transmission case 7. The PTO clutch is engaged and disengaged by a PTO engagement / disengagement means 45, and the PTO engagement / disengagement means 45 is connected to the autonomous driving control controller 307 of the control unit 30 via a display means 49, enabling control of the connection and disconnection of power to the PTO shaft. Also, when a seeder, a ridging machine, etc. are attached as a work implement, a work implement controller 308 is provided so that the work implement can be independently controlled, and the work implement controller 308 is connected to the work control controller 305 via an information communication wiring (so-called, ISOBUS).

[0016] A front axle case 8 is supported by a front frame 13 that supports the engine 4. Front wheels 10·10 are supported on both sides of the front axle case 8, and power from the transmission case 7 is configured to be transmissible to the front wheels 10·10. The front wheels 10·10 serve as steering wheels and are rotatable by a rotational operation of a steering handle 5. The front wheels 10·10 can be steered left and right by a steering actuator 40 composed of a power steering cylinder that serves as a driving means of a steering device. The steering actuator 40 is connected to and controlled by a steering controller 301 of a control unit 30.

[0017] An engine controller 302 that serves as engine rotation control means is connected to an engine speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, etc., so that the state of the engine 4 can be detected. The engine controller 302 detects a load from a set rotation speed and an actual rotation speed, controls so as not to cause an overload, and transmits the state of the engine 4 to a remote operation device 112 described later so that it can be displayed on a display device 113.

[0018] Also, a level sensor 29 that detects the liquid level of fuel is arranged in a fuel tank 15 arranged below the steps and is connected to a display means 49. The display means 49 is provided on a dashboard 14 of the autonomous traveling work vehicle 1 and displays the remaining amount of fuel. Then, the remaining amount of fuel is used by an autonomous traveling control controller 307 to calculate an operable time, information is transmitted to a remote operation device 112 via a communication device 110, and the remaining fuel amount and the operable time can be displayed on a display device 113 of the remote operation device 112. Note that the display means for displaying a tachometer, a fuel gauge, a hydraulic pressure, an abnormality, and the display means for displaying the current position, etc. may have a separate configuration.

[0019] Display means 49 for displaying a tachometer, a fuel gauge, a hydraulic pressure, etc. of the engine 4, a monitor indicating an abnormality, set values, etc. is arranged on the dashboard 14. The display means 49 is a touch panel type like the remote operation device 112, and data input, selection, switch operation, button operation, etc. are also possible.

[0020] Also, a working machine 24 is installed on the rear part of the vehicle body 2 of the tractor via a working machine mounting device 23 so as to be able to move up and down. In this embodiment, a rotary tilling device is adopted as the working machine 24, and a lifting cylinder 26 is provided on the transmission case 7. By expanding and contracting the lifting cylinder 26, the lifting arm constituting the working machine mounting device 23 is rotated to enable the working machine 24 to move up and down. The lifting cylinder 26 is expanded and contracted by the operation of a lifting actuator 25, and the lifting actuator 25 is connected to a horizontal controller 304 of the control unit 30. Further, a tilt cylinder is provided on a lift link on one side of the left and right of the working machine mounting device 23, and a tilt actuator 47 for operating the tilt cylinder is connected to the horizontal controller 304.

[0021] A positioning control unit 306 serving as a position detection unit is connected to a mobile GPS antenna 34 and a data reception antenna 38 for detecting position information. The mobile GPS antenna 34 and the data reception antenna 38 are provided on the cabin 12. The positioning control unit 306 is provided with a position calculation means for calculating latitude and longitude so that the current position can be displayed on a display means 49 or a display device 113 of the remote control device 112. Although highly accurate positioning can be achieved by using a satellite positioning system (GNSS) such as a quasi-zenith satellite (Japan) or a GLONASS satellite (Russia) in addition to GPS (USA), this embodiment will be described using GPS.

[0022] The autonomous traveling work vehicle 1 is equipped with a gyro sensor 31 to obtain the attitude change information of the vehicle body part 2 and an azimuth detection unit 32 to detect the traveling direction, and is connected to the control unit 30. However, since the traveling direction can be calculated from the position measurement by GPS, the azimuth detection unit 32 can be omitted. The gyro sensor 31 detects the angular velocity of the inclination (pitch) in the front-rear direction of the vehicle body part 2, the angular velocity of the inclination (roll) in the left-right direction of the vehicle body part 2, and the angular velocity of turning (yaw). By integrating and calculating these three angular velocities, it is possible to obtain the inclination angles in the front-rear direction and the left-right direction of the vehicle body part 2, and the turning angle. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, a vibrating gyro sensor, and the like. The gyro sensor 31 is connected to the control unit 30 and inputs information related to these three angular velocities to the control unit 30.

[0023] The azimuth detection unit 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1. Specific examples of the azimuth detection unit 32 include a magnetic azimuth sensor and the like. Information is input from the azimuth detection unit 32 to the autonomous driving control controller 307 via the CAN communication means.

