Automatic operation control system for work equipment

Abstract

To perform automatic driving so that an obstacle does not affect the travel reliably at an early stage in an automatic driving control system that automatically drives a travel vehicle body of a work machine equipped with a sensor capable of detecting the obstacle.SOLUTION: An automatic driving control system includes a sensor 67, a control device 60 which brakes a tractor 1 running by automatic driving, and an automatic driving control unit 63. The sensor 67 is capable of detecting an obstacle O that prevents the tractor 1 from progressing, and the obstacle O when a separation distance of the tractor 1 is less than or equal to a predetermined distance D. The automatic driving control unit 63 detects the obstacle O even when the sensor 67 does not detect the obstacle O on the basis of observation information of the obstacle O within a range of an observation area 150 which is observed by using an observation satellite 103.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an automatic driving control system for work machines including, for example, agricultural machines, construction machines, and the like. [Background technology]

[0002] Conventionally, an automatic driving assistance device is known, as disclosed in Patent Document 1, which includes an automatic driving control unit that controls the automatic driving of a work vehicle in a field and a measuring device that measures soil unevenness. When this automatic driving assistance device is used to perform work using a tractor, a measuring device such as a laser sensor is used to scan the area ahead of the tractor, and the sensing data is analyzed to determine the soil unevenness. If the determined soil unevenness is outside a predetermined range, the automatic driving control unit sets the work vehicle to move toward an area that has already been traveled. In this way, a technology is disclosed in which a work vehicle traveling under automatic driving control scans the area ahead using a laser sensor or the like. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-49380 A (Claim 6, paragraph 0031, etc.) Summary of the Invention

[0004] This type of technology can also be used to detect obstacles. For example, in a work machine that travels under automatic driving control, a sensor capable of detecting obstacles can be provided in the work machine, enabling braking control and the like to be performed based on the detection results of the sensor. Most sensors of this type generally use a non-contact method for detecting obstacles, and are configured to be able to detect an obstacle when the distance between the obstacle and the sensor is equal to or less than a predetermined distance.

[0005] However, even when the separation distance is equal to or less than the predetermined distance, there may be an event where the sensor has difficulty detecting the obstacle. For this reason, a technology that can reliably detect an obstacle is desired. Also, when the separation distance is greater than the predetermined distance, the sensor will not detect the obstacle even though it is present. Even in such a case, it is preferable to detect the obstacle as early as possible. In these respects, it can be said that there is room for improvement in the technology of Patent Document 1.

[0006] In view of the above, the present invention aims to provide an automatic driving control system that automatically drives the traveling body of a work machine equipped with a sensor that can detect obstacles, and that can automatically drive the machine quickly and reliably so that the influence of obstacles does not affect the traveling. [Means for solving the problem]

[0007] The technical means of the present invention for solving this technical problem is characterized as follows: The automatic driving control system for a work machine of the present invention is provided on an automatically driven traveling body and includes a sensor capable of detecting an obstacle, and a control device capable of controlling the automatic driving of the traveling body based on detection information related to the detection of the obstacle by the sensor. The control device controls the automatic driving of the traveling body based on observation information of the obstacle observed by an observation satellite.

[0008] In the automatic driving control system for a work machine of the present invention, when the detection information does not indicate the detection of the obstacle but the observation information indicates the presence of the obstacle around the traveling vehicle body, the control device controls the automatic driving in response to the observation of the obstacle.

[0009] In the automatic driving control system for a work machine of the present invention, when the detection information indicates the detection of the obstacle and the observation information observes that the obstacle is present around the traveling vehicle body, the control device controls the automatic driving based on the detection information.

[0010] In the automatic driving control system for a work machine of the present invention, the control device issues a warning to call attention at least when the detection information indicates the detection of an obstacle or when the observation information indicates the presence of an obstacle around the traveling vehicle body.

[0011] In the automatic driving control system for a work machine of the present invention, when the detection information does not indicate the detection of the obstacle but the observation information observes that the obstacle is present around the traveling vehicle body, the control device executes a warning to call attention to the obstacle.

[0012] In the automatic driving control system for a work machine of the present invention, the control device determines, based on the observation information, whether the obstacle observed by the observation satellite is present in the driving path of the traveling vehicle body, and if it determines that an obstacle is present in the driving path, determines whether the traveling vehicle body can avoid the obstacle when traveling along the driving path.

[0013] In the automatic driving control system for a work machine of the present invention, the control device determines whether or not the passing is possible based on the size of the obstacle. [Effects of the Invention]

[0014] According to the present invention, obstacles can be detected early and reliably, and automatic driving can be performed early and reliably so that the obstacles do not affect the vehicle's driving. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is an overall view showing a detection system including a control device for a work machine according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a functional block diagram of the work machine (tractor) shown in FIG. [Figure 3] 2 is a perspective view of a lifting device provided in the work machine (tractor) shown in FIG. 1. FIG. [Figure 4]2 is a diagram showing an example of a map registration screen displayed on a display device provided in the work machine shown in FIG. 1. FIG. [Figure 5] 2 is a diagram for explaining how the contour of the field (field map) is obtained in the work machine shown in FIG. 1. FIG. [Figure 6] 2 is a diagram for explaining the setting of a work area and a turning area in the work machine shown in FIG. 1. FIG. [Figure 7] 2 is a diagram showing an example of a route setting screen displayed on a display device provided in the work machine shown in FIG. 1. FIG. [Figure 8] 2 is a diagram for explaining the creation of a unit work section in a work area and the creation of a planned travel route in the work machine shown in FIG. 1. FIG. [Figure 9] FIG. 2 is a diagram for explaining automatic operation of the work machine shown in FIG. [Figure 10] 2 is a diagram for explaining detection of an obstacle by a sensor when the work machine shown in FIG. 1 travels along a planned travel route in a farm field. FIG. [Figure 11] 1. FIG. 4 is a diagram showing an example of a setting screen displayed on a display unit of the external device shown in FIG. [Figure 12] 2 is an image of an observation area including a farm field, which is converted by the control device of the implement shown in FIG. 1. [Figure 13] 2 is a diagram for explaining detection of an obstacle by a sensor when the work machine shown in FIG. 1 travels along a planned travel route on a public road. FIG. [Figure 14] 1. FIG. 4 is a diagram showing an example of a setting screen displayed on a display unit of the external device shown in FIG. [Figure 15] 2 is an image of an observation area including a public road, which is converted by a control device in the work machine shown in FIG. 1. [Figure 16] 4 is a flowchart showing the detection of an obstacle by the control device of the work machine shown in FIG. 1 and the flow of various braking actions based on the detection. [Figure 17] 10 is an image of an observation area showing the change over time in the position of a moving object in a farm field, which is converted by a control device for a work implement according to a second embodiment of the present invention. [Figure 18]10 is an image of an observation area showing the change over time in the position of a moving object on a public road, which is converted by a control device for a work machine according to a second embodiment of the present invention. [Figure 19] 6 is a flowchart showing the flow of obstacle detection by a control device for a work machine according to a second embodiment of the present invention, and various braking operations based on the detection. [Figure 20] FIG. 2 is an overall side view of the work machine shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, each embodiment of the present invention will be described with reference to the drawings. [First embodiment] <Detection system> 1 is an overall schematic diagram of a detection system S applied to a work machine 101 equipped with a control device 60 according to an embodiment of the present invention. The detection system S is a system for detecting obstacles that impede the progress of the work machine 101, and detects the obstacles through the operations of a terminal device 100, a positioning satellite 102, an observation satellite 103, a base station 104, and an external device 70. In the detection system S, the terminal device 100, the work machine 101, the base station 104, and the external device 70 are capable of information communication via an information communication network N.

[0017] The positioning satellite 102 is a satellite compatible with satellite positioning systems such as D-GPS, GPS, GLONASS, Beidou, Galileo, and Michibiki. The positioning satellite 102 transmits a satellite signal to the work implement 101 via radio wave oscillation toward the Earth's surface. Based on this satellite signal, the position of the work implement 101 on the Earth's surface can be determined.

