JP7581871B2 - Work vehicle control system - Google Patents

Description

The present invention relates to a control system for a work vehicle.

Conventionally, when setting a work route for a work vehicle such as an autonomous agricultural tractor, a technique is known in which a specification unit that specifies candidate autonomous driving routes on which the work vehicle can start autonomous driving sets a candidate specification area, and makes it possible to specify a work route included in the candidate specification area as a candidate autonomous driving route (see, for example, Patent Document 1).

JP 2018-147163 A

However, with the conventional technology described above, when the position where the work vehicle starts autonomous driving (the position where work begins, hereinafter referred to as the work starting point) is determined in advance, it is not possible to generate an appropriate movement route to the work starting point, and therefore it is not possible to improve the efficiency of movement to the work starting point. Also, for example, even if there is an area that you do not want to enter when moving to the work starting point (a no-entry area), it is not possible to set an arbitrary movement route that bypasses the no-entry area. In other words, the conventional technology described above has room for further improvement in terms of improving work efficiency.

The present invention has been made in consideration of the above, and aims to provide a control system for a work vehicle that can set a travel route according to the preferences of the worker, improve the efficiency of travel to the work start point, and thereby improve work efficiency.

In order to solve the above-mentioned problems and achieve the object, the control system for a work vehicle according to the embodiment includes a traveling vehicle body capable of traveling within a field, a positioning device that acquires the self-position of the traveling vehicle body, an azimuth angle acquisition means that acquires the azimuth angle of the traveling vehicle body, a control unit that generates a work path including a work start point within the field and controls the traveling vehicle body to perform work while autonomously traveling along the generated work path, and a mobile terminal device that has in advance information on the turning radius of the traveling vehicle body when moving within the field, and the mobile terminal device controls the azimuth angle acquisition means. Based on the azimuth vector acquired in the step and the turning radius circle tangent to the self-position acquired by the positioning device, the work path vector and the turning radius circle tangent to the work start point, and the tangents to the two turning radius circles, a movement path from the self-position of the traveling vehicle body to the work start point is generated, and when an arbitrary via point is set from the mobile terminal device, a via turning circle of the turning radius centered on the via point is set, and the movement path is changed to a path that passes through the arc of the via turning circle.

The work vehicle according to the embodiment allows the travel route to be set according to the worker's preferences, making travel to the work start point more efficient and improving work efficiency.

FIG. 1 is a schematic left side view showing a work vehicle according to an embodiment. FIG. 2 is a block diagram showing a control system for a work vehicle according to the embodiment. FIG. 3 is an explanatory diagram (part 1) of autonomous driving in a farm field. FIG. 4 is an explanatory diagram (part 2) of autonomous driving in a farm field. FIG. 5 is a flowchart (part 1) showing the process of setting a travel route. FIG. 6 is a flowchart (part 2) showing the process of setting a travel route. FIG. 7 is an explanatory diagram of a route pattern of a travel route. FIG. 8A is an explanatory diagram of a left turn-right turn-left turn route pattern, and FIG. 8B is an explanatory diagram of a right turn-left turn-right turn route pattern. FIG. 9 is an explanatory diagram (part 1) of a change in a travel route on the display screen of a mobile terminal device. FIG. 10 is an explanatory diagram (part 2) of a travel route change on the display screen of a mobile terminal device. FIG. 11 is an explanatory diagram (part 3) of a change in a travel route on the display screen of a mobile terminal device. FIG. 12A is an explanatory diagram of route selection when a via turning circle is set to the right of the original route, (b) is an explanatory diagram of route selection when a via turning circle is set to the left of the original route, and (c) is an explanatory diagram of route selection when a via turning circle is set across the original route. FIG. 13 is an explanatory diagram (part 1) of offset setting of the intermediate turning circle. FIG. 14 is an explanatory diagram (part 2) of offset setting of the intermediate turning circle.

Below, an embodiment of the work vehicle control system disclosed in the present application will be described in detail with reference to the attached drawings. Note that the present invention is not limited to the embodiment described below.

<Overview of work vehicle (tractor)>
First, an overview of a work vehicle 1 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic left side view showing a work vehicle 1 according to an embodiment. Note that, in the following, a tractor will be used as an example of the work vehicle 1. The tractor 1, which is a work vehicle, is an agricultural tractor that performs agricultural work in a field while traveling by itself.

The tractor 1, which is a work vehicle, is operated by a driver (also called an operator) and drives through a field to perform a specified task, and also drives autonomously through the field to perform a specified task, controlled by a control system centered on the control unit 200 (see FIG. 2), which will be described later.

In the following description, the forward/rearward direction refers to the direction of travel of the tractor 1 when it is moving straight ahead, with the forward side of the direction of travel defined as "front" and the rearward side defined as "rear." The forward direction of the tractor 1 refers to the direction from the driver's seat 8 (described below) to the steering wheel 9 when the tractor 1 is moving straight ahead.

The left-right direction is a direction that is horizontally perpendicular to the front-rear direction. In the following, left and right are defined with respect to the "front" side. That is, when the operator is seated in the operator's seat 8 and facing forward, the left hand side is the "left" and the right hand side is the "right". The up-down direction is the vertical direction. The front-rear direction, left-right direction, and up-down direction are perpendicular to each other in three dimensions. In the following explanation, the tractor 1 or the traveling vehicle body 2 may be referred to as the "machine body".