[0024] In this way, the autonomous driving control controller 307 calculates the signals acquired from the gyro sensor 31 and the azimuth detection unit 32 by the attitude and azimuth calculation means, and obtains the attitude (direction, inclination in the front-rear direction and the left-right direction of the vehicle body part 2, turning direction) of the autonomous traveling work vehicle 1.

[0025] The position information of the autonomous traveling work vehicle 1 is obtained using GPS (Global Positioning System). As the positioning method using GPS, various methods such as single-point positioning, relative positioning, DGPS (Differential GPS) positioning, and RTK-GPS (Real Time Kinematic-GPS) positioning can be mentioned, and any of these methods can be used. However, in this embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted.

[0026] RTK-GPS (Real-Time Kinematic - GPS) positioning is a method in which GPS observations are simultaneously performed by a reference station whose position is known and a mobile station whose position is to be determined. The data observed at the reference station is transmitted in real time to the mobile station by means of wireless or other methods, and the position of the mobile station is determined in real time based on the position results of the reference station.

[0027] In this embodiment, a positioning control unit 306 serving as a mobile station, a mobile GPS antenna 34, and a data reception antenna 38 are arranged on the autonomous driving work vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36, and a data transmission antenna 39 are disposed at a predetermined position. The RTK-GPS (Real-Time Kinematic - GPS) positioning of this embodiment performs phase measurement (relative positioning) at both the reference station and the mobile station, and transmits the data measured by the fixed communication device 35 of the reference station from the data transmission antenna 39 to the data reception antenna 38.

[0028] The mobile GPS antenna 34 arranged on the autonomous driving work vehicle 1 receives signals from GPS satellites 37, 37,... This signal is transmitted to the positioning control unit 306 for positioning. At the same time, the fixed GPS antenna 36 serving as the reference station receives signals from GPS satellites 37, 37,... The fixed communication device 35 performs positioning and transmits the data to the positioning control unit 306, and analyzes the observed data to determine the position of the mobile station.

[0029] In this way, the autonomous driving control controller 307 is provided as an autonomous driving means for autonomously driving the autonomous driving work vehicle 1. That is, various information acquisition units connected to the autonomous driving control controller 307 acquire the driving state of the autonomous driving work vehicle 1 as various information, and various control units connected to the autonomous driving control controller 307 control the autonomous driving of the autonomous driving work vehicle 1. Specifically, the radio waves transmitted from the GPS satellites 37, 37,... are received, and the position information of the vehicle body 2 is obtained at set time intervals in the positioning control unit 306. The displacement information and azimuth information of the vehicle body 2 are obtained from the gyro sensor 31 and the azimuth angle detection unit 32. Based on these position information, displacement information, and azimuth information, the steering actuator 40, the speed change means 44, the lifting actuator 25, the PTO on / off means 45, the engine controller 302, etc. are controlled so that the vehicle body 2 travels along a preset path (travel path and work path) R, enabling autonomous driving and automatic operation.

[0030] In addition, an obstacle sensor 41 is arranged on the autonomous driving work vehicle 1 and connected to the control unit 30 to prevent contact with obstacles. For example, the obstacle sensor 41 is composed of a laser sensor, an ultrasonic sensor, or a camera, arranged on the front, side, or rear of the vehicle body 2 and connected to the control unit 30. The control unit 30 detects whether there are obstacles in front of, on the side of, or behind the vehicle body 2, and controls to stop the vehicle when the obstacle approaches within a set distance.

[0031] In addition, the autonomous driving work vehicle 1 is equipped with a camera 42F for photographing the front and a camera 42R for photographing the rear working machine and the field state after work, which are connected to the control unit 30. In this embodiment, the cameras 42F and 42R are arranged on the front and rear parts of the roof of the cab 12, but the arrangement position is not limited. They may be arranged on the front and rear parts inside the cab 12, or a single camera 42 may be arranged at the center of the vehicle body 2 and rotated around the vertical axis to photograph the surroundings, or a plurality of cameras 42 may be arranged at the four corners of the vehicle body 2 to photograph the surroundings of the vehicle body 2. The images captured by the cameras 42F and 42R are displayed on the display device 113 of the remote control device 112 provided on the traveling work vehicle 100.

[0032] The remote control device 112 is configured to set the work route Ra and the travel route Rb (described later) of the autonomous driving work vehicle 1, remotely control the autonomous driving work vehicle 1, monitor the travel state of the autonomous driving work vehicle 1 and the operating state of the work implement, and store work data. It includes a control device (CPU and memory), a communication device 111, a display device 113, etc.

[0033] The work vehicle 100 that becomes a manned vehicle is driven by an operator while boarding, and is equipped with a remote control device 112 so that the autonomous driving work vehicle 1 can be operated. Since the basic configuration of the work vehicle 100 is substantially the same as that of the autonomous driving work vehicle 1, detailed description is omitted. Note that the work vehicle 100 (or the remote control device 112) may be configured to include a control unit for GPS.

