JP2022061394A - Autonomous driving system, autonomous driving method, and autonomous driving program - Google Patents

Abstract

[Problem] An autonomous driving system, an autonomous driving method, and an autonomous driving program that allow a work vehicle to travel along a route intended by a user even when the work start position movement route and the work route are close to each other or overlap. to provide. A route generation processing unit 214 generates a travel route R0 including a work start position movement route Ra and a work route Rb. The priority setting processing unit 215 accepts a setting operation for the start path priority mode or the work path priority mode. When receiving a setting operation for the start path priority mode, the route setting processing unit 111 prioritizes the work start position movement route Ra if the distance between the work start position movement route Ra and the work route Rb is less than or equal to the threshold Lth. If the distance between the work start position moving route Ra and the work route Rb is less than or equal to the threshold Lth when the work path priority mode setting operation is received, the work route Rb is set as the priority route. [Selection diagram] Figure 6A

Description

The present invention relates to an autonomous traveling system for autonomously traveling a work vehicle, an autonomous traveling method, and an autonomous traveling program.

When setting the travel route of a work vehicle capable of autonomous travel, the operator sets the work start position and the work end position after registering the field, and sets the travel route connecting the work start position and the work end position. do. For example, in Patent Document 1, even when the work vehicle is not located at the work start position, it is possible to set a travel route including a route from the current position of the work vehicle to the work start position by satisfying a predetermined condition. Possible techniques are disclosed.

Japanese Unexamined Patent Publication No. 2017-162373

Here, when the work starts from the work start position, the work vehicle travels on a route from the current position to the work start position (hereinafter, referred to as "work start position movement route"). In this case, for example, when the work start position movement route and the work route in the work area are close to each other or overlap, the work vehicle recognizes the work route as a travel route, and the work start position movement route intended by the user. There is a problem of traveling on a different route. In the conventional technique, it is possible to set the work start position movement route, but it is difficult to solve the above-mentioned problem that occurs when the work start position movement route and the work route are close to each other or overlap.

An object of the present invention is an autonomous traveling system, an autonomous traveling method, and an autonomous traveling method capable of driving a work vehicle on a route intended by a user even when the work start position movement route and the work route are close to each other or overlap. It is to provide an autonomous driving program.

The autonomous traveling system according to the present invention includes a position setting processing unit, a route generation processing unit, a priority setting processing unit, and a route setting processing unit. The position setting processing unit sets the travel start position and the travel end position of the work vehicle. The route generation processing unit is a work start position movement route which is a route from the travel start position to a work start position where the work vehicle starts work, and a work which is a route from the work start position to the travel end position. Generate a traveling route including a route. The priority setting processing unit sets the work vehicle at the work start position when the first predetermined condition is satisfied when the work start position movement path and the work path are included within a predetermined distance from the current position of the work vehicle. The work is performed in the first priority mode in which the movement route is preferentially traveled, or when the second predetermined condition is satisfied when the work start position movement route and the work route are included within a predetermined distance from the current position of the work vehicle. It accepts the setting operation of the second priority mode in which the vehicle preferentially travels on the work route. The route setting processing unit performs the work when the distance between the work start position movement route and the work route is equal to or less than a threshold value when the priority setting processing unit accepts the setting operation of the first priority mode. When the start position movement route is set as the priority route and the priority setting processing unit accepts the setting operation of the second priority mode, the distance between the work start position movement route and the work route is equal to or less than the threshold value. In this case, the work route is set as the priority route.

In the autonomous traveling method according to the present invention, one or a plurality of processors set a traveling start position and a traveling end position of the work vehicle, and from the travel start position to the work start position where the work vehicle starts the work. Creating a travel route including a work start position movement route, which is a route, and a work route, which is a route from the work start position to the travel end position, and the work within a predetermined distance from the current position of the work vehicle. From the first priority mode in which the work vehicle is preferentially traveled on the work start position movement route when the first predetermined condition is satisfied when the start position movement route and the work route are included, or from the current position of the work vehicle. When the work start position movement route and the work route are included within a predetermined distance and the second predetermined condition is satisfied, the operation of setting the second priority mode in which the work vehicle is preferentially traveled on the work route is accepted. When the distance between the work start position movement route and the work route is equal to or less than the threshold value when the setting operation of the first priority mode is accepted, the work start position movement route is set as the priority route, and the above-mentioned When the setting operation of the second priority mode is accepted and the distance between the work start position movement route and the work route is equal to or less than the threshold value, the work route is set as the priority route and the method is executed. be.

In the autonomous traveling program according to the present invention, the traveling start position and the traveling end position of the work vehicle are set, and the work start position movement which is a route from the travel start position to the work start position where the work vehicle starts the work. Generating a travel route including a route and a work route that is a route from the work start position to the travel end position, and within a predetermined distance from the current position of the work vehicle, the work start position movement route and the work. The first priority mode in which the work vehicle is preferentially traveled on the work start position movement route when the first predetermined condition is satisfied when the route is included, or the work start within a predetermined distance from the current position of the work vehicle. When the position movement route and the work route are included and the second predetermined condition is satisfied, the operation of setting the second priority mode in which the work vehicle preferentially travels on the work route is accepted, and the first priority mode When the setting operation is accepted and the distance between the work start position movement route and the work route is equal to or less than the threshold value, the work start position movement route is set as the priority route, and the setting operation of the second priority mode is performed. To set the work route as the priority route when the distance between the work start position movement route and the work route is equal to or less than the threshold value, and to have one or more processors execute the above. It is a program.

According to the present invention, an autonomous traveling system, an autonomous traveling method, and an autonomous traveling method capable of driving a work vehicle on a route intended by a user even when the work start position movement route and the work route are close to each other or overlap each other. An autonomous driving program can be provided.

FIG. 1 is a diagram showing a configuration of an autonomous traveling system according to an embodiment of the present invention. FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. FIG. 3 is a diagram showing an example of a traveling path of a work vehicle according to an embodiment of the present invention. FIG. 4 is a diagram for explaining a condition for the work vehicle according to the embodiment of the present invention to start autonomous traveling. FIG. 5 is a diagram showing an example of a priority mode setting screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 6A is a diagram showing an example of the positional relationship between the current position of the work vehicle, the work start position movement path, and the work path according to the embodiment of the present invention. FIG. 6B is a diagram showing an example of the positional relationship between the current position of the work vehicle, the work start position movement path, and the work path according to the embodiment of the present invention. FIG. 7A is a diagram showing an example of the positional relationship between the current position of the work vehicle, the work start position movement path, and the work path according to the embodiment of the present invention. FIG. 7B is a diagram showing an example of the positional relationship between the current position of the work vehicle, the work start position movement path, and the work path according to the embodiment of the present invention. FIG. 8 is a flowchart showing an example of a procedure for traveling route generation processing executed by the autonomous traveling system according to the embodiment of the present invention. FIG. 9 is a diagram showing an example of a traveling path of a work vehicle according to an embodiment of the present invention.