[0018] The observation satellite 103 is an artificial satellite for observing the Earth's surface, such as an information gathering satellite, a weather observation satellite, or a commercial satellite. The observation satellite 103 is capable of observing the Earth's surface in various wavelength regions, such as radio waves, infrared light, and visible light. The observation satellite 103 acquires observation data (observation information) of the Earth's surface in a predetermined area using, for example, a synthetic aperture radar or an optical sensor. The acquired observation data is transmitted from the observation satellite 103 to the terminal device 100 via the base station 104. Meanwhile, instruction signals related to observation by the terminal device 100 are also transmitted to the observation satellite 103 via the base station 104. The observation satellite 103 acquires observation data of the Earth's surface in a predetermined area in response to instructions from the terminal device 100.

[0019] The terminal device 100 and the external device 70 are, for example, stationary computers such as servers, or portable computers such as smartphones, tablets, and notebook computers. In this embodiment, the explanation will proceed assuming that the terminal device 100 is a server and the external device 70 is a tablet. The terminal device 100 can set the observation area of ​​the observation satellite 103 and the observation data acquisition period via the screen of the external device 70. The terminal device 100 converts the observation data sent from the observation satellite 103 into an image and sends it to the work machine 101.

[0020] That is, in the detection system S, observation data (observation information) from observation satellites 103 is temporarily collected in the terminal device 100 and then sent to the work machine 101. The work machine 101 is able to detect the obstacles based on the sent information, and is controlled based on the detection results.

[0021] As shown in Fig. 1, the terminal device 100 sets the observation area of ​​the observation satellite 103 and the period for acquiring observation data, and sends instructions to the observation satellite 103. The terminal device 100 also stores the observation data that is successively sent, and sends the observation data from the terminal device 100 to the work machine 101 via the information and communication network N.

[0022] The terminal device 100 comprises an observation area setting unit 110, a storage device 112, and an observation instruction unit 113. The observation area setting unit 110 and the observation instruction unit 113 are respectively composed of electric and electronic circuits provided in the terminal device 100, programs stored in the terminal device 100, etc. The storage device 112 is composed of non-volatile memory, etc.

[0023] The observation area setting unit 110 sets the observation area 150 of the Earth's surface by the observation satellite 103 and the period t for acquiring observation data. Specifically, as shown in Fig. 11, when an external device 70, which is a tablet, is connected to the terminal device 100 and a predetermined operation is performed on the external device 70, a setting screen M4 is displayed on the display unit 70A of the external device 70.

[0024] The setting screen M4 includes a map display unit 125 that displays a map and an observation timing input unit 126. The map display unit 125 displays a map that includes roads, farm roads, work areas such as fields, buildings, and the like. The map may be, for example, a map obtained from a map provider that provides map data, or a map created by the external device 70, and is not limited thereto. The map is a two-dimensional map viewed from above the ground surface, and it is possible to select an area by scanning and enlarge or reduce the selected area by operating the display unit 70A of the external device 70, for example. In this embodiment, the position of the work implement 101 is known in advance, and the area around the position of the work implement 101 is selected so as to include the work implement 101. More specifically, the area selected for the map may be an area that includes the work implement 101 and the field F that is the target of work by the work implement 101. Therefore, although the work implement 101 is not displayed on the map display unit 125, the work implement 101 is actually present on the ground surface corresponding to the displayed map. The observation timing input unit 126 is configured to allow input of the acquisition period t of the observation data.

[0025] The observation area setting unit 110 determines latitudes and longitudes LA1·LO1, LA2·LO2, LA3·LO3, and LA4·LO4 that correspond to the four corners of the map displayed on the map display unit 125. A rectangular area defined by the determined latitudes LA1 to LA4 and longitudes LO1 to LO4 is set as the observation area 150. The observation area setting unit 110 also stores the latitudes LA1 to LA4 and longitudes LO1 to LO4 determined from the map display unit 125, and the period t input to the observation timing input unit 126, in the storage device 112. In this embodiment, it is assumed that an area corresponding to one field F is set as the observation area 150.

[0026] The observation instruction unit 113 reads out the latitudes LA1 to LA4, longitudes LO1 to LO4, and period t stored in the storage device 112, and sends this information as an instruction signal to the base station 104 via the information and communication network N. The instruction signal is sent from the base station 104 to the observation satellite 103, and the observation satellite 103 captures images of the earth's surface in a rectangular section defined by the four points of latitude and longitude LA1·LO1, LA2·LO2, LA3·LO3, and LA4·LO4 at the set period t.

[0027] The observation data of the captured earth's surface is sequentially transmitted from the observation satellite 103 to the terminal device 100 via the base station 104 every time it is acquired, that is, every period t. The observation data is then sequentially stored in the storage device 112 and transmitted from the terminal device 100 to the work implement 101 every period t. The observation data transmitted to the work implement 101 is used to detect an obstacle O, and braking control of the work implement 101 and warning display control are performed based on the detection results.

[0028] <Work equipment> 20 shows an overall side view of the work machine 101. The work machine 101 is equipped with a traveling body 1 and a work implement 2. In the present embodiment, the traveling body 1 is a tractor, and therefore the following description will be given assuming that the traveling body 1 is a tractor 1. However, the traveling body 1 is not limited to a tractor, and may be an agricultural vehicle such as a combine harvester or rice transplanter, or a construction vehicle, etc.

[0029] As shown in FIG. 20, the tractor 1 comprises a traveling body 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of either a tire type or a crawler type. The rear wheels 7R may also be of either a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The prime mover 4 is disposed at the front of the traveling body 3, and the transmission 5 is capable of switching the propulsion force of the traveling device 7 by changing the speed, and can also switch the traveling device 7 between forward and reverse. The traveling body 3 is provided with a cabin 9, and a driver's seat 10 is disposed within the cabin 9.

[0030] Furthermore, a lifting device 8 configured with a three-point link mechanism or the like is provided at the rear of the traveling body 3. The working device 2 can be attached and detached to the lifting device 8. By connecting the working device 2 to the lifting device 8, the working device 2 can be towed by the traveling body 3. The working device 2 is a tilling device for tilling, a fertilizer spreader for spreading fertilizer, a transplanter for planting seedlings, an irrigation device for irrigating, a pesticide spreader for spraying pesticides, a seed spreader for spreading seeds, a harvesting device for harvesting grass or the like, a spreading device for spreading grass or the like, a grass collecting device for collecting grass or the like, a shaping device for shaping grass or the like, etc.

[0031] As shown in FIG. 3, the lifting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported at the upper rear part of the case (transmission case) that houses the transmission 5 so that it can swing upward or downward. The lift arm 8a swings (lifts up and down) when driven by the lift cylinder 8e. The lift cylinder 8e is made up of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump via a control valve 36 (see FIG. 2). The control valve 36 is an electromagnetic valve or the like, and extends and retracts the lift cylinder 8e.

[0032] The front end of lower link 8b is supported on the rear lower part of transmission 5 so as to be swingable upward or downward. The front end of top link 8c is supported on the rear part of transmission 5 above lower link 8b so as to be swingable upward or downward. Lift rod 8d connects lift arm 8a to lower link 8b. The working device 2 is connected to the rear part of lower link 8b and the rear part of top link 8c. When lift cylinder 8e is driven (extends and retracts), lift arm 8a rises and falls, and lower link 8b, which is connected to lift arm 8a via lift rod 8d, rises and falls. As a result, the working device 2 swings upward or downward (lifts and falls) with the front part of lower link 8b as a fulcrum.

[0033] As shown in FIG. 2, the tractor 1 is equipped with a steering device 29. The steering device 29 has a handle (steering wheel) 30, a rotating shaft (steering shaft) 31 that rotates in conjunction with the rotation of the handle 30, and an assist mechanism (power steering mechanism) 32 that assists in steering the handle 30. The assist mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 that is operated by the control valve 34. The control valve 34 is an electromagnetic valve that operates based on a control signal from the control device 60. The control valve 34 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 34 can also be switched by steering the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) that changes the direction of the front wheels 7F.

[0034] Therefore, when the steering wheel 30 is operated, the switching position and opening degree of the control valve 34 are switched in response to the steering wheel 30, and the steering cylinder 35 extends or contracts to the left or right in response to the switching position and opening degree of the control valve 34, thereby changing the steering direction of the front wheels 7F. Note that the above-described steering device 29 is an example, and is not limited to the above-described configuration.