As shown in FIG. 1, the tractor 1 comprises a running body 2 and a work implement 6. The running body 2 is capable of running in a field and comprises front wheels 3 and rear wheels 4. The front wheels 3 are a pair of left and right wheels for steering (steering wheels). The rear wheels 4 are a pair of left and right wheels for driving (driving wheels). The running body 2 may be equipped with a crawler device instead of the wheels (at least one of the front wheels 3 and the rear wheels 4). In this case, the running crawlers are the driving wheels.

The rotational power generated by the engine E, which is the drive source housed inside the bonnet 5, is transmitted to the rear wheels 4, which are the drive wheels, after being appropriately reduced in speed by a speed change device (transmission) 121 (see FIG. 2) provided in a power transmission device (mission case) 12. The rear wheels 4 are driven by the rotational power transmitted from the engine E. The speed change device 121 switches the rotational power transmitted from the engine E to one of multiple gears (for example, 1st to 8th gears).

The traveling vehicle body 2 is configured to be able to transmit the power generated by the engine E and slowed down by the transmission 121 to the front wheels 3 via the 4WD clutch. In this case, when the 4WD clutch transmits power, the four wheels, the front wheels 3 and the rear wheels 4, are driven by the power transmitted from the engine E. Also, when the 4WD clutch cuts off the transmission of power, only the two wheels, the rear wheels 4, are driven by the power transmitted from the engine E. In this way, the traveling vehicle body 2 is configured to be able to switch between two-wheel drive (2WD) and four-wheel drive (4WD).

A work implement 6 that performs work in the field is connected to the rear of the traveling body 2, and a PTO (Power take-off) device 7 having a PTO shaft 71 that transmits power to drive the work implement 6 is provided. A driver's seat 8 where the operator sits when operating the tractor 1 is provided in the center of the traveling body 2.

A steering wheel 9, which is a handle for steering the front wheels 3, is provided in front of the cockpit 8. The steering wheel 9 and the drive unit that drives the steering wheel constitute a steering device 122 (see FIG. 2). The steering wheel 9 is provided at the upper end of the handle post 10. Various operating pedals 11 (accelerator pedal, brake pedal, clutch pedal) are provided below the handle post 10, near the feet of the pilot when he/she is sitting in the cockpit 8.

A lifting device 13 for raising and lowering the working machine 6 is provided at the rear of the traveling vehicle body 2. The lifting device 13 moves the working machine 6 to a non-working position by raising it. The lifting device 13 also moves the working machine 6 to a ground working position by lowering it. The lifting device 13 includes a hydraulic lifting cylinder 131, a lift arm 132, a lift rod 133, a lower link 134, and a top link 135.

When hydraulic oil is supplied to the lift cylinder 131, the lift arm 132 rotates around the axis AX to raise the work machine 6, and when hydraulic oil is discharged from the lift cylinder 131, the lift arm 132 rotates around the axis AX to lower the work machine 6. A lift arm sensor that detects the rotation angle of the lift arm 132 is provided at the base of the lift arm 132 (near the axis AX). The height of the work machine 6 is calculated based on the detection value of the lift arm sensor.

The lift arm 132 is also connected to the lower link 134 via the lift rod 133. In this way, the lifting device 13 connects the work machine 6 to the traveling vehicle body 2 via the lower link 134 and the top link 135 so that the work machine 6 can be raised and lowered.

In the example shown in FIG. 1, the working machine 6 is a rotary tiller. The rotary tiller tills the field (soil) by rotating the tiller tines 61 using power transmitted from the PTO shaft 71 of the PTO device 7.

The tractor 1 also includes a control unit 200 (see FIG. 2). The control unit 200 controls the engine E and the traveling speed of the traveling vehicle body 2. The control unit 200 also controls the working implement 6.

The tractor 1 also includes a positioning device 150. The positioning device 150 is provided on the upper part of the traveling body 2, and measures the position of the traveling body 2 at a predetermined period, acquiring information (e.g., latitude and longitude) of the traveling body 2's own position P0 (see FIG. 3). The positioning device 150 is, for example, a Global Navigation Satellite System (GNSS), and can receive radio waves from a navigation satellite S orbiting in the sky to determine position and keep time.

The tractor 1 also allows the operator to operate the mobile terminal device 160 to set various tasks in a specific field. The mobile terminal device 160 is, for example, a tablet terminal, and can be connected to a communication network such as the Internet, and can be connected to the work management device via the communication network. In this case, the work management device is a system capable of so-called cloud computing. The mobile terminal device 160 and the work management device are connected, for example, via a wireless LAN (Local Area Network).

The mobile terminal device 160 includes a storage unit that is composed of, for example, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and a display unit and an operation unit that are composed of a touch panel. Note that various keys and buttons may be provided separately as the operation unit. The mobile terminal device 160 may also include a processing unit that has a CPU (Central Processing Unit) or the like so that each unit can be controlled by electronic control, similar to the control unit 200 described later.

The work management device may be a processing device having a CPU, a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), or a HDD (Hard Disk Drive), or even a computer equipped with an input/output device.

The tractor 1 also includes an azimuth angle acquisition means 170 (see FIG. 2). The azimuth angle acquisition means 170 acquires the azimuth angle of the traveling vehicle body. The azimuth angle acquisition means 170 is, for example, an azimuth angle sensor. Hereinafter, the azimuth angle acquisition means 170 is referred to as the azimuth angle sensor.