[0034] The remote control device 112 is detachable from the operation unit such as the dashboard of the work vehicle 100 and the autonomous driving work vehicle 1. The remote control device 112 can be operated while attached to the dashboard of the work vehicle 100, taken out of the work vehicle 100 and carried for operation, or attached to the dashboard 14 of the autonomous driving work vehicle 1 for operation. The remote control device 112 can be configured by, for example, a notebook-type or tablet-type personal computer. In this embodiment, it is configured by a tablet-type personal computer.

[0035] Furthermore, the remote control device 112 and the autonomous driving work vehicle 1 are configured to be able to communicate with each other wirelessly, and communication devices 110 and 111 for communication are provided in the autonomous driving work vehicle 1 and the remote control device 112, respectively. The communication device 111 is integrally configured in the remote control device 112. The communication means is configured to be able to communicate with each other by, for example, wireless LAN. The remote control device 112 is provided with a display device 113 having a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and houses the communication device 111, the CPU, the storage device 114, the battery, etc. in the housing.

[0036] Next, the procedure for setting the work path Ra and the travel path Rb by the remote control device 112 will be described. The display device 113 of the remote control device 112 is a touch panel type, and an initial screen appears when the power is turned on to activate the remote control device 112. On the initial screen, as shown in FIG. 3, a tractor setting button 201, a field setting button 202, a path generation setting button 203, a data transfer button 204, a work start button 205, and an end button 206 are displayed.

[0037] First, the tractor setting will be described. When the tractor setting button 201 is touched, if the tractor has been used for work by this remote control device 112 in the past, that is, if there is a tractor set in the past, the tractor name (model) will be displayed. When multiple tractor names are displayed, touch and select the tractor name to be used this time, and then return to the initial screen. When newly setting the tractor, identify the model of the tractor. In this case, directly input the model name. Alternatively, a list of the models of multiple tractors can be displayed on the display device 113 so that the desired model can be selected.

[0038] When the model of the tractor is set, a setting screen for the mounting position of the mobile GPS antenna 34 appears. The mounting position of the mobile GPS antenna 34 varies depending on the tractor and may also vary depending on the technician who installs it. Therefore, a plan view of the tractor is displayed to set the mounting position.

[0039] When the mounting position of the mobile GPS antenna 34 is set, a setting screen for the size, shape, and position of the working machine mounted on the tractor appears. Select whether the position of the working machine is at the front, between the front and rear wheels, at the rear, or offset. When the setting of the working machine is completed, a setting screen for the vehicle speed during work, the engine speed during work, the vehicle speed during turning, and the engine speed during turning appears. It is also possible to set different vehicle speeds for the forward and return trips during work. When the setting of the vehicle speed and the engine speed is completed, return to the initial screen.

[0040] Next, the field settings will be described. When the field settings button 202 is touched, if the tractor has been used for operations by this remote control device 112 in the past, that is, if there is a field set in the past, the name of the set field will be displayed. When touching and selecting the name of the field for this operation from the displayed multiple field names, then, it is possible to proceed to the route generation settings described later or return to the initial screen. Note that it is also possible to edit the set field or set a new one.

[0041] If there is no registered field, a new field setting will be made. When a new field setting is selected, as shown in FIG. 4, the tractor (autonomous driving work vehicle 1) is positioned at one of the four corners of the field H, namely corner A, and the "measurement start" button is touched. Then, the tractor is driven along the outer perimeter of the field H to register the field shape. Next, the operator registers the corner positions A, B, C, D and the inflection points from the registered field shape to specify the field shape.

[0042] When the field H is specified, as shown in FIG. 5, the travel start position Sr, the work direction F, and the travel end position Gr are set. If there is an obstacle in this field H, the tractor is moved to the position of the obstacle, the obstacle setting button (not shown) is touched, and the tractor travels around the obstacle to perform obstacle setting. Note that if the obstacle exists near the perimeter of the field H or if the obstacle is smaller than the minimum turning radius and becomes too large when traveling around its outer perimeter, it may be registered from the displayed map of the field. When the above operations are completed or when a field registered in the past is selected, a confirmation screen appears, and an OK (confirmation) button and an "edit / add" button are displayed. If there is a change to the field registered in the past, the "edit / add" button is touched.

[0043] When the OK button is touched in the above field setting, it becomes the route generation setting. The route generation setting can also be set by touching the route generation setting button 203 on the initial screen. When moving to the route generation setting mode, a selection screen for the position where the traveling work vehicle 100 travels with respect to the autonomous traveling work vehicle 1 is displayed. That is, the positional relationship between the autonomous traveling work vehicle 1 and the traveling work vehicle 100 is set. Specifically, (1) The traveling work vehicle 100 is located behind the left rear of the autonomous traveling work vehicle 1. (2) The traveling work vehicle 100 is located behind the right rear of the autonomous traveling work vehicle 1. (3) The traveling work vehicle 100 is located directly behind the autonomous traveling work vehicle 1. (4) The traveling work vehicle 100 does not travel side by side (only the autonomous traveling work vehicle 1 performs the work). These four types are displayed and can be selected by touching.