[0035] As shown in Figure 2, the transmission 5 includes a main shaft (propeller shaft) 5a, a main transmission section 5b, an auxiliary transmission section 5c, a shuttle section 5d, a PTO power transmission section 5e, and a front transmission section 5f. The propeller shaft 5a is rotatably supported in a housing case (transmission case) of the transmission 5, and power is transmitted to the propeller shaft 5a from the crankshaft of the prime mover 4. The main transmission section 5b has multiple gears and a shifter that changes the connections of the gears. The main transmission section 5b changes and outputs (shifts the speed of) the rotation input from the propeller shaft 5a by appropriately changing the connections (meshing) of the multiple gears using the shifter.

[0036] Like the main transmission unit 5b, the sub-transmission unit 5c has multiple gears and a shifter for changing the connection of the gears. The sub-transmission unit 5c changes and outputs (changes speed) the rotation input from the main transmission unit 5b by appropriately changing the connection (meshing) of the multiple gears using the shifter. The shuttle unit 5d has a shuttle shaft 12 and a forward / reverse switching unit 13. The power output from the sub-transmission unit 5c is transmitted to the shuttle shaft 12 via gears or the like. The forward / reverse switching unit 13 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, i.e., the forward and reverse movement of the tractor, by engaging and disengaging the hydraulic clutch. The shuttle shaft 12 is connected to a rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports a rear axle 21R to which the rear wheels 7R are attached.

[0037] The PTO power transmission section 5e has a PTO propeller shaft 14 and a PTO clutch 15. The PTO propeller shaft 14 is rotatably supported and can transmit power from the propeller shaft 5a. The PTO propeller shaft 14 is connected to a PTO shaft 16 via gears or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and by engaging and disengaging the hydraulic clutch, the state switches between transmitting the power of the propeller shaft 5a to the PTO propeller shaft 14 and not transmitting the power of the propeller shaft 5a to the PTO propeller shaft 14.

[0038] The front transmission unit 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch 18 can transmit power from the propeller shaft 5a, and for example, the power of the shuttle 12 is transmitted via gears and transmission shafts. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via a front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to a front wheel differential device 20F, and the front wheel differential device 20F rotatably supports the front axle 21F to which the front wheels 7F are attached.

[0039] The first clutch 17 and the second clutch 18 are configured with hydraulic clutches or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operating valve 25 to which hydraulic oil discharged from a hydraulic pump is supplied. The first clutch 17 is switched between an engaged state and a disengaged state depending on the opening degree of the first operating valve 25. An oil passage is connected to the second clutch 18, and the oil passage is connected to a second operating valve 26. The second clutch 18 is switched between an engaged state and a disengaged state depending on the opening degree of the second operating valve 26. The first operating valve 25 and the second operating valve 26 are, for example, two-position switching valves with solenoid valves that operate based on control signals from the control device 60, and are switched between the engaged state and the disengaged state by energizing or deenergizing the solenoids of the solenoid valves.

[0040] When the first clutch 17 is disengaged and the second clutch 18 is engaged, the power of the shuttle shaft 12 is transmitted to the front wheels 7F via the second clutch 18. As a result, the front wheels 7F and rear wheels 7R are driven by power, resulting in four-wheel drive (4WD), and the rotational speeds of the front wheels 7F and rear wheels 7R are approximately the same (4WD constant speed state). On the other hand, when the first clutch 17 is engaged and the second clutch 18 is disengaged, the vehicle is in four-wheel drive, and the rotational speed of the front wheels 7F is faster than the rotational speed of the rear wheels 7R (4WD accelerated speed state). Furthermore, when the first clutch 17 and the second clutch 18 are disengaged, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, resulting in two-wheel drive (2WD) in which the rear wheels 7R are driven by power.

[0041] As shown in FIG. 2, a side brake 11 is provided at a support location of the rear axle 21R on the transmission case of the transmission 5. The side brake 11 is capable of independently braking the right and left rear wheels 7R. The side brake 11 is connected to a brake pedal 12 via an operating cylinder 13 and a linking rod 14 and can be activated by operating the brake pedal 12. The brake pedal 12 is provided with a spring 12a and a stopper 12b. The brake pedal 12 is biased toward the release position by the spring 12a, and the stopper 12b stops the brake pedal 12 at the release position. The operating cylinder 13 is equipped with a spring 13a. The operating cylinder 13 is biased toward the extension side by the spring 13a and is contracted by the supply of hydraulic oil. The hydraulic oil in the operating cylinder 13 is supplied and discharged by a control valve 21. The control valve 21 operates based on a control signal from the control device 60.

[0042] As shown in FIGS. 1 and 2, the tractor 1 is equipped with a positioning device 40. The positioning device 40 can detect its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite 102) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki. That is, the positioning device 40 receives satellite signals (position of the positioning satellite 102, transmission time, correction information, etc.) transmitted from the positioning satellite 102, and detects the position (e.g., latitude and longitude) of the tractor 1, i.e., the vehicle body position, based on the satellite signals. The positioning device 40 has a receiving device 41 and an inertial measurement unit (IMU) 42.

[0043] The receiving device 41 has an antenna and the like and is a device that receives satellite signals transmitted from positioning satellites, and is attached to the traveling vehicle body 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is attached to the traveling vehicle body 3, i.e., the cabin 9. Note that the attachment location of the receiving device 41 is not limited to this embodiment. The inertial measurement unit 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The inertial measurement unit 42 is provided on the traveling vehicle body 3, for example, below the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, and the like of the traveling vehicle body 3.

[0044] As shown in FIGS. 1 and 2, the tractor 1 includes a communication device 45A. The communication device 45A is connected to the positioning device 41, the control device 60, and the display device 50 via a vehicle communication network N1 such as a CAN. Various signals and data from the tractor 1 can be sent to the communication device 45A via the vehicle communication network N1. The communication device 45A is also connected to a terminal device 100 and an external device 70 via an external information and communication network N, enabling information communication with these devices. The communication device 45A can perform wireless communication using, for example, the IEEE 802.11 series of communication standards, such as Wi-Fi (Wireless Fidelity, registered trademark), Bluetooth (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network). The communication device 45A can also perform wireless communication using, for example, a mobile phone communication network or a data communication network such as LTE (Long Term Evolution) or a fourth or fifth generation communication system.

[0045] As shown in FIGS. 1 and 2, the tractor 1 is equipped with a display device 50. The display device 50 is equipped with a control unit 51, a display unit 52, and a memory unit 53. The control unit 51 is composed of a CPU, electric and electronic circuits, etc., and performs various controls related to the display device 50. The display unit 52 is composed of a liquid crystal panel, a touch panel, other panels, etc., and displays various information. The memory unit 53 is composed of a non-volatile memory, etc., and stores, for example, an application program that supports work, etc., of the tractor 1. When the application program is launched, the display device 50 operates as a work support device that supports the work. Note that even when the display device 50 operates as a work support device, the processing as a work support device is executed by the control unit 51, which is hardware.

[0046] As shown in FIG. 2, the display device 50 includes a map registration unit 51A. The map registration unit 51A registers the contours of a predetermined field, for example, a position corresponding to the contours of the predetermined field. As shown in FIG. 4, when a predetermined operation is performed on the display device 50, the map registration unit 51A displays a map registration screen M1 on the display unit 52. The map registration screen M1 displays a map MP1 including the field, the vehicle position VP1 of the tractor 1, and field identification information such as the field name and field management number. The map MP1 is associated with position information such as latitude and longitude in addition to image data indicating the field. When the tractor 1 enters the field and travels around the field, the map registration screen M1 displays the current vehicle position VP1 detected by the positioning device 40 when the tractor 1 traveled around the field. When the tractor 1 has finished traveling around the field and the registration button 55 displayed on the map registration screen M1 is selected, as shown in Figure 5(a), the map registration unit 51A sets the driving trajectory K1 obtained from the multiple vehicle positions when the tractor 1 traveled around the field as the contour (outer shape) H1 of the field, and registers the field map MP2 represented by the contour H1 together with the field identification information.

[0047] As shown in FIG. 5(b), the map registration unit 51A may calculate inflection points from the travel trajectory indicated by the vehicle body position VP1 and register a contour K2 connecting the inflection points as the field contour H1 (field map MP2). Alternatively, as shown in FIG. 5(c), the driver or the like may specify the ends of the field using a switch or the like provided on the tractor 1 while the tractor 1 is traveling, and a contour K3 connecting the specified ends may be registered as the field contour H1 (field map MP2). The above-described field registration method is an example and is not limited thereto. The field contour, i.e., the field map MP2, may be data represented by position (latitude, longitude), data represented by a coordinate system (X-axis, Y-axis), or data represented in any other manner.