The azimuth angle sensor 170 detects, for example, the absolute azimuth angle of the traveling direction of the traveling vehicle body 2 (for example, "north" is 0° (360°), "east" is 90°, "south" is 180°, and "west" is 270°). The azimuth angle sensor 170 detects the absolute azimuth angle at regular intervals and transmits the detected absolute azimuth angle to the control unit 200 or the like. In addition to the azimuth angle sensor, the azimuth angle acquisition means 170 may be, for example, a geomagnetic sensor.

<Work vehicle (tractor) control system>
Next, the control system 100 for the work vehicle according to the embodiment, i.e., the control system for the work vehicle (tractor) 1 centered around the control unit 200, will be described with reference to Fig. 2. Fig. 2 is a block diagram showing the control system 100 for the work vehicle according to the embodiment. As shown in Fig. 2, the control unit 200 includes an engine ECU (Electronic Control Unit) 201, a traveling system ECU 202, and a work implement lifting system ECU 203.

The engine ECU 201 controls the rotation speed of the engine E. The travel system ECU 202 controls the rotation of the drive wheels (rear wheels 4) to control the travel speed of the travel vehicle body 2 (see FIG. 1). The work machine lifting system ECU 203 controls the lifting device 13 to drive the work machine 6 to lift and lower.

The control unit 200 is capable of controlling each part through electronic control, and includes a processing unit having a CPU (Central Processing Unit) and the like, as well as a storage unit consisting of, for example, a hard disk, ROM (Read Only Memory), RAM (Random Access Memory), etc., in which various programs and necessary data such as the planned travel route (hereinafter referred to as the work route) R1 of the traveling vehicle body 2, which is set in advance for each field, are stored.

As shown in FIG. 2, the control unit 200 is connected to a positioning device (GNSS) 150, an azimuth angle sensor 170, an engine rotation sensor 110, a vehicle speed sensor 111, a gear shift sensor 112, a steering angle sensor 113, etc. In addition, the control unit 200 is connected to an engine E, a gear shift device 121, a steering device 122, a lifting device 13, etc.

The engine rotation sensor 110 detects the rotation speed of the engine E. The vehicle speed sensor 111 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see FIG. 1). The gear shift sensor 112 detects which of a plurality of gear shift stages the transmission 121 is in. The turning angle sensor 113 detects the turning angle of the front wheels 3 (see FIG. 1), which are the steered wheels.

The control unit 200 receives inputs of information on the position (self-position) of the traveling vehicle body 2 in a field or the like from the positioning device 150, the RPM of the engine E from the engine rotation sensor 110, the vehicle speed of the traveling vehicle body 2 from the vehicle speed sensor 111, the current gear from the gear shift sensor 112, and the turning angle of the front wheels 3 from the turning angle sensor 113. When the control unit 200 causes the traveling vehicle body 2 to travel autonomously, as described above, the control unit 200 uses the detection value of the turning angle sensor 113 to feed back the turning angle of the front wheels 3, thereby controlling the steering cylinder connected to the steering wheel 9 (see FIG. 1), thereby steer- ing the steering wheel 9.

In the control unit 200, the engine ECU 101 is connected to the engine E, the driving system ECU 102 is connected to the transmission 121 and the steering system 122, and the work machine lifting system ECU 103 is connected to the lifting device 13. The work machine lifting system ECU 103 raises and lowers the work machine via the lifting device 13.

In addition, when the traveling vehicle body 2 is made to travel autonomously, the control unit 200 predetermines a work route R1 (see FIG. 3) for each field according to the work to be performed by the work implement 6, converts it into data, and stores it in the memory unit. Based on the measurement results of the positioning device 150, the control unit 200 controls the engine E, the transmission 121, the steering device 122, the lifting device 13, etc. so that the tractor 1 travels along the work route R1 stored in the memory unit and performs work. The work route R1 is set according to the shape and size of the field, the width, length, and number of ridges formed in the field, and the type of crop. In addition, the control unit 200 predetermines the turning radius of the tractor 1 (traveling vehicle body 2) when moving in the field.

As described above, the control unit 200 is wirelessly connected to, for example, a mobile terminal device (tablet terminal) 160 that can be carried by the worker. The control unit 200 controls each part of the tractor 1 based on instruction signals from the mobile terminal device 160 operated by the worker. The control unit 200 may have a machine information database of the tractor 1 and be configured to be able to transfer information such as model number from the mobile terminal device 160, etc.

<Autonomous driving in farm fields>
Next, the autonomous traveling of the work vehicle (tractor) 1 in the field F1 will be described with reference to Figures 3 to 8. Figures 3 and 4 are explanatory diagrams of the autonomous traveling in the field F1, and are schematic diagrams of the field from above. Note that Figure 3 shows a case where the distance between the circle C1 of the turning radius when the traveling body 2 starts moving and the circle C2 of the turning radius when entering the work path R1 is a predetermined distance (for example, 10 m) or more, and Figure 4 shows a case where the distance between the circle C1 of the turning radius when the traveling body 2 starts moving and the circle C2 of the turning radius when entering the work path R1 is less than the predetermined distance.

Figures 5 and 6 are flowcharts showing the process of setting the movement route R2. Of these, Figure 6 shows the process of setting the movement route R2 that does not deviate from the deviation-prohibited area A2. Figure 7 is an explanatory diagram (table) of the route pattern of the movement route R2. Figure 8 (a) is an explanatory diagram of a route pattern of left turn-right turn-left turn, and (b) is an explanatory diagram of a route pattern of right turn-left turn-right turn.