[0044] Next, the width of the working machine of the traveling work vehicle 100 is set. That is, the width of the working machine is input numerically. Next, the skip count is set. That is, when the autonomous traveling work vehicle 1 reaches the field edge (headland) and moves from the first working path R1 to the second working path R2, the number of paths to skip is set. Specifically, any one of (1) Do not skip. (2) Skip one row. (3) Skip two rows is selected. Next, the overlap setting is performed. That is, the overlap amount of the working widths in the working path R1 and the adjacent working path R2 is set. Specifically, any one of (1) Do not overlap. (2) Overlap is selected. Note that when "Overlap" is selected, a numerical input screen is displayed, and it is not possible to proceed to the next step without inputting a numerical value.

[0045] Next, the outer perimeter is set. That is, as shown in FIG. 5, an area outside the work area HA where work is performed by the autonomous driving work vehicle 1 and the work vehicle 100 or by the autonomous driving work vehicle 1 alone is set. In other words, a headland HB that turns and travels in a non-working state at the edge of the field and side margin areas HC that are non-working areas in contact with the outer perimeter of the field on both the left and right sides between the headlands HB are set. Thus, the field H = work area HA + headland HB + headland HB + side margin area HC + side margin area HC. Usually, the width Wb of the headland HB and the width Wc of the side margin area HC are set to a length that is not more than twice the width of the work implement mounted on the work vehicle 100. After the combined running work by the autonomous driving work vehicle 1 and the work vehicle 100 is completed, the operator can board the work vehicle 100 and manually drive around the outer perimeter twice to finish the work. However, it is also possible to work on the outer perimeter with the autonomous driving work vehicle 1.

[0046] When the input of the above various settings is completed, a confirmation screen appears. When the confirmation is touched, the work path Ra and the travel path Rb are automatically generated. The work path Ra is a path generated within the work area HA and is a path for traveling while performing work, and it is a straight path. However, if the work area HA is not rectangular, it may extend beyond. The travel path Rb is a path generated in areas outside the work area HA (the headland HB and the side margin area HC) and is a path for traveling without performing work, and it is a path combining a straight line and a curve, mainly serving as a path for turning in the headland HB.

[0047] For the autonomous driving work vehicle 1 and the driving work vehicle 100, the respective working routes Ra and driving routes Rb are generated. When you want to view the routes after route generation, you can touch the route generation setting button 203 to display a simulation image and confirm it. Note that the working route Ra and the driving route Rb are generated even if the route generation setting button 203 is not touched. When the working route Ra and the driving route Rb are automatically generated, the working start position Sw and the working end position Gw are set. The working start position Sw and the working end position Gw are set to the corresponding positions closest to the driving start position Sr and the driving end position Gr registered in the field setting. Also, when each item of the route generation setting is set, the route generation setting is displayed, and below it, "Route setting button", "Transfer data", and "Return to home" are displayed selectably.

[0048] When transferring the above information, it can be transferred by touching the data transfer button 204 provided on the initial screen. Since this transfer is performed by the remote operation device 112, it is necessary to transfer the set information to the control device of the autonomous driving work vehicle 1. There are two methods for this transfer: (1) a method of transferring using a terminal and (2) a method of transferring wirelessly. In this embodiment, when using a terminal, the remote operation device 112 and the control device of the autonomous driving work vehicle 1 are directly connected using a USB cable, or once stored in a USB memory and then connected to the USB terminal of the autonomous driving work vehicle 1 for transfer. Also, when transferring wirelessly, it is transferred using a wireless LAN.

[0049] Here, a method for autonomously driving the autonomous work vehicle 1 according to an embodiment of the present invention to the work start position Sw will be described. As shown in FIG. 1, the autonomous work vehicle 1 according to an embodiment of the present invention includes a vehicle body portion 2 and a work implement 24 mounted on the vehicle body portion 2. Further, as shown in FIGS. 1 and 2, it is provided with a mobile GPS antenna 34 which is a position detection unit capable of detecting the position information of the vehicle body portion 2. Furthermore, the autonomous work vehicle 1 is provided with a control unit 30 capable of controlling the travel of the vehicle body portion 2 and the work by the work implement 24 in a field H which is a travel area. The control unit 30 is provided with a memory 309 which is a storage unit capable of storing the shape, position, size, etc. of the field H which is a travel area for driving the vehicle body portion 2. In the following description, when the control unit 30 appears, reference will be made to FIG. 2.

[0050] Then, in the autonomous work vehicle 1, the data of the work route Ra and the travel route Rb generated by the remote operation device 112 are transferred to the control unit 30 and stored in the memory 309, and while detecting the current position N of the vehicle body portion 2 by the mobile GPS antenna 34, it is configured as a work vehicle capable of autonomously traveling along the work route Ra and the travel route Rb. Note that the current position N of the autonomous work vehicle 1 usually coincides with the position of the mobile GPS antenna 34.

[0051] The autonomous work vehicle 1 shown in this embodiment uses a field H having a substantially rectangular shape as shown in FIG. 6 as a travel area, and is configured to be capable of autonomous travel in a first area HA which is a work area and a second area HB which is a headland and a side margin area HC that constitute the field H. Note that the traveling work vehicle 100 follows (or accompanies) the autonomous work vehicle 1 that autonomously travels within the field H which is a travel area, and travels by the operation of the operator.