The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

As shown in FIG. 1, the autonomous traveling system 1 according to the embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate with each other via the communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN.

In the present embodiment, the case where the work vehicle 10 is a tractor will be described as an example. As another embodiment, the work vehicle 10 may be a rice transplanter, a combine harvester, a construction machine, a snowplow, or the like. The work vehicle 10 is a so-called robot tractor having a configuration capable of autonomously traveling (automatic traveling) along a traveling path R0 in a field F (see FIG. 3). For example, the work vehicle 10 autonomously travels along the travel path R0 generated in advance for the field F based on the position information of the current position P1 of the work vehicle 10 calculated by the positioning system (not shown). Is possible.

[Working vehicle 10]
As shown in FIGS. 1 and 2, the work vehicle 10 includes a vehicle control device 11, a traveling device 12, a working machine 13, a positioning device 14, and the like. The vehicle control device 11 is electrically connected to a traveling device 12, a working machine 13, a positioning device 14, and the like. The vehicle control device 11 and the positioning device 14 may be capable of wireless communication.

The vehicle control device 11 is a computer system including one or more processors and a storage memory such as a non-volatile memory and a RAM. Then, the vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. Further, the vehicle control device 11 executes the autonomous travel process of the work vehicle 10 based on the current position P1 of the work vehicle 10 calculated by the positioning device 14 described later and the travel path R0 generated in advance. The travel path R0 is stored in the storage memory. Further, the travel path R0 may be stored in the storage unit 22 of the operation terminal 20. The vehicle control device 11 is an example of the traveling processing unit of the present invention.

The traveling device 12 is a drive unit for traveling the work vehicle 10. As shown in FIG. 2, the traveling device 12 includes an engine 121, front wheels 122, rear wheels 123, a transmission 124, a front axle 125, a rear axle 126, a handle 127, and the like. The front wheels 122 and the rear wheels 123 are provided on the left and right sides of the work vehicle 10, respectively. Further, the traveling device 12 is not limited to the wheel type provided with the front wheels 122 and the rear wheels 123, and may be a crawler type provided with crawlers provided on the left and right sides of the work vehicle 10.

The engine 121 is a drive source such as a diesel engine or a gasoline engine that is driven by using fuel supplied to a fuel tank (not shown). The traveling device 12 may include an electric motor as a drive source together with the engine 121 or in place of the engine 121. A generator (not shown) is connected to the engine 121, and electric power is supplied from the generator to electric parts such as a vehicle control device 11 provided on the work vehicle 10 and a battery. The battery is charged by the electric power supplied from the generator. The electric parts such as the vehicle control device 11 and the positioning device 14 provided in the work vehicle 10 can be driven by the electric power supplied from the battery even after the engine 121 is stopped.

The driving force of the engine 121 is transmitted to the front wheels 122 via the transmission 124 and the front axle 125, and is transmitted to the rear wheels 123 via the transmission 124 and the rear axle 126. Further, the driving force of the engine 121 is also transmitted to the working machine 13 via the PTO shaft (not shown). When the work vehicle 10 autonomously travels, the traveling device 12 performs the traveling operation in accordance with the command of the vehicle control device 11.

The working machine 13 is, for example, a mower, a tiller, a plow, a fertilizer applicator, a sowing machine, or the like, and is removable from the working vehicle 10. As a result, the work vehicle 10 can perform various operations using each of the work machines 13. In the present embodiment, the case where the working machine 13 is a mower will be described as an example.

The work machine 13 may be supported in the work vehicle 10 so as to be able to move up and down by an elevating mechanism (not shown). The vehicle control device 11 can control the elevating mechanism to elevate and lower the working machine 13. For example, the vehicle control device 11 lowers the work machine 13 when the work vehicle 10 moves forward in the work target area of the field F, and raises the work machine 13 when the work vehicle 10 moves backward.

The steering wheel 127 is an operation unit operated by the user (operator) or the vehicle control device 11. For example, in the traveling device 12, the angle of the front wheels 122 is changed by a hydraulic power steering mechanism (not shown) or the like in response to the operation of the steering wheel 127 by the vehicle control device 11, and the traveling direction of the work vehicle 10 is changed.

In addition to the steering wheel 127, the traveling device 12 includes a shift lever (not shown), an accelerator, a brake, and the like operated by the vehicle control device 11. Then, in the traveling device 12, the gear of the transmission 124 is switched to a forward gear, a back gear, or the like according to the operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward or reverse. .. Further, the vehicle control device 11 operates the accelerator to control the rotation speed of the engine 121. Further, the vehicle control device 11 operates the brake and uses an electromagnetic brake to brake the rotation of the front wheels 122 and the rear wheels 123.

Further, the vehicle control device 11 includes a route setting processing unit 111. The route setting processing unit 111 calculates the distance from the current position P1 of the work vehicle 10 to the work start position movement route Ra (see FIG. 3) and the distance from the current position P1 to the work route Rb (see FIG. 3). Further, the route setting processing unit 111 executes a process of determining whether or not a predetermined condition (described later) for setting a priority route is satisfied. Further, the route setting processing unit 111 sets the work start position movement route Ra or the work route Rb as the priority route. The specific configuration of the route setting processing unit 111 will be described later.

The positioning device 14 is a communication device including a control unit 141, a storage unit 142, a communication unit 143, a positioning antenna 144, and the like. For example, the positioning device 14 is provided above the cabin 18 on which the operator is boarded, as shown in FIG. Further, the installation location of the positioning device 14 is not limited to the cabin 18. Further, the control unit 141, the storage unit 142, the communication unit 143, and the positioning antenna 144 of the positioning device 14 may be dispersedly arranged at different positions in the work vehicle 10. As described above, the battery is connected to the positioning device 14, and the positioning device 14 can operate even when the engine 121 is stopped. Further, as the positioning device 14, for example, a mobile phone terminal, a smartphone, a tablet terminal, or the like may be substituted.

The control unit 141 is a computer system including one or more processors and a storage memory such as a non-volatile memory and a RAM. The storage unit 142 is a program for causing the control unit 141 to execute the positioning process, and a non-volatile memory for storing data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 142. The program may be downloaded from the server (not shown) to the positioning device 14 via the communication network N1 and stored in the storage unit 142.

The communication unit 143 connects the positioning device 14 to the communication network N1 by wire or wirelessly, and executes data communication according to a predetermined communication protocol with an external device such as a base station server via the communication network N1. Communication interface.