For example, in the case of tilling work using a tractor 1 that performs work while traveling autonomously, the control unit 200 (see FIG. 2) generates a work route R1 with appropriate turning positions and tilling depths specified based on information including, for example, the overall length, overall width, and tread of the tractor 1, the capacity of the implement 6 (see FIG. 1), and the shape and area of the field F1.

In addition, the worker H can also operate the mobile terminal device 160 from the ridge F2 or other location to remotely send instructions to the tractor 1.

As shown in Figures 3 and 4, the tractor 1 enters the field F1 from the entrance/exit of the field F1 along the work path R1, and automatically performs tilling work while appropriately turning and traveling in the work area A1 set within the field F1. Depending on the program, the tractor 1 can also be controlled to exit the field F1 from the entrance/exit of the field F1 after tilling work and stop at a specified location.

The tractor 1 (traveling vehicle body 2) performs ground work while circling the headland area, which is, for example, the inside of the ridge F2, i.e., a predetermined area from the edge of the field F1 to the inside, as the headland area. The tractor 1 performs ground (cultivation) work by repeatedly moving straight ahead and turning along the work route R1 from a preset work start point P1 to a work end point P2 in a work area A1 that is inside the headland area.

<Setting the movement route to the work starting point>
In addition, in this embodiment, as shown in Figures 3 and 4, a movement route R2 for the tractor 1 (traveling body 2) is set so that the tractor 1 can move along an appropriate route to the work start point P1 when starting work.

In this case, as shown in Figures 3 and 4, the control unit 200 sets a circle C1 of turning radius tangent to the azimuth angle vector V1 acquired by the azimuth angle acquisition means 170 and the self-position P0 acquired by the positioning device 150, and sets a circle C2 of turning radius tangent to the vector V2 of the work route R1 and the work start point P1. The control unit 200 also sets a tangent L1 to the two turning radius circles C1 and C2. The control unit 200 generates multiple routes based on the two turning radius circles C1 and C2 and the tangent L1.

Here, the circle C1 of the turning radius tangent at the azimuth angle vector V1 and the self-position P0 has two circles: a left-turn movement start circle _C1L where the traveling vehicle body 2 starts moving by turning left, and a right-turn movement start circle _C1R where the traveling vehicle body 2 starts moving by turning right. Also, the circle C2 of the turning radius tangent at the vector V2 of the work path R1 and the work start point P1 has two circles: a left-turn approach circle _C2L where the traveling vehicle body 2 enters the work path R1 by turning left, and a right-turn approach circle C2R where the traveling vehicle body 2 enters the work path _R1 by turning right.

Then, the control unit 200 selects a circle C1 ( _C1L , _C1R ) with a turning radius on either the left or right side of the traveling vehicle body 2, selects a circle C2 ( _C2L , _C2R ) with a turning radius on either the left or right side of the work start point P1, and sets the shortest route from the self-position P0 to the work start point P1 from these multiple (four) routes as the travel route R2. The control unit 200 displays the set travel route R2 on the display screen of the mobile terminal device 160.

When setting the movement route R2, the control unit 200 generates multiple routes based on two circles C1 and C2 with turning radii and a tangent line L1, as shown in FIG. 5 (step S101).

Next, the control unit 200 selects the shortest route from the self-position P0 to the work start point P1 from the multiple routes (step S102). Next, the control unit 200 sets the selected shortest route as the movement route R2 (step S103) and ends the process.

With this configuration, during autonomous driving of the tractor 1, a route that can be traveled is generated by smoothly connecting the self-position P0 of the traveling body 2 and the work start point P1, and travel can be made along the route (travel route) R2 that is the shortest of the generated routes, so that travel to the work start point P1 can be made more efficient and work can be started smoothly. This improves work efficiency.

As shown in Figures 3 and 4, the control unit 200 also sets a departure-prohibited area A2 outside the working area A1, which prohibits the traveling vehicle body 2 from departing from the departure-prohibited area A2. Therefore, the traveling vehicle body 2 can travel (move) inside the departure-prohibited area A2. If the shortest route from the self-position P0 to the working start point P1 among multiple routes includes a partial route that deviates from the departure-prohibited area A2, the control unit 200 excludes the route that includes the partial route. In other words, if the route includes a component (partial route) that deviates from the departure-prohibited area A2, the route is excluded.

Then, the control unit 200 sets the shortest route from the self-position P0 to the work start point P1 from the remaining routes excluding the routes containing deviation components as the travel route R2. In this case, even if a route containing a deviation component is the shortest route, such a route is not set as the travel route R2. Note that if the next shortest route contains a deviation component, it is not set as the travel route R2. This process is repeated until a route not containing a deviation component is the shortest route. Furthermore, if all routes contain deviation components, the control unit 200 does not set the travel route R2, and displays, for example, on the display screen of the mobile terminal device 160, that the travel route R2 cannot be set.

When setting a travel route R2 that does not deviate from the departure-prohibited area A2, the control unit 200 generates multiple routes based on two circles C1 and C2 with turning radii and a tangent line L1, as shown in FIG. 6 (step S201).

Next, the control unit 200 selects the shortest route from the self-position P0 to the work start point P1 from the multiple routes (step S202). Next, the control unit 200 determines whether the shortest route includes a partial route that deviates from the deviation-prohibited area A2 (step S203).

