JP7604888B2 - 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 start point) is determined in advance, it is not possible to generate an appropriate movement route to the work start point, and therefore it is not possible to improve the efficiency of movement to the work start point. 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 improve the efficiency of movement to a work start point and thereby improve work efficiency.

In order to solve the above-mentioned problems and achieve the objective, 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, and 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 traveling autonomously along the generated work path, and the control unit is characterized in that it presets a turning radius of the traveling vehicle body when moving within the field, generates multiple routes 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 turning radius circle tangent to the work path vector and the work start point, and the tangents to the two turning radius circles, and sets the route that is the shortest between the self-position and the work start point among the multiple generated routes as the travel route for autonomous traveling.

The work vehicle according to the embodiment can improve the efficiency of movement to the work start point, thereby 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.

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 top of the traveling body 2, and measures the position of the traveling body 2 at a predetermined interval to obtain 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.

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

(1) The present invention comprises a traveling vehicle body 2 capable of traveling within a field F1, a positioning device 150 for acquiring the self-position P0 of the traveling vehicle body 2, an azimuth angle acquisition means 170 for acquiring the azimuth angle of the traveling vehicle body 2, and a control unit 200 for generating a work route R1 including a work start point P1 within the field F and controlling the traveling vehicle body 2 to perform work while autonomously traveling along the generated work route R1, and the control unit 200 pre-sets a turning radius for the traveling vehicle body 2 when moving within the field F1 and acquires the turning radius by the azimuth angle acquisition means 170. A work vehicle control system 100 generates multiple routes based on the obtained azimuth angle vector V1 and the turning radius circle C1 tangent at the self-position P0 acquired by the positioning device 150, the work route R1 vector V2 and the turning radius circle C2 tangent at the work start point P1, and the tangent line L1 to the two turning radius circles C1 and C2, and sets the shortest route from the self-position P0 to the work start point P1 among the multiple generated routes as the travel route R2 for autonomous driving.

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 travel can be made along the shortest route (travel route) R2 among the generated routes, which makes it possible to efficiently travel to the work start point P1 and to start work smoothly. This improves work efficiency.

(2) In the above (1), the control unit 200 sets a deviation-prohibited area A2 that prohibits deviation of the traveling vehicle body 2, and if the shortest route from the self-position P0 to the work start point P1 among multiple routes includes a partial route that deviates from the deviation-prohibited area A2, the work vehicle control system 100 sets the shortest route from the self-position P0 to the work start point P1 among the remaining routes excluding the route that includes the partial route as the travel route R2.

In addition to the effect of (1) above, this type of work vehicle control system 100 allows the vehicle to move along the shortest route (movement route) R2 while preventing deviation from the field F1 or contact with the ridge F2, thereby ensuring the efficiency of movement to the work start point P1 while ensuring safety.

(3) In the above (1) or (2), a work vehicle control system 100 is provided with a mobile terminal device 160 that remotely instructs the traveling body 2 to start moving, and 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 body 2 to start moving, and moves the traveling body 2 along the set movement route R2.

In addition to the effects of (1) or (2) above, such a work vehicle control system 100 can set a reasonable route from the point where the mobile terminal device 160 issues an instruction to start moving (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.

(4) In any one of (1) to (3) above, the azimuth angle vector V1 and the circle C1 of the turning radius tangent at the self-position P0 are the left turn movement start circle _C1L where the traveling vehicle body 2 starts moving by turning left, and the right turn movement start circle _C1R where the traveling vehicle body 2 starts moving by turning right, and the vector V2 of the work path R1 and the circle C2 of the turning radius tangent at the work start point P1 are the left turn approach circle _C2L where the traveling vehicle body 2 turns left into the work path R1, and the right turn approach circle C2R where the traveling vehicle body 2 turns right into the work path R1. _R , and when the distance between the circle C1 where the traveling body 2 starts moving and the circle C2 where it enters the work path R1 is equal to or greater than a predetermined distance, the control unit 200 sets the movement path R2 from among four routes, namely, a left turn-straight-left turn route, a left turn-straight-right turn route, a right turn-straight-left turn route, and a right turn-straight-right turn route, when the distance between the circle C1 where the traveling body 2 starts moving and the circle C2 where it enters the work path R1 is less than a predetermined distance, the control unit 200 further sets a connecting circle C3 with a turning radius tangent to the circle C1 where the traveling body 2 starts moving and the circle C2 where it enters the work path R1, and selects the movement path R2 by adding the two routes, namely, a left turn-right turn-left turn route and a right turn-left turn-right turn route, to the four routes.

In addition to any one of the effects (1) to (3) above, such a work vehicle control system 100 can set a movement route R2 that is the shortest route even if the distance between the circle C1 where the traveling vehicle body 2 starts moving and the circle C2 where the traveling vehicle body 2 enters the work route R1 is short, thereby improving the efficiency of movement 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)
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 Connecting circle E Engine F1 Field F2 Ridge H Worker L3 Tangent P0 Self-position P1 Work start point P2 Work end point R1 Work route R2 Travel route S Navigation satellite V1 Vector V2 Vector

Claims (3)

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,
The control unit is
A turning radius of the traveling vehicle body during movement within the field is set in advance;
a left turn movement start circle where the traveling vehicle body starts to move by turning left or a right turn movement start circle where the traveling vehicle body starts to move by turning right, which is a circle of the turning radius tangent to the vector of the azimuth angle acquired by the azimuth angle acquisition means and the self-position acquired by the positioning device, and a left turn approach circle where the traveling vehicle body enters the work path by turning left or a right turn approach circle where the traveling vehicle body enters the work path by turning right, which is a circle of the turning radius tangent to the vector of the work path and the work start point,
When the distance between the circle on which the traveling vehicle body starts moving and the circle on which the traveling vehicle body enters the work path is equal to or greater than a predetermined distance, the shortest route from among four routes, namely, a route of left turn - go straight - turn left, a route of left turn - go straight - turn right, a route of right turn - go straight - turn left, and a route of right turn - go straight - turn right, is set as a travel route for autonomous traveling;
setting a departure prohibition area in which departure of the traveling vehicle body is prohibited;
If the shortest route includes a partial route that deviates from the deviation-prohibited area, the shortest route between the self-location and the work start point is set as the movement route among the remaining routes excluding the route including the partial route from the four routes. This process is repeated until the shortest route does not include a partial route that deviates from the deviation-prohibited area.
A work vehicle control system comprising: a mobile terminal device for remotely instructing the traveling vehicle body to start moving;
The control unit is
When the travel route is set based on the self-position and the azimuth angle at the time when the mobile terminal device instructs the traveling vehicle body to start moving, the traveling vehicle body is moved along the set travel route ;
The work vehicle control system according to claim 1, characterized in that , if all of the four routes include partial routes that deviate from the deviation-prohibited area, the travel route is not set and a message is displayed on the mobile terminal device indicating that the travel route cannot be set . The control unit is
The control system for a work vehicle as described in claim 1 or 2, characterized in that, when the distance between the circle where the traveling vehicle body starts moving and the circle where it enters the work path is less than a predetermined distance, a connecting circle of the turning radius that is tangent to the circle where the traveling vehicle body starts moving and the circle where it enters the work path is further set, and two routes, a left turn-right turn-left turn route and a right turn-left turn-right turn route, are added to the four routes to select the movement route.

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