The positioning antenna 144 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

The control unit 141 calculates the position (current position P1) of the work vehicle 10 based on the GNSS signal received from the satellite by the positioning antenna 144. For example, when the work vehicle 10 autonomously travels in the field F and the positioning antenna 144 receives radio waves (transmission time, orbit information, etc.) transmitted from each of the plurality of satellites, the control unit 141 performs positioning. The distance between the antenna 144 and each satellite is calculated, and the current position P1 (latitude and longitude) of the work vehicle 10 is calculated based on the calculated distance. Further, the control unit 141 calculates the current position P1 of the work vehicle 10 by using the correction information corresponding to the base station (reference station) close to the work vehicle 10, a real-time kinematic method (RTK-GPS positioning method), hereinafter ". Positioning may be performed by the "RTK method"). In this way, the work vehicle 10 autonomously travels by using the positioning information by the RTK method.

The travel path R0 on which the work vehicle 10 travels is generated by, for example, the operation terminal 20. The work vehicle 10 acquires a travel path R0 from the operation terminal 20, and performs work (for example, mowing work) by the work machine 13 while autonomously traveling in the field F according to the travel path R0.

[Operation terminal 20]
As shown in FIG. 1, the operation terminal 20 is an information processing device including a control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, and the like. The operation terminal 20 may be composed of a mobile terminal such as a tablet terminal or a smartphone.

The communication unit 24 connects the operation terminal 20 to the communication network N1 by wire or wirelessly, and data communication according to a predetermined communication protocol with one or more external devices such as a work vehicle 10 via the communication network N1. Is a communication interface for executing.

The operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. On the operation screen displayed on the display unit, the operator can operate the operation unit to register various information (work vehicle information, field information, work information, etc., which will be described later). Further, the operator can operate the operation unit to give an autonomous traveling instruction to the work vehicle 10. Further, the operator can grasp the traveling state of the working vehicle 10 autonomously traveling in the field F according to the traveling route R0 from the traveling locus displayed on the operation terminal 20 at a place away from the working vehicle 10. ..

The storage unit 22 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 22 stores a control program such as a travel route generation program for causing the control unit 21 to execute a travel route generation process (see FIG. 8) described later. For example, the travel route generation program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a reading device (not shown) such as a CD drive or a DVD drive included in the operation terminal 20. It is stored in the storage unit 22. The travel route generation program may be downloaded from the server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22. Further, the storage unit 22 may store work information (cutting amount, harvesting amount, etc.) transmitted from the work vehicle 10.

Further, a dedicated application for autonomously traveling the work vehicle 10 is installed in the storage unit 22. The control unit 21 activates the dedicated application to set various information about the work vehicle 10, generate a travel route of the work vehicle 10, and give an autonomous travel instruction to the work vehicle 10.

As shown in FIG. 1, the control unit 21 of the operation terminal 20 according to the present embodiment includes a vehicle setting processing unit 211, a field setting processing unit 212, a work setting processing unit 213, a route generation processing unit 214, and a priority setting processing unit. It includes various processing units such as 215, display processing unit 216, notification processing unit 217, and output processing unit 218. The control unit 21 functions as the various processing units by executing various processing according to the traveling route generation program on the CPU. Further, a part or all of the processing unit may be composed of an electronic circuit. The travel route generation program may be a program for causing a plurality of processors to function as the processing unit.

The vehicle setting processing unit 211 sets information regarding the work vehicle 10 (tractor) (hereinafter referred to as work vehicle information). The vehicle setting processing unit 211 refers to the model of the work vehicle 10, the position where the positioning antenna 144 is attached in the work vehicle 10, the type of the work machine 13, the size and shape of the work machine 13, and the work vehicle 10 of the work machine 13. Information such as the position, the working vehicle speed and engine rotation speed of the work vehicle 10, the turning vehicle speed and engine rotation speed of the work vehicle 10 is set by the operator performing an operation registered in the operation terminal 20. ..

The field setting processing unit 212 sets information about the field F (hereinafter referred to as field information). The field setting processing unit 212 performs an operation of registering information such as the position and shape of the field F, the running start position S and the running end position G for which autonomous running is to be started, and the work direction on the operation terminal 20. To set. The field setting processing unit 212 is an example of the position setting processing unit of the present invention.

The working direction means a direction in which the work vehicle 10 is driven while working with the work machine 13 in the work area which is the area excluding the non-work area such as the headland and the non-cultivated land from the field F.

For the information on the position and shape of the field F, for example, the operator gets on the work vehicle 10 and operates so as to make one round around the outer circumference of the field F, and records the transition of the position information of the positioning antenna 144 at that time. By doing so, it can be acquired automatically. Further, the position and shape of the field F are based on a polygon obtained by the operator operating the operation terminal 20 and designating a plurality of points on the map while the map is displayed on the operation terminal 20. You can also get it. The region specified by the acquired position and shape of the field F is a region (traveling region) in which the work vehicle 10 can travel.

The work setting processing unit 213 sets information (hereinafter, referred to as work information) regarding how the work is specifically performed. As work information, the work setting processing unit 213 skips, which is the presence or absence of cooperative work between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, and the number of work routes to be skipped when the work vehicle 10 turns on the headland. The number, the width of the headland, the width of the non-cultivated land, etc. can be set.

The route generation processing unit 214 generates a travel route R0, which is a route for autonomously traveling the work vehicle 10, based on the setting information. The travel path R0 is a work start position movement path Ra which is a route from the travel start position S to the work start position P2 where the work vehicle 10 starts work, and a work which is a route from the work start position P2 to the travel end position G. It includes the route Rb (see FIG. 3). The control unit 21 sets the work start position P2 based on the travel start position S. The work route Rb is, for example, a travel route in which the work vehicle 10 is spirally traveled from the outside to the inside in the work area of the field F. In the example shown in FIG. 3, since the work vehicle 10 cuts the grass in the entire area in the field F, the entire route from the work start position P2 on the outer peripheral side to the inner circumference is the work route Rb. The route generation processing unit 214 generates and stores the travel route R0 of the work vehicle 10 based on the setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213. Can be done. The route generation processing unit 214 is an example of the route generation processing unit of the present invention.

Specifically, the route generation processing unit 214 generates the work start position movement route Ra (see FIG. 3) based on the travel start position S and the work start position P2 registered in the field setting. Further, the route generation processing unit 214 generates a work route Rb (see FIG. 3) based on the work start position P2 and the travel end position G. In the work route Rb shown in FIG. 3, the route shown by the dotted line included in the inner work route Rb indicates a route (idle running route) in which the work machine 13 is raised and traveled. The work route Rb is not limited to the route shown in FIG.

Here, a method of autonomously driving the work vehicle 10 from the current position P1 to the work start position P2 will be described. In the work vehicle 10, the data of the travel path R0 generated in the operation terminal 20 is transferred to the work vehicle 10, stored in the storage memory of the vehicle control device 11, and the current position P1 of the work vehicle 10 is stored by the positioning antenna 144. It is configured to be able to travel autonomously along the traveling route R0 while detecting the above. The current position P1 of the work vehicle 10 usually coincides with the position of the positioning antenna 144.