If the control unit 200 determines that the shortest route includes a partial route that deviates from the deviation-prohibited area A2 (step S203: Yes), it reselects the shortest route from among routes other than the partial route that deviates, sets the reselected shortest route as the travel route R2 (step S204), and terminates the process.

If the control unit 200 determines that the shortest route does not include a partial route that deviates from the deviation-prohibited area A2 (step S203: No), the control unit 200 sets the selected shortest route as the travel route R2 (step S103) and ends the process. Note that in the processes of steps S203 and S204, the control unit 200 may also determine whether the reselected shortest route includes a partial route that deviates from the deviation-prohibited area A2, and may repeat this process until it is determined that the reselected shortest route does not include a partial route that deviates from the deviation-prohibited area A2.

This configuration allows the robot to move along the shortest route (movement route) R2 while preventing deviation from the field F1 or contact with the ridge F2, thereby improving the efficiency of movement to the work start point P1 while ensuring safety.

Here, we will further explain the case where the distance between circle C1, the turning radius when the traveling vehicle body 2 starts moving, and circle C2, the turning radius when entering the work route R1, is less than a predetermined distance, with reference to Figures 7 and 8.

As shown in FIG. 7, if the distance between circle C1 of the turning radius when the traveling vehicle body 2 starts moving and circle C2 of the turning radius when entering the work route R1 is equal to or greater than a predetermined distance, the control unit 200 sets the movement route R2 from among four route patterns: left turn-straight-left turn, left turn-straight-right turn, right turn-straight-left turn, and right turn-straight-right turn.

In addition, if the distance between circle C1 of the turning radius when the traveling vehicle body 2 starts moving and circle C2 of the turning radius when entering the work route R1 is less than a predetermined distance, the control unit 200 sets the movement route R2 from among the four route patterns of left turn-straight-left turn, left turn-straight-right turn, right turn-straight-left turn, and right turn-straight-right turn, and adds two route patterns of left turn-right turn-left turn and right turn-left turn-right turn.

When setting a left turn-right turn-left turn route, as shown in FIG. 8(a), the control unit 200 further sets a connecting circle C3 of turning radius tangent to the two circles C1 and C2 of turning radius. Also, when setting a right turn-left turn-right turn route, as shown in FIG. 8(b), the control unit 200 further sets a connecting circle C3 of turning radius tangent to the two circles C1 and C2 of turning radius.

With this configuration, even if the distance between circle C1, which is the turning radius when the traveling vehicle body 2 starts moving, and circle C2, which is the turning radius when entering the work path R1, is short, it is possible to set a movement path R2 that is the shortest path, thereby improving the efficiency of movement to the work start point P1.

The operator can also use the mobile terminal device 160 to remotely instruct the traveling vehicle body 2 to start moving. In this case, the control unit 200 sets a movement route R2 based on the self-position P0 and azimuth angle at the time when the mobile terminal device 160 instructs the traveling vehicle body 2 to start moving, that is, at the time when the control unit 200 receives an instruction signal to start moving from the mobile terminal device 160. Then, the control unit 200 moves the traveling vehicle body 2 along the set movement route R2.

With this configuration, a reasonable route can be set from the point where the mobile terminal device 160 issues an instruction to start moving, i.e., the point where the control unit 200 receives an instruction signal to start moving from the mobile terminal device 160, to the work start point P1, thereby making it possible to efficiently move to the work start point P1.

<Route change operation>
Next, a description will be given of an operation for changing the moving route R2 on the display screen 161 of the mobile terminal device 160 with reference to Figures 9 to 11. Figures 9 to 11 are explanatory diagrams of an operation for changing the moving route R2 on the display screen 161 of the mobile terminal device 160, and show the display of each operation on the display screen 161.

As described above, the mobile terminal device 160 is, for example, a tablet terminal. The mobile terminal device 160 has in advance information on the turning radius of the traveling vehicle body 2 when moving within the field F1. Similarly to the control unit 200 (see FIG. 2), the mobile terminal device 160 can generate a travel route R2, which is the shortest route to the work start point P1. The mobile terminal device 160 can execute various processes, including the generation of the travel route R2, by itself or in cooperation with the control unit 200.

That is, the mobile terminal device 160 generates a movement path R2 from the self-position P0 of the traveling vehicle body 2 to the work start point P1 based on the azimuth angle vector V1 acquired by the azimuth angle acquisition means 170 (see Figure 2), the turning radius circle C1 tangent at the self-position P0 acquired by the positioning device 150 (see Figure 2), the turning radius circle C2 tangent at the vector of the work path R1 and the work start point P1, and the tangent line L1 (see Figure 3) to the two turning radius circles C1 and C2.

As shown in FIG. 9, when an arbitrary waypoint P3 is set from the mobile terminal device 160 by an operator or the like, the mobile terminal device 160 sets a waypoint turning circle C4 with a turning radius centered on the waypoint P3 based on the turning radius information as well. When the waypoint turning circle C4 is set, the mobile terminal device 160 changes the travel route R2 to a route that passes through the arc of the waypoint turning circle C4.

In this case, the worker taps a desired position (which may be any position) on the display screen 161 with a finger or the like while looking at the route information displayed on the display screen (e.g., a touch panel screen) 161 of the mobile terminal device 160 and a guide display 162 encouraging tapping, thereby changing the route to one that passes through via point P3 (via turning circle C4). Note that the display screen 161 may be, for example, a touch panel (single touch) type, but may also be a so-called multi-touch type that allows more complex operations by tapping multiple positions simultaneously.