[0052] When the current position N of the autonomous work vehicle 1 is located within the field H, it is configured to be capable of autonomous travel by the control unit 30. On the other hand, when the autonomous work vehicle 1 is outside the field H (such as a public road), it is configured by the control unit 30 to be unable to perform autonomous travel.

[0053] Furthermore, when the current position N is located at the travel start position Sr, the autonomous work vehicle 1 is configured to be capable of autonomous travel by the control unit 30.

[0054] Then, when the current position N of the autonomous work vehicle 1 is located at the travel start position Sr on the headland HB and the operator presses the work start button 205 (see FIG. 3) to give an instruction of "start work", as shown in FIG. 6, the control unit 30 causes the vehicle to autonomously travel from the current position N at that time to the work start position Sw. After reaching the work start position Sw, the work by the work implement 24 (see FIGS. 1 and 2) can be started.

[0055] Since the autonomous work vehicle 1 is configured to be able to start autonomous travel at a position away from the work start position Sw in this way, when the distance between the entrance of the field H and the work start position Sw is large, the labor of the operator to move can be reduced, and thus the efficiency of the work using the autonomous work vehicle 1 can be improved.

[0056] The remote control device 112 generates a work path Ra and a travel path Rb based on the above-described tractor settings, field settings, and route generation settings. By the way, the remote control device 112 can generate a path R including the work path Ra and the travel path Rb from the travel start position Sr set in the field settings to the travel end position Gr, and transmit the information of the path R to the autonomous work vehicle 1. Then, the autonomous work vehicle 1 (control unit 30) that has acquired the information of the path R can start autonomous travel when the difference between the current position N and the azimuth angle of the autonomous work vehicle 1 and the travel start position Sr and the work direction F is within a predetermined deviation.

[0057] Here, as shown in FIG. 7, a case will be described below where the entrance of the field H is located near the approximate center of the left-right width of the field H, and the user (operator) selects a point Sa located near the approximate center of the left-right width of the field H as the travel start position Sr and a point Sb as the travel end position Gr in the field settings.

[0058] In this case, the remote control device 112 generates a path R from point Sa to point Sb. Generally, the path R is generated from point Sa towards point Sb. However, when point Sa is near the approximate center of the left - right width of the farm field H, it is necessary to generate a path towards the side opposite to point Sb from point Sa, making the path generation complicated. Also, when the traveling work vehicle 100 cooperates with the autonomous traveling work vehicle 1 to perform operations, it becomes difficult for the operator who operates the traveling work vehicle 100 to predict which path to proceed to next.

[0059] Therefore, in the autonomous traveling work vehicle 1 according to an embodiment of the present invention, when a point (for example, point Sa) other than the corner of the farm field H is designated as the traveling start position Sr in the farm field setting, a configuration is provided to allow selection of whether to "perform autonomous traveling without accompanying agricultural work from point Sa to point Sc and then perform autonomous traveling with accompanying agricultural work from point Sc to point Sb". However, as shown in FIG. 6, only when the distance L between point Sa and point Sc is separated by a predetermined set value β or more (for example, set value β = 10 m), selection is made as to whether to "perform autonomous traveling without accompanying agricultural work from point Sa to point Sc and then perform autonomous traveling with accompanying agricultural work from point Sc to point Sb". With such a configuration, the operator can make the autonomous traveling work vehicle 1 perform autonomous traveling only by bringing the autonomous traveling work vehicle 1 into the farm field H near the entrance without driving the autonomous traveling work vehicle 1 to the work start position Sw, which can shorten the moving distance of the operator and improve the work efficiency.

[0060] On the other hand, when the distance L is less than the predetermined set value β, it may be configured to allow selection of whether to "travel from point Sa to point Sc by the driving operation of the operator and then perform autonomous traveling with accompanying agricultural work from point Sc to point Sb". This is because when the distance L is short, the burden on the user is small. Note that the timing for allowing the above selection is not limited to the above timing (i.e., at the time of farm field setting), and it may be at a predetermined timing after the completion of the farm field setting, for example, after generating the path R from point Sa to point Sb and presenting the path R to the user (for example, displaying the above simulation image).

[0061] When the user selects to "perform autonomous driving from point Sa to point Sc without accompanying agricultural work and then perform autonomous driving with accompanying agricultural work from point Sc to point Sb", as shown in FIG. 6, the remote operation device 112 generates a route R including a driving route Rc from point Sa to point Sc in addition to the above work route Ra and driving route Rb.

[0062] On the other hand, when the user selects to "perform driving by the operator's driving operation from point Sa to point Sc and then perform autonomous driving with accompanying agricultural work from point Sc to point Sb", the remote operation device 112 generates a route R including the above work route Ra and driving route Rb and not including the driving route Rc.