[0048] The memory unit 53 stores a field map MP2 that shows the contours (external shapes) registered by the map registration unit 51A. That is, the memory unit 53 stores the field map MP2 and data showing the contours of the field (data for representing a specified field). As shown in FIG. 2, the display device 50 includes an area setting unit 51D. The area setting unit 51D sets a working area A2 and a turning area A1. Note that if the working area A2 has already been set in the field map MP2, the area setting unit 51D may set only the turning area A1. In this embodiment, an example in which both the working area A2 and the turning area A1 are set will be described.

[0049] As shown in FIG. 6(a), when the worker (driver) performs a predetermined operation on the display device 50, the area setting unit 51D displays a work setting screen M2 on the display unit 52. The work setting screen M2 has a field input unit 80 and a field display unit 81. The field input unit 80 allows input of field identification information such as the field name and field management number. The field display unit 81 displays a field map MP2 indicating a specific field corresponding to the field identification information input to the field input unit 80. In other words, the area setting unit 51D requests the memory unit 53 to send the field map MP2 corresponding to the field identification information input to the field input unit 80, and causes the field display unit 81 to display the field map MP2 sent from the memory unit 53.

[0050] When the swing width W1 is entered in the swing width input section 82 on the work setting screen M2 and then the swing setting button 83 is selected, the area setting section 51D displays the work area A2 excluding the swing area A1 on the field map MP2 displayed on the field display section 81. For example, the area setting section 51D sets the area surrounded by the contour H2 formed by offsetting the contour H1 of the field map MP2 inward by the swing width W1 as the work area A2. Note that the work area A2 may also be set on the field map MP2 on the work setting screen M2 by specifying the position of the contour of the work area A2 on the field map MP2 displayed on the field display section 81 using a pointer or the like.

[0051] The storage unit 53 stores data of the farm field map MP2 in which the work area A2 and the turning area A1 are set (data indicating the position of the work area A2 and data indicating the turning area A1).

[0052] 2, the display device 50 includes a route creation unit 51B. The route creation unit 51B references a farm field map MP2 registered in the storage unit 53 and creates a travel route (planned travel route) L1 for the traveling vehicle body 3 on the farm field map MP2.

[0053] As shown in FIG. 7, when the worker (driver) performs a predetermined operation on the display device 50, the route creation unit 51B displays a route setting screen M3 on the display unit 52. The route setting screen M3 allows the operator to set a planned travel route L1 in at least the work area A2 in the field. The route setting screen M3 includes a route display unit 85 that displays the planned travel route L1, and a width input unit 86. The working width W2 of the work device 2 is the width (work execution width) over which the work device 2 performs work on the ground, such as a field. In the case of a work device 2 that sprays materials on the field, it is the spraying width over which the materials are supplied. For example, if the work device 2 is a fertilizer applicator, the working width W2 is the fertilizer application width; if the work device 2 is a chemical sprayer, the working width W2 is the chemical spraying width; if the work device is a seedling transplanter, the working width is the planting width over which seedlings can be planted in a single operation; and if the work device is a sowing device, the working width W2 is the sowing width. Ground work refers to agricultural work carried out on fields and the crops planted in them, such as planting seedlings, irrigating, spraying pesticides, spreading fertilizer (fertilization), scattering seeds (sowing), tamping, covering with soil, forming ridges, plowing, and shaping furrows.

[0054] When the route creation unit 51B acquires the work width W2, it creates multiple unit work sections A3 within the work area A2 in which work will be performed by the work implement 2, by dividing the work area A2 vertically or horizontally by the work width W2, as shown in FIG. 8(a). That is, the route creation unit 51B creates multiple unit work sections A3 within the work area A2, each having the same width as the work width W2. Note that, as shown in FIG. 8(b), the route creation unit 51B may also create multiple unit work sections A3 within the work area A2, each having a width W4, which is obtained by subtracting the overlap width W3 from the work width W2. The overlap width W3 can be entered on the route setting screen M3. That is, when the traveling vehicle body 3 to which the work implement 2 is coupled is traveling, the route creation unit 51B sets the smallest unit area in which work will be performed in the field by the work implement 2 as the unit work section A3.

[0055] As shown in FIG. 8(c), the route creation unit 51B creates a straight section (straight route) L1a along which the traveling vehicle body 3 travels straight for each unit work section A3 in the field map MP2. That is, the route creation unit 51B creates, for example, a straight straight route L1a in the widthwise center of the unit work section A3, connecting both longitudinal ends of the unit work section A3. The route creation unit 51B creates a route that passes through the turning area A1, that is, a route that can connect adjacent straight routes L1a within the turning area A1. That is, the route creation unit 51B creates a turning route L1b so that the turning section (turning route) L1b along which the traveling vehicle body 3 turns is located within the turning area A1. That is, the route creation unit 51B creates a portion of the planned traveling route L1 for automatic driving in the turning area A1, which is set outside the work area A2.

[0056] The route creation unit 51B can associate the planned traveling route L1 with the vehicle speed (movement speed) of the tractor 1 (traveling body 3). For example, assume that the route setting screen M3 is provided with a vehicle speed input unit for inputting the vehicle speed, and the vehicle speed is input to the vehicle speed input unit. The route creation unit 51B associates the straight route L1a with the vehicle speed input to the vehicle speed input unit. The planned traveling route L1 (straight route L1a and turning route L1b) created by the route creation unit 51B is stored in the memory unit 53.

[0057] <Automatic driving control> The work machine 101 is equipped with an automatic driving control system that controls the automatic driving of the traveling body 3. The automatic driving control system includes a control device 60 and a sensor 67. The control device 60 and the sensor 67 are provided in the tractor 1. Note that all or part of the functions of the control device 60 may be provided in the terminal device 100 or the external device 70. The tractor 1 is equipped with the control device 60. The control device 60 is a device that controls the traveling system and the work system of the tractor 1, and is composed of electric and electronic circuits, programs stored in a CPU, etc.

[0058] 2, an operation changeover switch 65 and a sensor 67 are connected to the control device 60. The operation changeover switch 65 is a switch that can be switched ON / OFF, and when it is ON, it can set the control device 60 to an automatic operation mode, and when it is OFF, it can set the control device 60 to a manual operation mode.

[0059] The sensor 67 is a non-contact sensor that detects the situation around the tractor 1. The sensor 67 is provided in front of the traveling body 3, ahead of the front wheels 7F (see FIG. 20). In this embodiment, the sensor 67 is a laser sensor (LiDAR: Light Detection And Ranging) that emits pulsed infrared light or the like millions of times per second forward and measures the time it takes for the light to bounce back to the sensor 67. This allows the sensor 67 to detect an obstacle that obstructs the progress of the tractor 1, and when the distance between the tractor 1 and the obstacle is less than a predetermined distance. The sensor 67 is not limited to a laser sensor, and other types of optical sensors such as a CCD camera, a CMOS camera, or an infrared camera may be used. In addition to the optical sensor, sonar may be provided in front and on the sides of the traveling body 3.

[0060] 2, the control device 60 includes an automatic driving control unit 63. The automatic driving control unit 63 is configured by electric and electronic circuits, programs stored in a CPU, etc.

[0061] The automatic driving control unit 63 controls the automatic driving of the traveling vehicle body 3. The automatic driving control unit 63 starts automatic driving when the traveling vehicle body 3 is in automatic driving mode. As shown in FIG. 9, when the tractor 1 is performing automatic driving, if the deviation between the vehicle body position and the planned traveling route L1 is less than a threshold, the automatic driving control unit 63 maintains the rotation angle of the steering shaft (rotation shaft) 31. If the deviation between the vehicle body position and the planned traveling route L1 is equal to or greater than the threshold and the tractor 1 is located on the left side of the planned traveling route L1, the automatic driving control unit 63 rotates the steering shaft 31 so that the steering direction of the tractor 1 is rightward. If the deviation between the vehicle body position and the planned traveling route L1 is equal to or greater than the threshold and the tractor 1 is located on the right side of the planned traveling route L1, the automatic driving control unit 63 rotates the steering shaft 31 so that the steering direction of the tractor 1 is leftward.