In addition, a field area may be further displayed on the display screen 161 to indicate the boundary between the field F1 (see FIG. 3) and the ridge F2 (see FIG. 3) outside the deviation-prohibited area A2.

Also, as shown in FIG. 9, a waypoint P3 and a way turning circle C4 are set at the vertex p1 of the working area A1, and the movement route R2 is changed to bypass the working area A1, but at the current time, the movement route R2 includes a route that deviates from the deviation-prohibited area A2. That is, the example shown in FIG. 9 is in a state where the movement route R2 has an inappropriate part (such as a deviation). For this reason, the setting completion button 163 on the display screen 161 is inoperable so that the setting completion operation cannot be performed. Note that in this case, the setting completion button 163 may be further dimmed to make it less noticeable.

As shown in FIG. 10, when an arbitrary way point P3 is further set by an operator or the like so as not to include a route that enters the deviation-prohibited area A3, an additional way turning circle C4 with a turning radius centered on the way point P3 is set. When the additional way turning circle C4 is set, the mobile terminal device 160 changes the movement route R2 to a route that passes through the arc of the way turning circle C4. In addition, since the changed route does not include a route that deviates from the deviation-prohibited area A2, the movement route R2 can be set. Therefore, the setting completion button 163 becomes operable on the display screen 161. If the setting completion button 163 is darkened, the darkening is cancelled so that the setting completion button 163 stands out.

When the arc of the turning radius circle C1 (the size of the turning radius circle C1) that is tangent at the azimuth angle vector V1 and the self-position P0 is changed, the mobile terminal device 160 changes the movement path R2 to follow the changed arc of the turning radius circle C1. Also, when the arc of the turning radius circle C2 (the size of the turning radius circle C2) that is tangent at the vector V2 of the work path R1 and the work start point P1 is changed, the mobile terminal device 160 changes the movement path R2 to follow the changed arc of the turning radius circle C2.

Furthermore, as shown in FIG. 11, when the arc of the intermediate turning circle C4 (the size of the intermediate turning circle C4) is changed, the mobile terminal device 160 changes the movement path R2 so that it follows the changed arc of the intermediate turning circle C4.

In addition, since the mobile terminal device 160 has information on the minimum value of the turning radius, when the arc of the turning radius circle C1, the arc of the turning radius circle C2, or the arc of the intermediate turning circle C4 is changed, the mobile terminal device 160 prohibits the turning radius (arc) from being changed below the minimum value in order to prevent deviation from the travel route R2 when the traveling vehicle body 2 moves. When the minimum value of the turning radius is not reached, the mobile terminal device 160 may be configured to prohibit the change and to display (warn) on the display screen 161 that the tolerance is exceeded. Note that the mobile terminal device 160 may also be configured to perform the same process when the maximum value of the turning radius is exceeded.

According to the above configuration, during autonomous driving, a route that can be traveled is generated by smoothly connecting the self-position P0 of the traveling vehicle body 2 and the work start point P1, and an arbitrary via point P3 that can be traveled to smoothly is set by the worker H from the mobile terminal device 160, so that the travel route R2 can be set according to the preferences of the worker H, thereby making it possible to efficiently travel to the work start point P1. This makes it possible to improve work efficiency.

In addition, if you want to turn the traveling body 2 gently, for example to avoid damaging the field F1 by turning the traveling body 2, you can change the turning radius to set an arbitrary movement route R2 that allows the traveling body 2 to move smoothly, and move efficiently to the work start point.

In addition, if the turning radius is set below the minimum value, there is a risk that the traveling vehicle body 2 will deviate from the travel path R2 when moving, so by prohibiting the turning radius from being changed below the minimum value, it is possible to prevent the traveling vehicle body 2 from deviating from the travel path R2 when moving, and it is possible to efficiently move to the work start point P1 while ensuring safety.

The operation of changing the travel route R2 on the display screen 161 of the mobile terminal device 160 will be further described with reference to Figure 12. Figure 12 is (a) an explanatory diagram of route selection when a via turning circle C4 is set to the right of the original route, (b) an explanatory diagram of route selection when a via turning circle C4 is set to the left of the original route, and (c) an explanatory diagram of route selection when a via turning circle C4 is set across the original route.

As shown in FIG. 12(a), when the set intermediate turning circle C4 is on the right side of the closest portion of the pre-changed moving route R2, the mobile terminal device 160 changes the moving route R2 so that the intermediate turning circle C4 turns left. Also, as shown in FIG. 12(b), when the set intermediate turning circle C4 is on the left side of the closest portion of the pre-changed moving route R2, the mobile terminal device 160 changes the moving route R2 so that the intermediate turning circle C4 turns right.

This configuration allows the traveling vehicle body 2 to travel smoothly, and when the intermediate turning circle C4 is set, the travel route R2 can be changed smoothly and efficiently, thereby improving the efficiency of travel to the work start point P1.

Also, as shown in FIG. 12(c), when the set intermediate turning circle C4 crosses the pre-change travel route R2, the mobile terminal device 160 displays on the display screen 161 to allow the worker or the like to select whether to change the travel route R2 to make a right turn or a left turn on the arc of the intermediate turning circle C4.