The work vehicle 10 according to the present embodiment travels in a substantially rectangular field F as shown in FIG. The work vehicle 10 is configured to be able to autonomously travel when the current position P1 is located in the field F, and autonomously travels when the current position P1 is located outside the field F (public road, etc.). It is configured so that it cannot be done. Further, the work vehicle 10 is configured to be able to autonomously travel when the current position P1 coincides with the travel start position S or when a predetermined travel start condition corresponding to the work vehicle 10 is satisfied.

When the current position P1 coincides with the travel start position S, the work vehicle 10 is instructed by the vehicle control device 11 to "start work" when the work start button is pressed on the operation screen by the operator. The vehicle autonomously travels from the current position P1 (travel start position S) to the work start position P2, and after reaching the work start position P2, the work by the work machine 13 (see FIG. 2) is started. That is, the control unit 21 permits autonomous traveling of the work vehicle 10 when the current position P1 coincides with the traveling start position S.

Further, when the work start condition is satisfied, the work start button is pressed by the operator on the operation screen and the instruction of "work start" is given to the work vehicle 10, as shown in FIG. 3 by the vehicle control device 11. In addition, the work autonomously travels from the current position P1 to the travel start position S, further autonomously travels from the travel start position S to the work start position P2, and after reaching the work start position P2, the work by the work machine 13 is started. The work vehicle 10 may autonomously travel from the current position P1 to the work start position P2 via the travel start position S when autonomous travel becomes possible, or the work vehicle 10 may autonomously travel from the current position P1 to the travel start position S. The vehicle may autonomously travel to the work start position P2 via the intermediate position of the work start position movement path Ra between the work start position P2 and the work start position P2. That is, the work vehicle 10 may or may not pass through the travel start position S when autonomously traveling on the work start position movement path Ra.

Here, the traveling start condition is that, for example, as shown in FIG. 4, the distance La from the traveling start position S to the current position P1 of the work vehicle 10 is within a predetermined distance Lth1 (for example, Lth1 = 5 m) (first). Conditions) are included. Further, the traveling start condition includes that the distance Lb from the work start position movement path Ra to the current position P1 of the work vehicle 10 is within a predetermined distance Lth2 (for example, Lth2 = 1 m) (second condition). Further, the traveling start condition includes that the angle D1 in the traveling direction of the work vehicle 10 with respect to the path direction of the work start position movement route Ra is within a predetermined angle Dth1 (for example, Dth1 = 35 degrees) (third condition). Further, the traveling start condition includes that the distance Lc from the work start position P2 to the current position P1 of the work vehicle 10 is a predetermined distance Lth3 (for example, Lth3 = 2 m) or more (fourth condition).

For example, when all of the first condition to the fourth condition are satisfied, the operator can perform the instruction operation of "work start", and the vehicle control device 11 starts the work of the work vehicle 10 from the current position P1. It becomes possible to autonomously drive to the position P2. That is, the control unit 21 permits autonomous traveling from the current position P1 to the work start position P2 when all of the first condition to the fourth condition are satisfied.

As described above, since the work vehicle 10 is configured to be able to start autonomous traveling at a position away from the work start position P2, when the distance between the entrance of the field F and the work start position P2 is large. The effort of the operator to move the work vehicle 10 can be reduced, and the efficiency of work using the work vehicle 10 can be improved.

By the way, for example, when the work start position movement route Ra and the work route Rb in the work area are close to each other or overlap with each other, the work vehicle 10 recognizes the work route Rb as a travel route, and the work start position movement route Ra intended by the user is used. Causes the problem of traveling on different routes. For example, as shown in FIG. 3, when the work vehicle 10 enters the field F from the entrance and becomes capable of autonomous traveling, the work vehicle 10 normally travels on the work start position movement path Ra to work. Although it should be directed to the start position P2, there arises a problem that the vehicle travels on the work route Rb that is close to or overlaps with the work start position movement route Ra. In this case, the work vehicle 10 travels on a route not intended by the user and also performs work (mowing work) not intended by the user.

Therefore, the autonomous traveling system 1 according to the present embodiment can allow the work vehicle 10 to travel on the route intended by the user even when the work start position movement route Ra and the work route Rb are close to each other or overlap each other. It has a various configurations. Specifically, the control unit 21 of the operation terminal 20 has the functions of the following processing units.

The priority setting processing unit 215 sets the work vehicle 10 to the work start position when the first predetermined condition is satisfied when the work start position movement path Ra and the work path Rb are included within a predetermined distance from the current position P1 of the work vehicle 10. The start path priority mode (corresponding to the first priority mode of the present invention) in which the movement path Ra is preferentially traveled, or the work start position movement path Ra and the work path Rb are included within a predetermined distance from the current position P1 of the work vehicle 10. When the second predetermined condition is satisfied, the work path priority mode (corresponding to the second priority mode of the present invention) in which the work vehicle 10 is preferentially traveled on the work path Rb is accepted. The priority setting processing unit 215 is an example of the priority setting processing unit of the present invention.

Here, the route setting processing unit 111 of the vehicle control device 11 determines whether or not the work start position movement path Ra and the work path Rb are included within a predetermined distance from the current position P1 of the work vehicle 10, and further. When the work start position movement path Ra and the work path Rb are included within a predetermined distance from the current position P1 of the work vehicle 10, it is determined whether or not the predetermined conditions (first predetermined condition, second predetermined condition) are satisfied. ..

Specifically, the priority setting processing unit 215 receives a priority mode (“start path priority mode” or “work path priority mode”) setting operation from the operator on the setting screen shown in FIG. For example, when the travel route R0 generated by the route generation processing unit 214 includes a portion where the work start position movement route Ra and the work route Rb are close to each other or overlap each other, the operator sets the work vehicle 10 at the work start position in the portion. It is set in advance which of the movement route Ra and the work route Rb is to be preferentially traveled. The priority mode setting operation may be performed after the work vehicle 10 has started traveling. For example, after the work vehicle 10 starts traveling, the operator gives priority to either the work start position movement path Ra or the work path Rb for the work vehicle 10 in the portion where the work start position movement path Ra and the work path Rb are close to each other or overlap. It is possible to set whether to run. The priority setting processing unit 215 displays the setting screen shown in FIG. 5 when the travel route R0 generated by the route generation processing unit 214 includes a portion where the work start position movement route Ra and the work route Rb are close to each other or overlap. You may let me. When the operator wants to drive the work vehicle 10 with priority on the work start position movement route Ra, he / she wants to select "start path priority" on the setting screen and drive the work vehicle 10 with priority on the work route Rb. In that case, select "work path priority" on the setting screen. The priority setting processing unit 215 sets (stores) the selected priority mode.

When the priority mode is set to the "start path priority mode" by the priority setting processing unit 215, the vehicle control device 11 sets the work start position movement path Ra within a predetermined distance (for example, 1 m) from the current position P1 of the work vehicle 10. When the work path Rb is included and the first predetermined condition (described later) is satisfied, the work vehicle 10 is driven on the work start position movement path Ra.