[0063] That is, the autonomous driving work vehicle 1 which is a work vehicle according to an embodiment of the present invention includes a vehicle body part 2, a work implement 24 mounted on the vehicle body part 2, a mobile GPS antenna 34 which is a position detection part capable of detecting the position information of the vehicle body part 2, a memory 309 which is a storage part capable of storing a field H which is a driving area for driving the vehicle body part 2, and a control part 30 capable of controlling the driving of the vehicle body part 2 and the work by the work implement in the field H. The field H includes a work area HA which is a first area including a work route Ra where work is performed by the work implement 24, and a headland HB which is a second area set around the work area HA. When the start of work by the work implement 24 is instructed in the headland HB, the control part 30 can cause the vehicle body part 2 to travel from the current position N of the vehicle body part 2 to the work start position Sw which is the start point of the work route Ra and then start the work by the work implement 24. With such a configuration, it is not necessary to arrange the autonomous driving work vehicle 1 to the work start position Sw by the operator's driving, and the efficiency of the work performed using the autonomous driving work vehicle 1 can be improved.

[0064] Also, when performing autonomous driving along a route R including a driving route Rc, as shown in FIG. 7, the current position N and azimuth angle θa of the autonomous driving work vehicle 1, any point Sd on a virtual start line s parallel to the work direction F passing through the point Sa, and the angle θb (90 degrees in this embodiment) formed by the line segment connecting the point Sa and the point Sc and the virtual start line s are compared, and when the difference is within a predetermined deviation, it is possible to adopt a configuration in which autonomous driving is started. Here, the predetermined deviation means, for example, that the distance L1 between the current position N and the point Sd is within a predetermined set value α (for example, the predetermined set value α = 1 m), and the difference between the azimuth angle θa and the angle θb is a predetermined set value ε (for example, the predetermined set value ε = 15 degrees).

[0065] Next, the start of autonomous driving will be described when the point Sc is selected as the driving start position Sr in the field setting, or when driving from the point Sa to the point Sc by the operator's driving operation although the point Sa is selected as the driving start position Sr.

[0066] Conventionally, it has not been considered that the orientation of the work vehicle at the work start position Sw affects the running accuracy (and thus the work accuracy) of the work vehicle. For this reason, conventionally, depending on the orientation of the work vehicle at the work start position Sw, the actual running trajectory of the work vehicle may deviate from the set running route Rb, and it may be difficult to ensure the work accuracy by the work vehicle capable of autonomous driving.

[0067] The autonomous driving work vehicle 1 according to an embodiment of the present invention is configured to consider that the orientation (azimuth angle) of the autonomous driving work vehicle 1 affects the running accuracy (and thus the work accuracy) when generating a route by the control unit 30.

[0068] The autonomous driving work vehicle 1 is configured such that when the current position N is located at the driving start position Sr on the headland HB and an instruction to start work is given, the control unit 30 can determine whether to start autonomous driving in consideration of the azimuth angle of the autonomous driving work vehicle 1 at the current position N.

[0069] In the autonomous traveling work vehicle 1, as shown in FIG. 8, the control unit 30 is configured to be able to calculate the angular difference dθ between the azimuth angle θ1 of the autonomous traveling work vehicle 1 with respect to the reference azimuth X and the azimuth angle θ2 from the current position N of the autonomous traveling work vehicle 1 to the work start position Sw. When the calculated angular difference dθ is less than a predetermined threshold value, the autonomous traveling from the current position N to the work start position Sw can be permitted.

[0070] When the work start button 205 (see FIG. 3) is pressed by the operator while the current position N of the autonomous traveling work vehicle 1 is located within the shoulder ground HB, the azimuth angle θ1 with respect to the reference azimuth X at the current position N is detected by the azimuth angle detection unit 32 (see FIG. 2). At the same time, the control unit 30 calculates the azimuth angle θ2 from the current position N to the work start position Sw, and calculates the angular difference dθ between the two azimuth angles θ1 and θ2.

[0071] Then, when the angular difference dθ is less than a predetermined threshold value (for example, less than 10°), the control unit 30 can be configured to permit the autonomous traveling work vehicle 1 to autonomously travel from the current position N to the work start position Sw.

[0072] That is, the autonomous traveling work vehicle 1 which is a work vehicle according to an embodiment of the present invention includes an azimuth angle detection unit 32 capable of detecting the azimuth angle of the vehicle body unit 2. If the angular difference dθ between the azimuth angle θ1 of the vehicle body unit 2 and the azimuth angle θ2 from the current position N to the work start position Sw is not within a predetermined threshold value, the control unit 30 does not cause the vehicle body unit 2 to travel from the current position N to the work start position Sw. Thus, by the configuration of causing the vehicle body unit 2 to autonomously travel when the angular difference dθ between the azimuth angle θ1 of the vehicle body unit 2 and the azimuth angle θ2 is within a predetermined threshold value, the error of the current position N of the vehicle body unit 2 with respect to the set work start position Sw can be suppressed.

[0073] In addition, as shown in FIG. 9, the autonomous work vehicle 1 can be configured such that the control unit 30 identifies a virtual extension line f obtained by extending a first work path R1 including a work start position Sw toward the shoulder ground HB, and permits autonomous driving of the autonomous work vehicle 1 when the current position N with respect to the virtual extension line f is within a predetermined deviation. The virtual extension line f is oriented in the direction of the work direction F at the work start position Sw and coincides with the direction of the first work path R1. Here, the "deviation" refers to the degree of deviation of the current position N with respect to the virtual extension line f, specifically, the distance of the current position N with respect to the virtual extension line f.