[0062] In the above-described embodiment, the steering angle of the steering device 29 is changed based on the deviation between the vehicle body position and the planned travel route L1. However, if the orientation of the planned travel route L1 differs from the orientation (vehicle body orientation) of the direction of travel (travel direction) of the tractor 1 (traveling vehicle body 3), i.e., if the angle of the vehicle body orientation with respect to the planned travel route L1 is equal to or greater than a threshold, the automatic driving control unit 63 may set the steering angle so that the angle becomes zero (the vehicle body orientation F1 matches the orientation of the planned travel route L1). Furthermore, the automatic driving control unit 63 may set the final steering angle in automatic steering based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the orientation (orientation deviation). The setting of the steering angle in automatic steering in the above-described embodiment is an example and is not limited thereto.

[0063] In addition, when the planned driving route L1 and the vehicle speed are associated with each other, the automatic driving control unit 63 automatically changes the gear stage of the transmission 5, the rotation speed of the prime mover 4, etc. so that the current vehicle speed of the tractor 1 matches the vehicle speed corresponding to the planned driving route L1.

[0064] Furthermore, the automatic driving control unit 63 performs ground work with the work implement 2 on the straight route L1a, and on the turning route L1b, temporarily stops the ground work with the work implement 2, turns, and resumes the ground work when the tractor enters the straight route L1a. As described above, the control device 60 can automatically drive the tractor 1 (traveling body 3).

[0065] <Relationship between obstacle detection and autonomous driving> The control device 60 (automatic driving control unit 63) controls the automatic driving of the traveling vehicle body 3 based on detection information regarding the detection of an obstacle by the sensor 67. When the detection information from the sensor 67 indicates the detection of an obstacle and the distance between the traveling vehicle body 3 and the obstacle is equal to or less than a predetermined distance, the control device 60 (automatic driving control unit 63) determines that an obstacle that will affect the automatic driving is present. When the control device 60 (automatic driving control unit 63) determines that an obstacle that will affect the automatic driving is present, it controls the automatic driving by stopping the traveling vehicle body 3 (braking control) or by automatically driving the traveling vehicle body 3 to avoid the obstacle (avoidance control). When the detection information from the sensor 67 does not indicate the detection of an obstacle (when no obstacle is detected), the control device 60 (automatic driving control unit 63) continues the automatic driving of the traveling vehicle body 3.

[0066] As shown in Fig. 10, for example, assume that the tractor 1 is automatically controlled to travel on a set planned travel route (travel path) L1 in a field F. As shown in Fig. 10(a), if there is no obstacle on any of the straight routes L1a and turning routes L1b of the planned travel route L1 (detection information indicates that no obstacle is detected in the traveling direction of the traveling vehicle body 3), the tractor 1 travels on the planned travel route L1 without detection by the sensor 67.

[0067] As shown in FIG. 10(b), for example, when the tractor 1 is traveling on a straight route L1a and an obstacle O is located on the straight route L1a in a lane different from the straight route L1a, the pulse wave emitted from the sensor 67 ahead of the tractor 1 does not reach the obstacle O. As a result, the sensor 67 does not detect the obstacle O, and automatic driving continues. If the tractor 1 continues traveling from this state and enters the straight route L1a where the obstacle O is located, the tractor 1 approaches the obstacle O, as shown in FIG. 10(c). If the distance between the obstacle O and the sensor 67 of the tractor 1 is equal to or less than the distance D, the sensor 67 detects the obstacle O. It is determined that the sensor 67 has detected the obstacle O.

[0068] When the control device 60 (automatic driving control unit 63) determines that the obstacle cannot be avoided, it brakes the tractor 1. In this embodiment, the control device 60 (automatic driving control unit 63) activates the parking brakes 11 of the right and left rear wheels 7R to stop the tractor 1. More specifically, when it is determined that the sensor 67 has detected an obstacle O, the control device 60 (automatic driving control unit 63) sends a control signal to the control valve 21 so as to operate the operating cylinder 13 in the braking direction (see FIG. 2). Note that instead of or in addition to activating the parking brake 11, the transmission 5 may be controlled so as to shift gears in the deceleration direction. In this case, when it is determined that the sensor 67 has detected the obstacle O, the control device 60 (automatic driving control unit 63) sends control signals to the first operating valve 25 and the second operating valve 26. Furthermore, when it is determined that the sensor 67 has detected the obstacle O, the control device 60 (automatic driving control unit 63) may control the prime mover 4 to stop.

[0069] When the control device 60 (automatic driving control unit 63) determines that an obstacle can be avoided during automatic driving of the traveling vehicle body 3, it creates a travel route for avoiding the obstacle separately from the planned travel route (travel route) L1, and controls the steering of the steering device 29 so that the vehicle moves along the created travel route. Note that when the obstacle has been avoided, the control device 60 (automatic driving control unit 63) controls the steering of the steering device 29 so that the vehicle moves along the planned travel route (travel route) L1.

[0070] The control device 60 (automatic driving control unit 63) not only controls the automatic driving of the traveling vehicle body 3 based on the detection information of the sensor 67, but also controls the automatic driving of the traveling vehicle body 3 based on the observation information of an obstacle observed by the observation satellite 103. When the sensor 67 does not detect an obstacle O, that is, when the detection information does not indicate the detection of an obstacle O, but the observation information indicates the presence of an obstacle O around the traveling vehicle body 3, the control device 60 (automatic driving control unit 63) controls the automatic driving in response to the observation (detection) of the obstacle O.

[0071] The observation satellite 103 detects the obstacle O based on the observation information of the obstacle O within the observation area 150, even when the sensor 67 has not detected the obstacle O. As shown in FIG. 12, the control device 60 (autonomous driving control unit 63) converts, for example, the observation data (observation information) sequentially transmitted from the terminal device 100 into an image corresponding to the rectangular observation area 150. The image is fitted to a two-dimensional coordinate system with one of the four corners of the rectangle (for example, the lower left corner) as the origin O1, the horizontal axis X, and the vertical axis Y. The control device 60 (autonomous driving control unit 63) then performs machine learning on the images of the observation area 150 generated at each period t.

[0072] As shown in FIG. 12(a), an image in which no obstacle O exists anywhere in the field F (an image corresponding to the state in FIG. 10(a)) and there is almost no change in the state recognized from the image of the field F is used as training data. The control device 60 (automatic driving control unit 63) compares the results of machine learning with the latest image of the field F to determine whether there is a change in the state recognized from the image of the field F. Here, an example of a change in the image of the field F is an image in which an obstacle O exists on the ground surface of the field F, as shown in FIG. 12(b) (an image corresponding to the states in FIGS. 10(b) to (d)). In a two-dimensional coordinate system, if the position of the obstacle O corresponds to the position of coordinates (X1, Y1), the control device 60 (automatic driving control unit 63) determines that an obstacle O is present, assuming that a change has occurred in the pixels near the coordinates (X1, Y1).

[0073] When the tractor 1 (traveling body 3) is being driven automatically, if the sensor 67 does not detect an obstacle O but the observation satellite 103 observes (detects) the obstacle O, the control device 60 (automatic driving control unit 63) performs automatic driving control such as braking control of the traveling body 3 or automatic driving of avoidance control. The braking control of the tractor 1 or the avoidance control of the obstacle O performed by the control device 60 (automatic driving control unit 63) is the same as the automatic driving control performed when the sensor 67 detects the obstacle O as described above. Note that when the observation satellite 103 observes (detects) the obstacle O, if the distance between the tractor 1 (traveling body 3) and the obstacle O is equal to or less than the distance D, braking control of the tractor 1 (stopping the tractor 1) or avoidance control of the obstacle O may be performed, but this is not limiting.