On the other hand, when the priority mode is set to the "work path priority mode" by the priority setting processing unit 215, the vehicle control device 11 moves the work start position within a predetermined distance (for example, 1 m) from the current position P1 of the work vehicle 10. When Ra and the work path Rb are included, the work vehicle 10 is driven on the work path Rb when the second predetermined condition (described later) is satisfied.

In the route setting processing unit 111 of the vehicle control device 11, the distance between the work start position movement path Ra and the work path Rb is equal to or less than the threshold value when the priority setting processing unit 215 accepts the start path priority mode setting operation. In the case (first predetermined condition), the work start position movement route Ra is set as the priority route. The route setting processing unit 111 is an example of the route setting processing unit of the present invention.

FIG. 6A shows an example of the positional relationship between the current position P1 of the work vehicle 10, the work start position movement path Ra, and the work path Rb. In FIG. 6A, the reference numeral L1 indicates the distance from the current position P1 of the work vehicle 10 to the priority route (here, the work start position movement path Ra), and the reference numeral L2 is from the current position P1 of the work vehicle 10 to the work vehicle 10. The distance to the nearest route (here, the work route Rb) is shown. The reference numeral Lth indicates the preset threshold value. The route setting processing unit 111 works with the work start position movement route Ra when the distances L1 and L2 are within the predetermined distance (for example, 1 m) and the priority setting processing unit 215 accepts the start path priority mode setting operation. When the distance (L1-L2) to the route Rb is equal to or less than the threshold value Lth (for example, Lth = 50 cm), the work start position movement route Ra is set as the priority route (see FIG. 6A).

That is, when the distances L1 and L2 are within the predetermined distance (for example, 1 m) and the priority setting processing unit 215 accepts the start path priority mode setting operation, the route setting processing unit 111 sets the distance L1 and the threshold value Lth. When the difference Ls (= L1-Lth) between the two is the distance L2 or less (Ls ≦ L2) (first predetermined condition), the work start position movement route Ra is set as the priority route (see FIG. 6A). The route setting processing unit 111 measures the distances L1 and L2, and determines whether or not the difference Ls (= L1-Lth) is the distance L2 or less (Ls ≦ L2).

When the work start position movement route Ra is set as the priority route by the route setting processing unit 111, the vehicle control device 11 causes the work vehicle 10 to travel on the work start position movement route Ra. For example, as shown in FIG. 6A, the vehicle control device 11 causes the work vehicle 10 to travel on the route Rc1 from the current position P1 to the work start position movement route Ra. Further, the vehicle control device 11 autonomously causes the work vehicle 10 to travel from the current position P1 to the work start position P2 along the work start position movement path Ra.

On the other hand, in the route setting processing unit 111, when the priority setting processing unit 215 accepts the setting operation of the start path priority mode, the distance between the work start position movement path Ra and the work path Rb exceeds the threshold value. In the case (second predetermined condition), the work route Rb is set as the priority route. The route setting processing unit 111 works with the work start position movement route Ra when the distances L1 and L2 are within the predetermined distance (for example, 1 m) and the priority setting processing unit 215 accepts the start path priority mode setting operation. When the distance (L1-L2) to the route Rb exceeds the threshold value Lth (for example, Lth = 50 cm), the work route Rb is set as the priority route (see FIG. 6B). The work route Rb set as the priority route is a part of the work route Rb that is close to or overlaps with the work start position movement route Ra among all the work routes Rb.

That is, when the distances L1 and L2 are within the predetermined distance (for example, 1 m) and the priority setting processing unit 215 accepts the start path priority mode setting operation, the route setting processing unit 111 sets the distance L1 and the threshold value Lth. When the difference Ls (= L1-Lth) of the above exceeds the distance L2 (Ls> L2) (second predetermined condition), the work path Rb is set as the priority path (see FIG. 6B).

When the work route Rb is set as the priority route by the route setting processing unit 111, the vehicle control device 11 causes the work vehicle 10 to travel on the work route Rb. For example, as shown in FIG. 6B, the vehicle control device 11 causes the work vehicle 10 to travel on the route Rc2 from the current position P1 to the work route Rb. Further, the vehicle control device 11 autonomously causes the work vehicle 10 to travel from the current position P1 to the work path Rb along the work path Rb. In this case, the work vehicle 10 performs mowing work by the work machine 13 on the work path Rb.

As another embodiment, in the route setting processing unit 111, when the priority setting processing unit 215 accepts the setting operation of the start path priority mode, the distance between the work start position movement path Ra and the work path Rb sets the threshold value. If it exceeds, the operation of selecting one of the work start position movement route Ra and the work route Rb may be accepted, and the selected route may be set as the priority route. For example, when the distances L1 and L2 are within the predetermined distance (for example, 1 m) and the priority setting processing unit 215 receives the setting operation of the start path priority mode, the route setting processing unit 111 receives the work start position movement route Ra. When the distance (L1-L2) between the work path Rb and the work path Rb exceeds the threshold value Lth (for example, Lth = 50 cm), an operation of selecting one of the work start position movement path Ra and the work path Rb is accepted. .. The route setting processing unit 111 sets the work start position movement route Ra as the priority route when the operator selects the work start position movement route Ra, and sets the work route Rb as the priority route when the operator selects the work route Rb. Set. As described above, when the distance between the work start position movement path Ra and the work path Rb exceeds the threshold value, the operator may be able to select the priority route of the work vehicle 10.

On the other hand, in the route setting processing unit 111, when the priority setting processing unit 215 accepts the setting operation of the work path priority mode and the distance between the work start position movement route Ra and the work path Rb is equal to or less than the threshold value, the route setting processing unit 111 receives. , The work route Rb is set as the priority route. FIG. 7A shows an example of the positional relationship between the current position P1 of the work vehicle 10, the work start position movement path Ra, and the work path Rb. In FIG. 7A, the reference numeral L1 indicates the distance from the current position P1 of the work vehicle 10 to the priority route (here, the work route Rb), and the reference numeral L2 is the route closest to the work vehicle 10 from the current position P1 of the work vehicle 10. (Here, the work start position movement path Ra) is shown. The reference numeral Lth indicates the preset threshold value. The route setting processing unit 111 works with the work start position movement route Ra when the distances L1 and L2 are within the predetermined distance (for example, 1 m) and the priority setting processing unit 215 accepts the setting operation of the work path priority mode. When the distance (L1-L2) to the route Rb is equal to or less than the threshold value Lth (for example, Lth = 50 cm), the work route Rb is set as the priority route (see FIG. 7A).

That is, when the distances L1 and L2 are within the predetermined distance (for example, 1 m) and the priority setting processing unit 215 accepts the setting operation of the work path priority mode, the route setting processing unit 111 sets the distance L1 and the threshold value Lth. When the difference Ls (= L1-Lth) between the two is the distance L2 or less (Ls ≦ L2), the work path Rb is set as the priority path (see FIG. 7A). The route setting processing unit 111 of the vehicle control device 11 measures the distances L1 and L2, and determines whether or not the difference Ls (= L1-Lth) is the distance L2 or less (Ls ≦ L2).