With this configuration, if the set intermediate turning circle C4 crosses the previous movement route R2, the movement route R2 can be changed smoothly and efficiently whether turning right or left. Therefore, by allowing the worker H to select it, an arbitrary movement route R2 can be set according to the preferences of the worker H, and the movement to the work start point P1 can be made more efficient.

The mobile terminal device 160 is also capable of offsetting the intermediate turning circle C4. Figures 13 and 14 are explanatory diagrams of offsetting the intermediate turning circle C4. As shown in Figure 13, the intermediate turning circle C4 can be offset inward or outward. For example, if the size of the intermediate turning circle C4 is changed to change the travel path R2 (toward the inside or outside), the steering angle (turning angle) when the traveling vehicle body turns will also change. For this reason, by offsetting the intermediate turning circle C4, it is possible to change the travel path R2 while fixing the steering angle.

Also, as shown in FIG. 14, the mobile terminal device 160 offsets the requested intermediate turning circle C4 inward even if the requested intermediate turning circle C4 falls below the minimum turning radius of the traveling vehicle body 2. When turning on the inside of a corner to avoid contact with a ridge F2 (see FIG. 3), making the arc of the intermediate turning circle C4 smaller may result in the circle falling below the minimum value, but by offsetting the circle inward, the route can be set on the inside without falling below the minimum value.

The offset via turning circle C4 is preferably located on a straight line connecting the vertex p1 of the working area A1 (see FIG. 9) and the vertex of the field area. The offset via turning circle C4 is also preferably located at a position that bisects the interior angle of the vertex p1 of the working area A1. An upper limit is set for the offset amount.

The turning radius of the traveling vehicle body 2 may be configured to change depending on the left-right width of the working implement 6 (see FIG. 1). The turning radius may also be configured to change depending on whether the working implement 6 is swung out of the field area and turns while remaining within the working area A1.

The turning radius may also be configured to change depending on the drive of the front wheels 3 (see FIG. 1), i.e., the front-wheel drive setting.

The mobile terminal device 160 can also cancel the intermediate turning circle C4 displayed on the display screen 161 by tapping again. The worker can freely add or cancel such intermediate turning circles C4. The mobile terminal device 160 can also generate a travel route R2 that does not include a route that enters the intermediate turning circle C4 when a no-entry area that prohibits the traveling vehicle body 2 from traveling is set in the field F1.

The above-described embodiment realizes the following work vehicle control system 100.

(1) A vehicle body 2 capable of traveling within a field F1, a positioning device 150 that acquires the self-position P0 of the vehicle body 2, an azimuth angle acquisition means 170 that acquires the azimuth angle of the vehicle body 2, a control unit 200 that generates a work route R1 including a work start point P1 within the field F1 and controls the vehicle body 2 to perform work while autonomously traveling along the generated work route R1, and a mobile terminal device 160 that has in advance information on the turning radius of the vehicle body 2 when moving within the field F1, and the mobile terminal device 160 has information on the azimuth angle vector V1 and The work vehicle control system 100 generates a movement route R2 from the self-position P0 of the traveling vehicle body 2 to the work start point P1 based on a circle C1 of a turning radius tangent at the self-position P0 acquired by the positioning device 150, a circle C2 of a turning radius tangent at the vector of the work route R1 and the work start point P1, and a tangent line L1 to the two turning radius circles C1 and C2, and when an arbitrary via point P3 is set from the mobile terminal device 160, sets an via turning circle C4 of a turning radius centered on the via point P3, and changes the movement route R2 to a route that passes through the arc of the via turning circle C4.

According to this type of work vehicle control system 100, during autonomous driving, a route that can be traveled is generated by smoothly connecting the self-position P0 of the traveling vehicle body 2 with the work start point P1, and an arbitrary via point P3 that can be traveled to smoothly is set by the worker H from the mobile terminal device 160, so that the travel route R2 can be set according to the preferences of the worker H, thereby making it possible to efficiently travel to the work start point P1. This makes it possible to improve work efficiency.

(2) In the above (1), when the arc of the circle C1 of turning radius tangent to the azimuth angle vector V1 and the vehicle position P0, or the arc of the circle C2 of turning radius tangent to the vector V2 of the work route R1 and the work start point P1, or the arc of the intermediate turning circle C4 is changed, the mobile terminal device 160 changes the travel route R2 to follow the changed arc.

In addition to the effect of (1) above, such a work vehicle control system 100 can change the turning radius when it is desired to turn the traveling body 2 gently, for example to prevent the traveling body 2 from damaging the field F1, and can set an arbitrary travel route R2 along which the traveling body 2 can move smoothly, allowing efficient movement to the work start point. This can improve the efficiency of movement to the work start point P1.

(3) In the above (2), the mobile terminal device 160 has information on the minimum value of the turning radius, and the work vehicle control system 100 prohibits changing the turning radius below the minimum value.

In addition to the effect of (2) above, with this type of work vehicle control system 100, if the turning radius is set to a value below the minimum value, there is a risk of deviation from the travel path R2 when the traveling body 2 moves. However, by prohibiting changes to the turning radius below the minimum value, deviation from the travel path R2 when the traveling body 2 moves can be prevented, and the efficiency of movement to the work start point P1 can be improved while ensuring safety.