[0074] The control device 60 (automatic driving control unit 63) may execute control of a warning to call attention at least when the detection information indicates the detection of an obstacle O or when the observation information indicates the presence of an obstacle around the traveling vehicle body 3. For example, as shown in FIG. 10(b), when the detection information does not indicate the detection of an obstacle O but the observation information observes the presence of an obstacle O around the traveling vehicle body 3, the control device 60 (automatic driving control unit 63) executes a warning to call attention. Furthermore, as shown in FIG. 10(c), when the detection information indicates the detection of an obstacle O, the control device 60 (automatic driving control unit 63) may execute a warning to call attention. For example, when an obstacle O is observed (detected), the control device 60 (automatic driving control unit 63) may perform control to display a warning on the display unit 70A of the external device 70 and the display unit 52 of the display device 50, such that a message such as "Obstacle Present" is displayed. Alternatively, the control device 60 (automatic driving control unit 63) may, for example, perform control so that when an obstacle O is observed (detected), a speaker provided in the tractor 1 (traveling body 3) emits a warning sound indicating the presence of the obstacle O, or may control a light (light source) provided in the tractor 1 (traveling body 3) to emit a warning light indicating the presence of the obstacle O. The control device 60 (automatic driving control unit 63) may change the form of the warning so that the detection of the obstacle O by the sensor 67 and the detection of the obstacle O by the observation satellite 101 can be distinguished.

[0075] Now, there are cases where an obstacle O is detected by the sensor 67 and also observed (detected) by the observation satellite 103. The control device 60 (automatic driving control unit 63) detects the obstacle O by the sensor 67 (detection information indicates the detection of the obstacle O) and also observes (detects) the obstacle O by the observation satellite 103. When the observation information indicates the presence of an obstacle O around the traveling vehicle body 3, the control device 60 controls automatic driving based on the detection information of the sensor 67. For example, as shown in FIG. 10(b), even if the tractor 1 (traveling vehicle body 3) is located far from the obstacle O, the observation satellite 103 can observe the obstacle O. In this case, the control device 60 (automatic driving control unit 63) controls to issue a warning because the distance between the tractor 1 (traveling vehicle body 3) and the obstacle O is long. In such a situation, as shown in Figures 10(c) and 10(d), if an obstacle O is detected by the sensor 67, the control device 60 (automatic driving control unit 63) performs braking control of the tractor 1 or obstacle O avoidance control.

[0076] <<Obstacle detection on public roads>> The tractor 1 of this embodiment is capable of automatic driving in places other than the field F by using the positioning satellites 102, the positioning device 40, and the automatic driving control unit 63. As shown in FIG. 13 , for example, the tractor 1 may be automatically driven from a predetermined position (such as the position of the tractor 1 garage) in an area outside the field F to travel to the field F via a public road R. More specifically, by operating the display device 50 to start up a predetermined navigation system application and inputting the position of the destination field F, a planned travel route L2 from the current location (starting position) to the destination field F may be automatically set. In this case, the set planned travel route L2 includes the public road R, and the tractor 1 is automatically controlled to travel along the planned travel route L2 via the public road R to the field F.

[0077] As shown in Fig. 13(a), if there is no obstacle on planned travel route L2, which includes public road R, the tractor 1 travels along planned travel route L2 without being detected by sensor 67. As shown in Fig. 13(b), for example, if the tractor 1 is traveling on public road R on planned travel route L2 and an obstacle O is located ahead, and the distance between the obstacle O and the sensor 67 of the tractor 1 is greater than distance D, the pulse wave emitted from sensor 67 ahead of the tractor 1 will not reach the obstacle O. For this reason, no detection is made by sensor 67, and braking by the control device 60 (automatic driving control unit 63) based on the sensor 67 is not executed.

[0078] From this state, the tractor 1 continues traveling and approaches the obstacle O, as shown in FIG. 13(c). When the distance between the obstacle O and the sensor 67 of the tractor 1 is equal to or less than the distance D, the sensor 67 detects the obstacle O. It is determined that the sensor 67 has detected the obstacle O, and the control device 60 (automatic driving control unit 63) performs braking based on the sensor 67.

[0079] On the other hand, as shown in Figure 13(d), even if the distance between the obstacle O and the sensor 67 of the tractor 1 is equal to or less than the distance D, if the dust C or the like is present, the pulse wave emitted from the sensor 67 in front of the tractor 1 will not reach the obstacle O. Therefore, the sensor 67 will not detect the obstacle, and the control device 60 (automatic driving control unit 63) will not brake based on the sensor 67.

[0080] 13(b), even if an obstacle O exists but the distance between the obstacle O and the sensor 67 of the tractor 1 is large (distance > distance D), it is preferable to detect the obstacle O as early as possible before it is detected by the sensor 67. For these reasons, the detection system S is configured to detect an obstacle O on a public road R based on observation data acquired by an observation satellite 103 (see FIG. 1).

[0081] When detecting an obstacle O on a public road R, as shown in FIG. 14 , a map of an area including the destination field F and the public road R leading to field F is displayed on the map display unit 125 on the setting screen M4 described above. The observation area setting unit 110 determines the latitudes LA1 to LA4 and longitudes LO1 to LO4 of the map to be displayed on the map display unit 125, and sets the observation area 150. In this embodiment, the surrounding area including the destination field F and the public road R leading to field F is set as the observation area 150. The set observation area 150 and the acquisition period t input to the observation timing input unit 126 are stored in the storage device 112 and transmitted to the observation satellite 103 by the observation instruction unit 113.

[0082] As shown in FIG. 15, the control device 60 (autonomous driving control unit 63) converts the observation data sequentially transmitted from the terminal device 100 into images corresponding to rectangular observation areas 150. The images are fitted to a two-dimensional coordinate system, and machine learning is performed on the images of the observation areas 150 generated at each period t. As shown in FIG. 15(a), an image in which no obstacle O exists on any of the public roads R (an image corresponding to the state in FIG. 13(a)) and there is little change in the state recognized from the image of the public road R is used as training data. The control device 60 (autonomous driving control unit 63) compares the results of the machine learning with the latest image of the public road R to determine whether there is a change in the state recognized from the image of the public road R. Here, an example of a change in the image of the public road R is an image in which an obstacle O exists on the ground surface of the public road R, as shown in FIG. 15(b) (an image corresponding to the states in FIGS. 13(b) to (d)). In a two-dimensional coordinate system, if the position of obstacle O corresponds to the position of coordinates (X1, Y1), the control device 60 (automatic driving control unit 63) detects obstacle O as a change occurring in a pixel near the coordinates (X1, Y1).

[0083] Then, when the control device 60 (automatic driving control unit 63) determines that an obstacle O has been detected, it performs the above-described automatic driving control.

[0084] FIG. 16 is an example of a flowchart showing the operation of the control device 60 (automatic driving control unit 63) of the work implement 101. It is assumed that the positioning satellite 102 and the observation satellite 103 are always operating, and that the terminal device 100, the work implement 101, the base station 104, and the external device 70 are already connected to the communication network N and are capable of information communication (see FIG. 1). It is also assumed that when an obstacle O is detected in a field F, a planned travel route L1 has already been set and automatic driving control in the field F has already been initiated. It is also assumed that when an obstacle O is detected on a public road R, a planned travel route L2 has already been set and automatic driving control on the public road R has already been initiated. Detection of the obstacle O may be performed in either the field F or the public road R, or both.

[0085] The observation area 150 of the earth's surface to be observed by the observation satellite 103 and the period t for acquiring observation data are set in the observation area setting unit 110 via the setting screen M4 displayed on the display unit 70A of the external device 70 (S1). When an obstacle O is detected in a field F, an area including one field F is set, and when an obstacle O is detected on a public road R, a surrounding area including the destination field F and the public road R leading to the field F is set (see FIGS. 11 and 14).

[0086] The observation instruction unit 113 transmits an instruction signal based on the set observation area 150 and the period t to the observation satellite 103 via the base station 104 (S2). Observation data corresponding to the observation area 150 including the tractor 1 is acquired from the observation satellite 103 every period t (S3), and the acquired observation data is sequentially transmitted to the terminal device 100 and stored (S4). The stored observation data is sequentially transmitted from the terminal device 100 to the work implement 101 every period t (S5), and the transmitted observation data is converted into an image by the control device 60 (automatic driving control unit 63), and an image of the field F or the public road R is machine-learned (S6).

[0087] Next, the sensor 67 of the automatically driving tractor 1 is used to determine whether or not an obstacle O has been detected (S7). If the distance between the obstacle O and the sensor 67 of the tractor 1 is equal to or less than the distance D and the sensor 67 is capable of detecting the obstacle O (see FIGS. 10(c) and 13(c)), the determination in step S7 is "Yes," and at least one of braking control, warning control, and avoidance control is executed by the control device 60 (automatic driving control unit 63) (S8).