When the work route Rb is set as the priority route by the route setting processing unit 111, the vehicle control device 11 causes the work vehicle 10 to travel on the work route Rb. For example, as shown in FIG. 7A, the vehicle control device 11 causes the work vehicle 10 to travel on the route Rc2 from the current position P1 toward the work route Rb. Further, the vehicle control device 11 autonomously causes the work vehicle 10 to travel from the current position P1 to the work path Rb along the work path Rb. In this case, the work vehicle 10 performs mowing work by the work machine 13 on the work path Rb.

On the other hand, in the route setting processing unit 111, when the priority setting processing unit 215 accepts the setting operation of the work path priority mode, the distance between the work start position movement path Ra and the work path Rb exceeds the threshold value. In this case, the work start position movement route Ra is set as the priority route. The route setting processing unit 111 works with the work start position movement route Ra when the distances L1 and L2 are within the predetermined distance (for example, 1 m) and the priority setting processing unit 215 accepts the setting operation of the work path priority mode. When the distance (L1-L2) to the route Rb exceeds the threshold value Lth (for example, Lth = 50 cm), the work start position movement route Ra is set as the priority route (see FIG. 7B).

That is, when the distances L1 and L2 are within the predetermined distance (for example, 1 m) and the priority setting processing unit 215 accepts the setting operation of the work path priority mode, the route setting processing unit 111 sets the distance L1 and the threshold value Lth. When the difference Ls (= L1-Lth) of the above exceeds the distance L2 (Ls> L2), the work start position movement route Ra is set as the priority route (see FIG. 7B).

When the work start position movement route Ra is set as the priority route by the route setting processing unit 111, the vehicle control device 11 causes the work vehicle 10 to travel on the work start position movement route Ra. For example, as shown in FIG. 7B, the vehicle control device 11 causes the work vehicle 10 to travel on the route Rc1 from the current position P1 to the work start position movement route Ra. Further, the vehicle control device 11 autonomously causes the work vehicle 10 to travel from the current position P1 to the work start position P2 along the work start position movement path Ra.

As another embodiment, in the route setting processing unit 111, when the priority setting processing unit 215 accepts the setting operation of the work path priority mode, the distance between the work start position movement path Ra and the work path Rb sets the threshold value. If it exceeds the limit, the operation of selecting one of the work start position movement route Ra and the work route Rb may be accepted, and the selected route may be set as the priority route. For example, in the route setting processing unit 111, when the distances L1 and L2 are within the predetermined distance (for example, 1 m) and the priority setting processing unit 215 accepts the setting operation of the work path priority mode, the work start position movement route Ra When the distance (L1-L2) between the work path Rb and the work path Rb exceeds the threshold value Lth (for example, Lth = 50 cm), an operation of selecting one of the work start position movement path Ra and the work path Rb is accepted. .. The route setting processing unit 111 sets the work start position movement route Ra as the priority route when the operator selects the work start position movement route Ra, and sets the work route Rb as the priority route when the operator selects the work route Rb. Set. As described above, when the distance between the work start position movement path Ra and the work path Rb exceeds the threshold value, the operator may be able to select the priority route of the work vehicle 10.

Returning to FIG. 1, the display processing unit 216 causes the operation display unit 23 to display various types of information. Specifically, the display processing unit 216 causes the operation display unit 23 to display a setting screen for setting the work vehicle 10, the field F, the work content, the travel start position S, the work start position P2, the travel end position G, and the like.

Further, the display processing unit 216 causes the operation display unit 23 to display the travel route R0 generated by the route generation processing unit 214 (see FIG. 3). Here, the display processing unit 216 causes the operation display unit 23 to display the work start position movement path Ra and the work path Rb in different display modes. For example, as shown in FIG. 3, the display processing unit 216 displays the work start position movement path Ra as a dotted line and the work path Rb as a solid line. The display processing unit 216 may display the work start position movement path Ra and the work path Rb in different colors.

Further, the display processing unit 216 displays the travel start position S, the work start position P2, and the travel end position G on the travel route R0 generated by the route generation processing unit 214. The display processing unit 216 is an example of the display processing unit of the present invention.

The notification processing unit 217 notifies the information indicating whether the priority route set by the route setting processing unit 111 is the work start position movement route Ra or the work route Rb. For example, the notification processing unit 217 has a display mode capable of identifying the priority route (work start position movement route Ra or work route Rb) set by the route setting processing unit 111 on the display screen of the travel route R0 shown in FIG. Display. The notification processing unit 217 may output the voice corresponding to the information from the operation terminal 20. The notification processing unit 217 is an example of the notification processing unit of the present invention.

The output processing unit 218 outputs the information of the traveling route R0 generated by the route generation processing unit 214 to the work vehicle 10. Further, the output processing unit 218 can instruct the work vehicle 10 to start and stop autonomous traveling by transmitting a control signal to the work vehicle 10 via the communication unit 24. This makes it possible to autonomously drive the work vehicle 10. The output processing unit 218 is an example of the traveling processing unit of the present invention.

For example, the vehicle control device 11 autonomously causes the work vehicle 10 to travel from the travel start position S to the travel end position G based on the travel path R0 acquired from the operation terminal 20. Further, the vehicle control device 11 may autonomously travel from the travel end position G to the entrance of the field F when the work vehicle 10 finishes the work. That is, the travel end position G in FIG. 3 becomes the work end position, and the travel end position G can be set near the entrance of the field F. In this case, it is desirable that the vehicle control device 11 does not travel on the shortest route from the travel end position G to the entrance, but autonomously travels from the travel end position G to the entrance via the work route Rb. As a result, it is possible to prevent the traveling locus (tire mark) of the work vehicle 10 from remaining in the field F after the work is completed.

Here, when the work vehicle 10 is autonomously traveling, the control unit 21 can receive the state (position, traveling speed, etc.) of the work vehicle 10 from the work vehicle 10 and display it on the operation display unit 23.

The operation terminal 20 may be able to access the website (agricultural support site) of the agricultural support service provided by the server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal of the server by executing the browser program by the control unit 21. Then, the server includes each of the above-mentioned processing units and executes each process.

As another embodiment, the function of the route setting processing unit 111 of the vehicle control device 11 may be included in the control unit 21 of the operation terminal 20. That is, the operation terminal 20 may set the priority route. In this case, the operation terminal 20 outputs the information of the set priority route to the work vehicle 10.

[Traveling route generation processing]
Hereinafter, an example of the travel route generation process executed by the control unit 21 of the operation terminal 20 and the vehicle control device 11 will be described with reference to FIG. For example, the travel route generation process is started by the control unit 21 and the vehicle control device 11 when the control unit 21 receives an instruction from the operator to generate the travel route R0 of the work vehicle 10.