[0074] That is, the autonomous work vehicle 1 is configured such that when the current position N is located within the shoulder ground HB and an instruction to start work is given, the control unit 30 can determine whether to start autonomous driving in consideration of the deviation of the current position N with respect to the virtual extension line f.

[0075] Specifically, as shown in FIG. 9, in the autonomous work vehicle 1, when the deviation of the current position N with respect to the virtual extension line f is within a predetermined deviation α (for example, within a deviation α = 1 m), the control unit 30 can be configured to permit the autonomous work vehicle 1 to autonomously drive from the current position N to the work start position Sw.

[0076] Then, the autonomous work vehicle 1 can be configured such that the control unit 30 controls the running of the vehicle body 2 so as to reduce the deviation α between the identified virtual extension line f and the current position N.

[0077] That is, in the autonomous work vehicle 1 which is a work vehicle according to an embodiment of the present invention, the work route Ra includes a first work route R1 including the work start position Sw, and the control unit 30 specifies a virtual extension line f which is a virtual route obtained by extending the first work route R1 to the shoulder ground HB. If the current position N is within a predetermined deviation α with respect to the virtual extension line f, the running of the vehicle body 2 is controlled so as to reduce the deviation, and the vehicle body 2 can be made to run from the current position N to the work start position Sw. With such a configuration, it is possible to suppress the error of the current position N with respect to the work start position Sw when the vehicle body 2 reaches the work start position Sw.

[0078] Further, in the autonomous work vehicle 1, as shown in FIG. 10, when the deviation of the current position N with respect to the virtual extension line f is outside a predetermined deviation α (for example, deviation α > 1 m), the control unit 30 can be configured not to permit the autonomous work vehicle 1 to autonomously run as it is.

[0079] When the deviation of the current position N with respect to the virtual extension line f is outside the predetermined deviation α, in the autonomous work vehicle 1, an additional travel route Rb can be generated from the current position N to the work start position Sw, and the autonomous work vehicle 1 can be configured to be permitted to autonomously run along the additionally generated travel route Rb.

[0080] That is, in the autonomous work vehicle 1 which is a work vehicle according to an embodiment of the present invention, the work route Ra includes a first work route R1 including the work start position Sw, and the control unit 30 specifies a virtual extension line f which is a virtual route obtained by extending the first work route R1 to the shoulder ground HB. If the current position N is outside a predetermined deviation with respect to the virtual extension line f, a travel route Rb from the current position N to the work start position Sw is generated, and the vehicle body 2 can be made to run along the travel route Rb. With such a configuration, when the current position N of the vehicle body 2 and the work start position Sw are separated, the autonomous work vehicle 1 can be arranged at the work start position Sw without the operator having to manually drive it to the work start position Sw, and the labor of the operator arranging the autonomous work vehicle 1 at the work start position Sw can be saved.

[0081] In order to reduce the deviation α of the current position N with respect to the virtual extension line f, it is more advantageous if the path from the current position N to the work start position Sw is longer.

[0082] Here, the method for setting the travel start position Sr will be described. As shown in FIG. 11, the autonomous driving work vehicle 1 can set the travel start position Sr, which is a position where the autonomous driving work vehicle 1 can start autonomous driving, within the field H by the control unit 30. Then, the autonomous driving work vehicle 1 is configured such that the start of autonomous driving is permitted when the current position N coincides with the travel start position Sr by the control unit 30.

[0083] Since the current position N of the autonomous driving work vehicle 1 usually coincides with the position of the mobile GPS antenna 34, when the position of the mobile GPS antenna 34 coincides with the travel start position Sr, the control unit 30 can be configured to start autonomous driving.

[0084] The autonomous driving work vehicle 1 is configured to be able to display the travel start position Sr and the current position N on the display device 113. By operating the autonomous driving work vehicle 1 while the operator checks the display device 113 so that the travel start position Sr and the current position N coincide, it is possible to easily position the autonomous driving work vehicle 1 with respect to the travel start position Sr.

[0085] As shown in FIG. 11, the travel start position Sr is preferably set on the headland HB. Further, the travel start position Sr is more preferably set on the headland HB and at a position as far as possible from the work start position Sw.

[0086] This is because if the travel start position Sr is separated from the work start position Sw as much as possible, there will be a margin for correcting the azimuth and attitude of the autonomous driving work vehicle 1 while the autonomous driving work vehicle 1 autonomously drives from the travel start position Sr to the work start position Sw.

[0087] Furthermore, it is more preferable that the travel start position Sr is specified by the control unit 30 and is set at a position on the virtual extension line f and as far as possible away from the work area HA of the crosstie HB.

[0088] This is because if the autonomous driving work vehicle 1 is arranged on the virtual extension line f, the azimuth angle and attitude of the autonomous driving work vehicle 1 can be corrected more accurately while the autonomous driving work vehicle 1 autonomously travels from the travel start position Sr to the work start position Sw.