(4) In any one of (1) to (3) above, the mobile terminal device 160 changes the travel route R2 so that the intermediate turning circle C4 turns left when the set intermediate turning circle C4 is to the right of the closest portion of the travel route R2 before the change, and changes the travel route R2 so that the intermediate turning circle C4 turns right when the set intermediate turning circle C4 is to the left of the closest portion of the travel route R2 before the change.

In addition to any one of the effects (1) to (3) above, this work vehicle control system 100 can change the travel route R2 smoothly and efficiently when a via turning circle C4 is set, thereby improving the efficiency of travel to the work start point P1.

(5) In any one of (1) to (4) above, the mobile terminal device 160 displays a work vehicle control system 100 that prompts the user to select whether to change the travel route R2 to make a left turn or a right turn on the arc of the intermediate turning circle C4 when the set intermediate turning circle C4 crosses the pre-change travel route R2.

In addition to any one of the effects (1) to (4) above, such a work vehicle control system 100 can change the travel route R2 smoothly and efficiently whether turning left or right when the set intermediate turning circle C4 crosses the previous travel route R2. This allows the worker H to select an arbitrary travel route R2 according to the worker H's preferences, thereby improving the efficiency of travel to the work start point P1.

Further advantages and modifications may readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof.

1. Work vehicle (tractor)
2 Traveling vehicle body 3 Front wheel 4 Rear wheel 5 Bonnet 6 Working machine 7 PTO device 8 Driver's seat 9 Steering wheel 10 Handle post 11 Operation pedal 12 Power transmission device (transmission case)
13 Lifting device 61 Cultivator tines 71 PTO shaft 131 Lifting cylinder 132 Lift arm 133 Lift rod 134 Lower link 135 Top link 100 Work vehicle control system 110 Engine rotation sensor 111 Vehicle speed sensor 112 Gear change sensor 113 Turn angle sensor 121 Gear change device 122 Steering device 150 Positioning device (GNSS)
160 Mobile terminal device (tablet terminal)
161 Display screen (touch panel screen)
162 Guidance display 163 Setting completion button 170 Azimuth angle acquisition means (azimuth angle sensor)
200 Control unit 201 Engine ECU
202 Driving system ECU
203 Work machine lifting system ECU
AX axis A1 Working area A2 No-departure area C1 Turning radius circle C2 Turning radius circle C3 Connection circle C4 Intermediate turning circle E Engine F1 Field F2 Ridge H Worker L1 Tangent P0 Self-position P1 Work start point P2 Work end point P3 Intermediate point p1 Vertex R1 Working route R2 Travel route S Navigation satellite V1 Vector V2 Vector

Claims (4)

A traveling vehicle capable of traveling within a farm field;
A positioning device for acquiring a self-position of the traveling vehicle body;
An azimuth angle acquisition means for acquiring an azimuth angle of the traveling vehicle body;
a control unit that generates a work path including a work start point in the farm field and controls the traveling vehicle body to perform work while autonomously traveling along the generated work path;
a mobile terminal device having information on a turning radius of the traveling vehicle body when the traveling vehicle body moves within the field,
The mobile terminal device
generating a movement path from the self-position of the traveling vehicle body to the work start point based on the azimuth angle vector acquired by the azimuth angle acquisition means and the turning radius circle tangent to the self-position acquired by the positioning device, the work path vector and the turning radius circle tangent to the work start point, and tangents to the two turning radius circles;
When an arbitrary via point is set from the mobile terminal device, a via turning circle having the turning radius and centered on the via point is set, and the travel route is changed to a route passing through an arc of the via turning circle ;
When the set intermediate turning circle is on the right side of the closest portion of the movement path before the change, the movement path is changed so that the intermediate turning circle turns left;
When the set intermediate turning circle is on the left side of the closest portion of the movement path before the change, the movement path is changed so that the intermediate turning circle turns right.
A work vehicle control system comprising: A traveling vehicle capable of traveling within a farm field;
A positioning device for acquiring a self-position of the traveling vehicle body;
An azimuth angle acquisition means for acquiring an azimuth angle of the traveling vehicle body;
a control unit that generates a work path including a work start point in the farm field and controls the traveling vehicle body to perform work while autonomously traveling along the generated work path;
a mobile terminal device that has in advance information on a turning radius of the traveling vehicle body when the traveling vehicle body moves within the field;
Equipped with
The mobile terminal device
generating a movement path from the self-position of the traveling vehicle body to the work start point based on the azimuth angle vector acquired by the azimuth angle acquisition means and the turning radius circle tangent to the self-position acquired by the positioning device, the work path vector and the turning radius circle tangent to the work start point, and tangents to the two turning radius circles;
When an arbitrary via point is set from the mobile terminal device, a via turning circle having the turning radius and centered on the via point is set, and the travel route is changed to a route passing through an arc of the via turning circle;
A work vehicle control system characterized in that, when the set intermediate turning circle crosses the movement route before the change, a display is displayed to allow the user to select whether to change the movement route to make a left turn or a right turn on the arc of the intermediate turning circle . The mobile terminal device
3. The work vehicle control system according to claim 1 or 2, characterized in that when the azimuth angle vector and the arc of the circle of the turning radius tangent at the self-position, or the work path vector and the arc of the circle of the turning radius tangent at the work start point, or the arc of the intermediate turning circle is changed, the movement path is changed to follow the changed arc. The mobile terminal device
4. The control system for a work vehicle according to claim 3 , further comprising information on a minimum value of the turning radius, and prohibiting a change in the turning radius to a value equal to or less than the minimum value.

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