The present invention is an invention of a travel route generation method (an example of the autonomous travel method of the present invention) in which the control unit 21 and the vehicle control device 11 execute a part or all of the travel route generation process, or the travel route. It may be regarded as an invention of a travel path generation program (an example of the autonomous travel program of the present invention) for causing the control unit 21 and the vehicle control device 11 to execute a part or all of the generation method. Further, the traveling route generation process may be executed by one or a plurality of processors.

In step S1, the control unit 21 acquires various setting information for generating the travel path R0. Specifically, the control unit 21 acquires the work vehicle information, the field information, and the work information registered by the operator. The field information includes the travel start position S and the travel end position G of the work vehicle 10. In step S1, the control unit 21 sets the travel start position S and the travel end position G of the work vehicle 10.

Next, in step S2, the control unit 21 generates a travel path R0 for the work vehicle 10. Specifically, the control unit 21 has a work start position movement path Ra, which is a route from the travel start position S to the work start position P2 at which the work vehicle 10 starts work, and a travel end position G from the work start position P2. A traveling route R0 including a working route Rb, which is the route of the above, is generated (see FIG. 3).

Next, in step S3, the control unit 21 receives a priority mode setting operation from the operator. Specifically, the route setting processing unit 111 determines whether or not the work start position movement path Ra and the work path Rb are included within a predetermined distance (for example, 1 m) from the current position P1 of the work vehicle 10, and the above-mentioned When the work start position movement path Ra and the work path Rb are included within a predetermined distance, it is determined whether or not a predetermined condition is satisfied. Further, the control unit 21 satisfies the first predetermined condition when the work start position movement path Ra and the work path Rb are included within a predetermined distance (for example, 1 m) from the current position P1 of the work vehicle 10. In the start path priority mode in which the work start position movement path Ra is preferentially traveled, or when the work start position movement path Ra and the work path Rb are included within a predetermined distance (for example, 1 m) from the current position P1 of the work vehicle 10. When the second predetermined condition is satisfied, the work path priority mode setting operation for causing the work vehicle 10 to preferentially travel on the work route Rb is accepted.

For example, in the setting screen shown in FIG. 5, when the generated travel path R0 includes a portion where the work start position movement route Ra and the work route Rb are close to each other or overlap with each other, the operator sets the work vehicle 10 in the portion. Work start position It is set in advance which of the movement route Ra and the work route Rb is to be preferentially traveled. The operator selects "start path priority" when he / she wants to drive the work vehicle 10 with priority on the work start position movement route Ra, and "" when he / she wants to drive the work vehicle 10 with priority on the work route Rb. Select "Work path priority". The control unit 21 sets the priority mode selected by the operator.

Next, in step S4, the route setting processing unit 111 sets a priority route for traveling the work vehicle 10. Specifically, the route setting processing unit 111 receives a work start position movement path Ra and a work path Rb when the distance between the work start position movement path Ra and the work path Rb is equal to or less than the threshold value Lth when the start path priority mode setting operation is accepted. The movement route Ra is set as the priority route (see FIG. 6A). Further, the route setting processing unit 111 sets the work route Rb as the priority route when the distance between the work start position movement route Ra and the work route Rb exceeds the threshold value Lth when the start path priority mode setting operation is accepted. (See FIG. 6B).

On the other hand, the route setting processing unit 111 prefers the work path Rb when the distance between the work start position movement path Ra and the work path Rb is equal to or less than the threshold value Lth when the work path priority mode setting operation is accepted. (See FIG. 7A). Further, when the route setting processing unit 111 accepts the setting operation of the work path priority mode and the distance between the work start position movement path Ra and the work path Rb exceeds the threshold value Lth, the route setting processing unit 111 receives the work start position movement path Ra. Is set as the priority route (see FIG. 7B). In step S4, the route setting processing unit 111 stores the information of the calculation formula (Ls ≦ L2) (see FIGS. 6A and 6B) for setting the priority route in the storage memory of the vehicle control device 11.

Next, in step S5, the control unit 21 stores the generated information on the travel path R0 in the storage unit 22 and outputs it to the work vehicle 10. The vehicle control device 11 autonomously drives the work vehicle 10 based on the information of the travel route R0 and the priority route.

As described above, in the autonomous traveling system 1 according to the present embodiment, the traveling start position S and the traveling end position G of the work vehicle 10 are set, and the work start position movement path from the travel start position S to the work start position P2. A travel path R0 including Ra and a work path Rb from the work start position P2 to the travel end position G is generated. Further, the autonomous traveling system 1 starts work on the work vehicle 10 when the first predetermined condition is satisfied when the work start position movement path Ra and the work path Rb are included within a predetermined distance from the current position P1 of the work vehicle 10. The start path priority mode (first priority mode) in which the position movement path Ra is preferentially traveled, or the work start position movement path Ra and the work path Rb are included within a predetermined distance from the current position P1 of the work vehicle 10. 2 Accepts the setting operation of the work path priority mode (second priority mode) in which the work vehicle 10 preferentially travels on the work route Rb when a predetermined condition is satisfied. Further, the autonomous traveling system 1 sets the work start position movement route Ra as the priority route when the distance between the work start position movement path Ra and the work path Rb is equal to or less than the threshold value when the start path priority mode is accepted. Then, when the work path priority mode is accepted and the distance between the work start position movement path Ra and the work path Rb is equal to or less than the threshold value, the work path Rb is set as the priority route.

As a result, for example, when the operator sets the start path priority mode and the work start position movement path Ra and the work path Rb are close to each other or overlap each other (the distance between the work start position movement path Ra and the work path Rb is a threshold value). In the following cases), the work vehicle 10 can be driven on the work start position movement path Ra (see FIG. 6A). Therefore, it is possible to prevent the work vehicle 10 from recognizing the work route Rb as a travel route and traveling on a route different from the work start position movement route Ra intended by the user. For example, when the work vehicle 10 enters the field F from the entrance and starts traveling, the work vehicle 10 can be appropriately autonomously traveled to the work start position P2 along the work start position movement path Ra.

Further, for example, when the operator sets the work path priority mode and the work start position movement path Ra and the work path Rb are close to each other or overlap each other (the distance between the work start position movement path Ra and the work path Rb is equal to or less than the threshold value). In some cases), the work vehicle 10 can be driven on the work path Rb (see FIG. 7A). Therefore, it is possible to prevent the work vehicle 10 from recognizing the work start position movement route Ra as a travel route and traveling on a route different from the work route Rb intended by the user. For example, when the work vehicle 10 temporarily suspends the work and restarts the work, the work vehicle 10 can be appropriately autonomously traveled to the work path Rb to restart the work.

Therefore, even when the work start position movement route Ra and the work route Rb are close to each other or overlap each other, the work vehicle 10 can be driven on the route intended by the user.