[0088] On the other hand, if there is no obstacle O (see FIGS. 10(a) and 13(a)), if there is an obstacle O but the distance between the obstacle O and the sensor 67 of the tractor 1 is large (distance > distance D, see FIGS. 10(b) and 13(b)), or if the distance between the obstacle O and the sensor 67 of the tractor 1 is equal to or less than distance D but the sensor 67 cannot detect the obstacle O because it is blocked by dust C or the like (see FIGS. 10(d) and 13(d)), the determination in step S7 is "No." In this case, the sensor 67 does not detect the obstacle O.

[0089] Next, the control device 60 (automatic driving control unit 63) compares the learning result of the image of the field F or the public road R with the latest image of the field F or the public road R to determine whether there has been a change in the image of the field F or the public road R (S9). If the determination in step S9 is "Yes," it is determined that an obstacle O is present in the field F or the public road R, and the control device 60 (automatic driving control unit 63) detects the obstacle O. That is, even in the states of FIGS. 10(b), (d) and 13(b), (d), where the sensor 67 does not detect the obstacle O, the obstacle O is detected based on the observation data of the observation satellite 103. Then, the control device 60 (automatic driving control unit 63) executes at least one of braking control, warning control, and avoidance control (S8). On the other hand, if the determination in step S9 is "No," it is determined that there is no obstacle O in the field F or the public road R, and the control device 60 (automatic driving control unit 63) does not detect the obstacle O (see Figures 10(a) and 13(a)). In this case, the tractor 1 continues to travel in automatic driving.

[0090] The control device 60 (automatic driving control unit 63) determines, based on the observation information, whether the obstacle O observed by the observation satellite 103 is present on the planned travel route (travel path) L1 of the traveling vehicle body 3. If it determines that the obstacle O is present on the planned travel route (travel path) L1, it determines whether the traveling vehicle body 3 can avoid the obstacle O when traveling on the planned travel route (travel path) L1. When the obstacle O is detected based on the observation data of the observation satellite 103 in the state shown in FIG. 13(b) (d), the control device 60 (automatic driving control unit 63) estimates the size of the obstacle O from the observation data (image). If the obstacle O is large and is estimated to be blocking the public road R, for example, if the width of the public road R excluding the obstacle O at the position of the public road R where the obstacle O is present is smaller than the maximum width of the traveling vehicle body 3 or the working equipment, the control device 60 (automatic driving control unit 63) determines that the traveling vehicle body 3 cannot pass each other. When determining that passing is not possible, the control device 60 (automatic driving control unit 63) changes the planned travel route (travel path) L1 of the traveling vehicle body 3.

[0091] If the width of the public road R excluding the obstacle O is greater than the maximum width of the traveling vehicle body 3 or the work equipment, the control device 60 (automatic driving control unit 63) determines that the traveling vehicle bodies 3 can pass each other. Note that passing each other between the traveling vehicle bodies 3 is a type of avoidance control described above, and if the traveling vehicle bodies 3 can pass each other, the control device 60 (automatic driving control unit 63) changes a part of the planned traveling route (travel path) L1 set in the traveling direction of the traveling vehicle body 3, which is a route (path) near the obstacle O, to detour around the obstacle O. Therefore, if the traveling vehicle bodies 3 can pass each other, automatic traveling is performed by changing only the route (path) near the obstacle O by local route setting. On the other hand, if the traveling vehicle bodies 3 cannot pass each other, the control device 60 (automatic driving control unit 63) significantly changes the planned traveling route (travel path) L1 by global route design, significantly changing the planned traveling route (travel path) L1 that was set in advance before automatic traveling.

[0092] [Second embodiment] In the first embodiment described above, the control device 60 (automatic driving control unit 63) determines whether or not there is a change in the image of the field F or the public road R converted from the observation data. If it is determined that there is a change in the image of the field F or the public road R, it is determined that an obstacle O is present, and the control device 60 (automatic driving control unit 63) detects the obstacle O. In the control device 60 (automatic driving control unit 63) according to the second embodiment of the present invention, a moving body on the field F or the public road R is determined to be the obstacle O, and the control device 60 (automatic driving control unit 63) detects the moving body (obstacle O) based on a change over time in the position of the moving body recognized by observation. The second embodiment differs from the first embodiment only in this respect. Below, the differences between the second embodiment and the first embodiment will be described.

[0093] As shown in Fig. 17, when detecting a moving object (obstacle O) on field F, the control device 60 (automatic driving control unit 63) performs predetermined image processing such as binarization on the image of field F to identify the position corresponding to obstacle O and assigns coordinates (X1, Y1) in a two-dimensional coordinate system to the position of obstacle O. As shown in Fig. 18, when detecting a moving object (obstacle O) on public road R, the control device 60 (automatic driving control unit 63) also assigns coordinates (X1, Y1) in a two-dimensional coordinate system to the position of obstacle O on the image of field F in the same manner as described above.

[0094] 17 and 18, in a two-dimensional coordinate system, the change in position of the coordinates (X1, Y1) can be obtained as a trajectory from each piece of observation data obtained at each set period t. The control device 60 (autonomous driving control unit 63) obtains the change in the position of the moving object (obstacle O) over time based on the trajectory of the coordinates (X1, Y1).

[0095] More specifically, for example, using coordinates (X1, Y1) in the observation data at time θ=θ0 as a reference point, a moving distance D1 is determined based on coordinates (X1, Y1) in the observation data at time θ=θ0+t, when a period t has elapsed since θ0. Furthermore, a moving distance D2 is determined based on coordinates (X1, Y1) in the observation data at time θ=θ0+2t, when a period 2t has elapsed since θ0. In this manner, moving distances D1[θ=θ0+t], D2[θ=θ0+2t], . . . , Dn[θ=θ0+nt] are sequentially determined. Then, a change over time dD / dθ is determined based on each of the determined moving distances D1 to Dn and the following equation (1). Here, the value n is a natural number and may be adjusted as appropriate depending on the sensitivity of the change. For example, the value n may be adjusted so that it is larger as the period t becomes shorter.

[0096] dD / dθ=(D1+D2+···+Dn) / (n*t)···(1)

[0097] The control device 60 (automatic driving control unit 63) detects the moving object (obstacle O) based on whether the determined change over time dD / dθ is within a threshold value (dD / dθ)th. If the change over time dD / dθ is large, the moving distance of the moving object (obstacle O) is likely to increase in the future, and its position after movement will likely shift over a wide range. Therefore, the moving moving object (obstacle O) and the tractor 1 traveling in automatic driving are likely to approach each other. In this case, it is determined that it is difficult for the tractor 1 to pass the moving object (obstacle O) traveling on the field F or the moving object (obstacle O) traveling on the public road R, and the control device 60 (automatic driving control unit 63) executes at least one of braking control, warning control, and avoidance control.

[0098] Here, the threshold value (dD / dθ)th may be adjusted based on, for example, the positional relationship between the tractor 1 and the moving object (obstacle O), the vehicle speed of the tractor 1, the length of the planned travel routes L1 and L2, etc. More specifically, the smaller the distance between the tractor 1 and the moving object (obstacle O), the higher the vehicle speed of the tractor 1, or the shorter the length of the planned travel routes L1 and L2, the smaller the value of the threshold value (dD / dθ)th may be set to. That is, when the relationship dD / dθ≦(dD / dθ)th holds, the moving object (obstacle O) and the tractor 1 are unlikely to approach each other, and detection of the moving object (obstacle O) is not performed. On the other hand, when the relationship dD / dθ>(dD / dθ)th holds, the moving object (obstacle O) and the tractor 1 are likely to approach each other, and detection of the moving object (obstacle O) is performed. It is determined that passing each other is difficult, and braking control of the tractor 1 and warning display control are performed.

[0099] As shown in Fig. 19, in the flowchart showing the operation of the second embodiment, instead of step S6 in Fig. 16, the control device 60 (automatic driving control unit 63) converts observation data into an image and determines the change over time dD / dθ of the moving object (obstacle O) (S11). Instead of step S9 in Fig. 16, it is determined whether the change over time dD / dθ is greater than a threshold value (dD / dθ)th (S12). In Fig. 19, steps that are the same as those shown in Fig. 16 are given the same reference numerals, and description of the operation will be omitted.