[0089] Then, as shown in FIG. 12, the autonomous driving work vehicle 1 can be configured such that the control unit 30 sets the travel start position Sr in consideration of the azimuth angles θ1·θ2, the deviation α of the current position N with respect to the virtual extension line f, etc. Thereby, just by arranging the autonomous driving work vehicle 1 at the travel start position Sr, it becomes possible to adjust the azimuth angle and attitude of the autonomous driving work vehicle 1 at the work start position Sw, and it becomes possible to improve the work accuracy by the autonomous driving work vehicle 1.

[0090] In the autonomous driving work vehicle 1, in order to surely reduce the deviation α between the specified virtual extension line f and the current position N and surely reduce the angle difference dθ, it is preferable to make the distance between the travel start position Sr and the work start position Sw as large as possible.

[0091] Also, when setting the travel start position Sr, it is preferable to set the travel start position Sr at a position as far as possible away from the work area HA on the crosstie HB within a range where the working machine 24 does not protrude from the crosstie HB, considering the size, shape, etc. of the working machine 24.

[0092] Also, between the travel start position Sr and the work start position Sw of the autonomous driving work vehicle 1, the control unit 30 sets the travel route Rb so as to travel on the crosstie HB. Thereby, the autonomous driving work vehicle 1 can be arranged at the work start position Sw without damaging the work area HA.

[0093] As shown in FIGS. 11 and 13(A), the autonomous traveling work vehicle 1 sets the traveling start position Sr as a "region" having a predetermined area. If the traveling start position Sr is set as a "point", high positioning accuracy is required when matching the current position N with the traveling start position Sr, making it difficult to position the autonomous traveling work vehicle 1 at the traveling start position Sr.

[0094] Therefore, in the autonomous traveling work vehicle 1, by setting the traveling start position Sr as a "region", the required accuracy during positioning is relaxed, and the autonomous traveling work vehicle 1 is configured to be able to easily position itself at the traveling start position Sr.

[0095] Specifically, in the autonomous traveling work vehicle 1, as shown in FIG. 13(A), the traveling start position Sr can be set as a "circular region". In this case, it is possible to easily set the "region" that is the traveling start position Sr by simply specifying the center point and radius of the traveling start position Sr. Also, the radius of the "circular region" in this case is preferably set to a radius equal to or less than the allowable initial tolerance at the work start position Sw, thereby ensuring the positioning accuracy at the work start position Sw.

[0096] The "region" set as the traveling start position Sr is set as a "circular region" having a predetermined radius centered on the point specified by the operator. When the mobile GPS antenna 34 of the autonomous traveling work vehicle 1 is arranged within the "region", the autonomous traveling work vehicle 1 is determined to be arranged at the traveling start position Sr. With such a configuration, the autonomous traveling work vehicle 1 can be easily arranged at the traveling start position Sr.

[0097] Also, by setting the "region" set as the traveling start position Sr within the headland HB, it is possible to prevent the autonomous traveling work vehicle 1 from autonomously traveling outside the field H.

[0098] Note that the shape of the "area" set as the travel start position Sr is not limited to a circle. For example, as shown in FIG. 13(B), it may be a polygon (here, a rectangle), and further, as shown in FIG. 13(C), it may have a shape such that the left and right widths become narrower as it approaches the work start position Sw.

Explanation of Signs

[0099] 1 Autonomous driving work vehicle 2 Vehicle body part 24 Working machine 32 Azimuth angle detection unit 34 Mobile GPS antenna (position detection unit) 30 Control unit 309 Memory (storage unit) H Field (travel area) HA Working area (first area) HB Headland (second area) Ra Working route Rb Travel route R1 First working path f Virtual extension line Sa Travel start position Sw Work start position N Current position

Claims

1. Set a work start position where a work vehicle starts work by autonomous driving in a field, When the work vehicle is instructed to move to the work start position, it moves from the current position to the work start position by autonomous driving, When the work vehicle is instructed to move to the work start position, it starts moving from the current position to the work start position on condition that one or more permission conditions are satisfied, The permission condition includes that the work vehicle is facing the work start position, and it is a method for autonomous driving of a work vehicle.

2. If the angle difference between the azimuth angle of the work vehicle and the azimuth angle from the current position of the work vehicle to the work start position is less than a predetermined threshold value, it is determined that the work vehicle is facing the work start position. The method for autonomous driving of a work vehicle according to Claim 1.

3. The permission condition includes that the current position of the work vehicle is located within the field. The method for autonomous driving of a work vehicle according to Claim 1 or 2.

4. Set a work start position where a work vehicle starts work by autonomous driving in a field, and be provided with an operating device for instructing movement from the current position to the work start position, When the work vehicle is instructed to move to the work start position by the operating device, it moves from the current position to the work start position by autonomous driving, When the work vehicle is instructed to move to the work start position, it starts moving from the current position to the work start position on condition that one or more permission conditions are satisfied, The permission condition includes that the work vehicle is facing the work start position, and it is an autonomous driving system for a work vehicle.

Images