In the above-described embodiment, the work vehicle 10 for performing mowing work has been described, but the present invention can also be applied to the work vehicle 10 for performing other work. For example, the work vehicle 10 may perform tillage work. FIG. 9 shows an example of the traveling path R0 corresponding to the work vehicle 10 performing the tilling work. In FIG. 9, the field F includes a work area F1 in which the work vehicle 10 reciprocates to perform tillage work, and a headland area F2 in which the work vehicle 10 goes around the outside of the work area F1 and performs tillage work. When the work vehicle 10 enters the field F from the entrance, it starts autonomous traveling at the traveling start position S, and autonomously travels toward the working start position P2 along the work start position movement path Ra. Even in this case, it is possible to travel diagonally from the travel start position S to the work start position P2 at the shortest distance, but it is efficient to leave a travel locus (tire mark) that is not parallel to the work path Rb. Therefore, it is preferable to travel on a route parallel to the work route Rb as much as possible. The same applies when the traveling end position G is set near the entrance of the field F.

In this case, for example, when the work start position movement path Ra and the work path Rb in the headland area F2 are close to each other or overlap with each other, the route setting processing unit 111 may perform the same as in the above embodiment (see FIG. 3). Based on the priority mode (start path priority mode or work path priority mode) set by the operator, a priority route (work start position movement route Ra or work route Rb) for driving the work vehicle 10 with priority is set.

1: Autonomous traveling system 10: Work vehicle 20: Operation terminal 111: Route setting processing unit 211: Vehicle setting processing unit 212: Field setting processing unit (position setting processing unit)
213: Work setting processing unit 214: Route generation processing unit 215: Priority setting processing unit 216: Display processing unit 217: Notification processing unit 218: Output processing unit G: Travel end position P1: Current position P2: Work start position R0: Travel Route Ra: Work start position Movement route Rb: Work route S: Travel start position

Claims (12)

A position setting processing unit that sets the running start position and running end position of the work vehicle,
A travel route including a work start position movement route that is a route from the travel start position to the work start position where the work vehicle starts work, and a work route that is a route from the work start position to the travel end position. Route generation processing unit to generate and
When the work start position movement route and the work route are included within a predetermined distance from the current position of the work vehicle, the work vehicle is preferentially traveled on the work start position movement route when the first predetermined condition is satisfied. 1 Priority mode, or when the work start position movement route and the work route are included within a predetermined distance from the current position of the work vehicle and the second predetermined condition is satisfied, the work vehicle is given priority to the work route. The priority setting processing unit that accepts the setting operation of the second priority mode to be driven, and
When the priority setting processing unit accepts the setting operation of the first priority mode and the distance between the work start position movement route and the work path is equal to or less than the threshold value, the work start position movement route is set as the priority route. When the priority setting processing unit accepts the setting operation of the second priority mode and the distance between the work start position movement path and the work path is equal to or less than the threshold value, the work path is prioritized. The route setting processing unit to set the route and
Autonomous driving system equipped with. The route setting processing unit performs the work when the distance between the work start position movement route and the work route exceeds the threshold value when the priority setting processing unit accepts the setting operation of the first priority mode. Set the route as the priority route,
The autonomous driving system according to claim 1. The route setting processing unit is described when the distance between the work start position movement route and the work route exceeds the threshold value when the priority setting processing unit accepts the setting operation of the first priority mode. Accepts an operation to select one of the work start position movement route and the work route, and sets the selected route as the priority route.
The autonomous driving system according to claim 1. The route setting processing unit performs the work when the distance between the work start position movement route and the work route exceeds the threshold value when the priority setting processing unit accepts the setting operation of the second priority mode. Set the start position movement route as the priority route,
The autonomous driving system according to claim 1. The route setting processing unit is described when the distance between the work start position movement route and the work route exceeds the threshold value when the priority setting processing unit accepts the setting operation of the second priority mode. Accepts an operation to select one of the work start position movement route and the work route, and sets the selected route as the priority route.
The autonomous driving system according to claim 1. When the work start position movement route is set as the priority route by the route setting processing unit, the travel processing unit autonomously causes the work vehicle to travel from the current position to the work start position along the work start position movement route. Further prepare,
The autonomous driving system according to claim 1. Further, a traveling processing unit for autonomously traveling the work vehicle from the current position to the work route when the work route is set as the priority route by the route setting processing unit is provided.
The autonomous driving system according to claim 1. Further, a display processing unit for displaying the traveling route generated by the route generation processing unit on the operation terminal is provided.
The display processing unit causes the operation terminal to display the work start position movement route and the work route in different display modes.
The autonomous driving system according to any one of claims 1 to 7. The display processing unit displays the travel start position, the work start position, and the travel end position on the travel route generated by the route generation processing unit.
The autonomous traveling system according to claim 8. Further provided with a notification processing unit for notifying information indicating whether the priority route set by the route setting processing unit is the work start position movement route or the work route.
The autonomous driving system according to any one of claims 1 to 9. One or more processors
Setting the running start position and running end position of the work vehicle,
A travel route including a work start position movement route that is a route from the travel start position to the work start position where the work vehicle starts work, and a work route that is a route from the work start position to the travel end position. To generate and
When the work start position movement route and the work route are included within a predetermined distance from the current position of the work vehicle, the work vehicle is preferentially traveled on the work start position movement route when the first predetermined condition is satisfied. 1 Priority mode, or when the work start position movement route and the work route are included within a predetermined distance from the current position of the work vehicle and the second predetermined condition is satisfied, the work vehicle is given priority to the work route. Accepting the setting operation of the second priority mode to drive and
When the setting operation of the first priority mode is accepted and the distance between the work start position movement route and the work route is equal to or less than the threshold value, the work start position movement route is set as the priority route, and the first priority mode is set. 2 When the priority mode setting operation is accepted and the distance between the work start position movement route and the work route is equal to or less than the threshold value, the work route is set as the priority route.
Autonomous driving method to execute. Setting the running start position and running end position of the work vehicle,
A travel route including a work start position movement route that is a route from the travel start position to the work start position where the work vehicle starts work, and a work route that is a route from the work start position to the travel end position. To generate and
When the work start position movement route and the work route are included within a predetermined distance from the current position of the work vehicle, the work vehicle is preferentially traveled on the work start position movement route when the first predetermined condition is satisfied. 1 Priority mode, or when the work start position movement route and the work route are included within a predetermined distance from the current position of the work vehicle and the second predetermined condition is satisfied, the work vehicle is given priority to the work route. Accepting the setting operation of the second priority mode to drive and
When the setting operation of the first priority mode is accepted and the distance between the work start position movement route and the work route is equal to or less than the threshold value, the work start position movement route is set as the priority route, and the first priority mode is set. 2 When the priority mode setting operation is accepted and the distance between the work start position movement route and the work route is equal to or less than the threshold value, the work route is set as the priority route.
An autonomous driving program for running one or more processors.

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