[0100] The effects of the second embodiment will be described. When the change over time dD / dθ is large, the moving distance of the moving object (obstacle O) will likely increase in the future, and the position after the movement will likely shift over a wide range. Therefore, there is a high possibility that the moving object (obstacle O) and the tractor 1 traveling in an autonomous driving mode will approach each other. Based on this, according to the second embodiment, when the change over time dD / dθ is large, it is determined that it is difficult for the tractor 1 to pass the moving object (obstacle O), and braking control, warning control, and avoidance control can be executed. Therefore, even if the obstacle O is moving in the field F as a moving object, the tractor 1 can be braked early and reliably before colliding with the obstacle O. Furthermore, the operator or the like can be alerted early and reliably, and braking and steering operations of the tractor 1 can be performed early and reliably. Furthermore, the tractor 1 can be driven to avoid the obstacle O. As a result, it is possible to quickly and reliably prevent the tractor 1 from having difficulty continuing to travel due to the obstacle O, or from deviating from the planned travel route L1, L2 and having difficulty returning.

[0101] <Summary> As described above, the automatic driving control system for the work machine 101 according to the embodiment of the present invention is provided in the tractor 1 (traveling vehicle body) capable of automatic driving, and includes the sensor 67 capable of detecting an obstacle O, and the control device 60 (automatic driving control unit 63) capable of controlling the automatic driving of the tractor 1 based on detection information related to the detection of the obstacle O by the sensor 67. The control device 60 controls the automatic driving of the tractor 1 based on observation information of the obstacle O observed by the observation satellite 103.

[0102] According to this, when detecting the obstacle O, it is possible to use the detection information of the sensor 67 and / or the observation information acquired by the observation satellite 103. Therefore, it is possible to detect the obstacle O in the field F, the public road R, etc. early and reliably. Therefore, it is possible to perform automatic driving early and reliably so that the influence of the obstacle O does not affect the traveling. More specific control modes of the automatic driving may be, for example, control to stop the tractor 1 (braking control), control to avoid the obstacle O (avoidance control), control to issue a warning to call attention (warning control), etc. As described above, it is possible to early and reliably prevent an event in which it becomes difficult for the tractor 1 to continue traveling due to the obstacle O, or the tractor 1 deviates from the planned traveling route L1, L2 and becomes difficult to return to.

[0103] When the detection information does not indicate the detection of an obstacle O, but the observation information indicates that an obstacle O is present around the tractor 1, the control device 60 (automatic driving control unit 63) controls automatic driving in response to the observation of the obstacle O.

[0104] Examples of the detection information of the sensor 67 include information obtained according to the distance between the obstacle O and the sensor 67 of the tractor 1. More specifically, the sensor 67 may indicate the presence of the obstacle O when the distance is equal to or less than the distance D. In such a case, even if the distance between the obstacle O and the sensor 67 of the tractor 1 is equal to or less than the distance D, an event may occur in a field F, a public road R, or the like, where detection by the sensor 67 is difficult due to the presence of dust C or the like. Furthermore, even if the obstacle O exists but the distance between the obstacle O and the sensor 67 of the tractor 1 is large (the distance > the distance D) and the sensor 67 has not yet detected the obstacle O, it is preferable to detect the obstacle O as early as possible. According to the above configuration, based on the observation data acquired by the observation satellite 103, as described above, even if an event occurs in which detection by the sensor 67 is difficult or even before the sensor 67 has detected the obstacle O, automatic driving can be performed early and reliably to prevent the obstacle O from affecting the traveling.

[0105] When the detection information indicates the detection of an obstacle O and the observation information observes that an obstacle O is present around the tractor 1, the control device 60 (automatic driving control unit 63) controls the automatic driving based on the detection information.

[0106] This makes it possible to more reliably detect the presence of an obstacle O around the tractor 1, and to automatically drive the tractor 1 so that the obstacle O does not affect the tractor's travel.

[0107] The control device 60 (automatic driving control unit 63) issues a warning to draw attention at least when the detection information indicates the detection of an obstacle O and when the observation information indicates the presence of an obstacle O around the tractor 1.

[0108] According to this, when executing warning control, it is possible to use the detection information of the sensor 67 and / or the observation information acquired by the observation satellite 103. Therefore, it is possible to promptly and reliably alert the operator or the like, and to promptly and reliably transition to braking or steering operations of the tractor 1. More specific modes of warning control may include, for example, control to display a message on the screen of an external device, control to generate a warning sound from a sound source of the tractor 1, control to emit light from a light source of the tractor 1, etc.

[0109] Furthermore, in the above embodiment, the control device 60 is capable of both braking the tractor 1 and alerting the operator, etc. This makes it possible to more reliably prevent the tractor 1 from having difficulty continuing to travel due to the obstacle O, or from deviating from the planned travel route L1, L2 and making it difficult to return.

[0110] When the detection information does not indicate the detection of an obstacle, but the observation information observes that an obstacle is present around the tractor 1, the control device 60 (automatic driving control unit 63) issues a warning to call attention to the situation.

[0111] According to this, based on the observation data acquired by the observation satellite 103, as described above, warning control can be executed early and reliably even when an event occurs that makes it difficult for the sensor 67 to detect, or even before the sensor 67 has detected the event.

[0112] Based on the observation information, the control device 60 (automatic driving control unit 63) determines whether or not the obstacle O observed by the observation satellite 103 is present on the planned driving route L1, L2 of the tractor 1, and if it determines that the obstacle O is present on the planned driving route L1, L2, it determines whether or not the obstacle O can be avoided when the tractor 1 travels along the planned driving route L1, L2.

[0113] This makes it possible to use observation information acquired by the observation satellite 103 to detect obstacles O on the planned travel routes L1, L2 and to determine whether the tractor 1 can avoid the obstacles O. This makes it possible to detect obstacles O on the planned travel routes L1, L2 early and reliably. If it is determined that the tractor 1 can avoid the obstacles O, the tractor 1 can travel on the planned travel routes L1, L2, and if it is determined that the tractor 1 cannot avoid the obstacles O, braking control, avoidance control, warning control, etc. can be executed.

[0114] The control device 60 (automatic driving control unit 63) determines based on the size of the obstacle O whether or not the two vehicles can pass each other.

[0115] According to this, the size of the obstacle O can be reflected as observation information when determining whether the tractor 1 can pass the obstacle O. Therefore, the above determination can be made with high accuracy.

[0116] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0117] 1: Tractor 11: Handbrake 12: Brake pedal 13: Operating cylinder 21: Control valve 29: Steering gear 40: Positioning device 45A:Communication equipment 50:Display device 60: Control device 63: Automatic driving control unit 65: Operation switch 67: Sensor 70: External device 100: Terminal device 101: Work equipment 102: Positioning satellite 103: Observation satellite 110: Observation area setting section 113: Observation control unit 150: Observation area C: Dust cloud dD / dθ: Change over time F: Field N: Information and communication network N1: Vehicle communication network O: Obstacle R: public road S: Detection System t :period

Claims

1. A sensor that is provided on an autonomous driving vehicle body and is capable of detecting obstacles; a control device capable of controlling automatic driving of the traveling vehicle body based on detection information regarding the detection of the obstacle by the sensor and observation information of the obstacle observed by an observation satellite; Equipped with The control device performing machine learning using a first image of an observation area when no obstacle is present and a second image of the observation area that is generated at predetermined intervals based on the observation information; determining whether the obstacle is present in the travel path of the traveling vehicle body within the observation area based on the result of the machine learning and the latest second image; When it is determined that an obstacle exists on the travel route, the automatic driving control system for a work machine determines whether the obstacle can be avoided when the travel vehicle body travels along the travel route.

2. The automatic driving control system for a work machine as described in claim 1, wherein when the detection information indicates the detection of the obstacle and the observation information observes that the obstacle is present on the driving path, the control device controls the automatic driving based on the detection information.

3. The automatic driving control system for a work machine as described in claim 1 or 2, wherein the control device issues a warning to call attention at least when the detection information indicates the detection of an obstacle and when the observation information indicates the presence of an obstacle on the travel path.

4. The automatic driving control system for a work machine as described in claim 1 or 2, wherein the control device issues a warning to call attention when the detection information does not indicate the detection of the obstacle but the observation information observes the presence of the obstacle on the travel path.

5. The automatic driving control system for a work machine according to claim 1 , wherein the control device determines whether or not the vehicle can pass the obstacle based on the size of the obstacle.

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