KR102279839B1 - path generation system - Google Patents

Abstract

The working mode setting unit 101 sets the cooperative working mode of the robot tractor 1 and the manned tractor 1X. The positional relationship setting unit 102 sets the positional relationship between the robot tractor 1 and the manned tractor 1X when the cooperative work mode is a cooperative work in the same work area. The travel path generating unit 35 generates a cooperative travel path including a first travel path P on which the robot tractor 1 travels and a second travel path P′ on which the manned tractor 1X travels. . The priority accepting unit 103 accepts whether or not to give priority to the maintenance of the positional relationship. When priority for maintaining the positional relationship is received by the priority accepting unit 103, a cooperative travel route maintaining the positional relationship is generated. When priority for maintaining the positional relationship is not received by the priority accepting unit 103, a cooperative travel route that does not maintain the positional relationship is generated.

Description

path generation system

The present invention relates to a path generation system. More specifically, it relates to a route generating system that generates travel routes for a plurality of work vehicles in a case where the work vehicles cooperate to perform work.

BACKGROUND ART Conventionally, a route generating system capable of generating travel routes for a plurality of work vehicles in cooperation with each other is known. Patent Document 1 discloses a route generating device (travel route setting device) used in this type of route generating system. The route generating device of Patent Document 1 is constituted by a touch panel type display device, and is capable of communicating with the first work vehicle and/or the second work vehicle through the communication device. In the setting screen displayed on the route generating device, after specifying the pavement, when the arrangement position of the second work vehicle with respect to the first work vehicle is set, the travel routes of the first work vehicle and the second work vehicle are is created Here, the arrangement position of the second work vehicle with respect to the first work vehicle is configured such that an arbitrary arrangement position can be selected from among a plurality of arrangement possible combinations.

In Patent Document 1, it is assumed that a travel route in which the arrangement position of the second work vehicle with respect to the set first work vehicle is maintained can be generated.

Japanese Patent Laid-Open No. 2016-93125

However, in the configuration of Patent Document 1, since only the travel path constrained to the arrangement position of the second work vehicle with respect to the set first work vehicle is generated, it cannot necessarily be said that the travel path according to the user's intention can be generated. .

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a route generating system capable of flexibly generating a travel route according to a user's intention without being necessarily constrained by the set positional relationship of a plurality of work vehicles. have.

The problem to be solved by the present invention is as described above, and next, means for solving the problem and its effect will be described.

According to an aspect of the present invention, a path generating system having the following configuration is provided. That is, this route generating system includes a cooperative work mode setting unit, a positional relationship setting unit, a cooperative travel path generation unit, and an accepting unit. The cooperative work mode setting unit sets cooperative work modes of the first work vehicle and the second work vehicle. The positional relationship setting unit sets the positional relationship between the first work vehicle and the second work vehicle when the cooperative work mode is a cooperative work in the same work area. The cooperative travel path generating unit includes a first travel path along which the first work vehicle travels and a second travel path through which the second work vehicle travels when the cooperative work mode is a cooperative work in the same work area. to create a cooperative driving path. The accepting unit accepts whether or not to give priority to the maintenance of the positional relationship. When the priority of maintaining the positional relationship is accepted by the accepting unit, the cooperative travel route for maintaining the positional relationship is generated. When the priority of maintaining the positional relationship is not accepted by the accepting unit, the cooperative travel route not maintaining the positional relationship is generated.

Accordingly, it is possible to flexibly create a cooperative driving route according to a user's intention without being constrained by the set positional relationship between the first work vehicle and the second work vehicle.

It is preferable to set it as the following structure in the said path|route generating system. That is, each of the first travel path and the second travel path includes a plurality of travel paths arranged in parallel. When the cooperative travel route that does not maintain the positional relationship is generated by the cooperative travel-path generating unit, the first working vehicle is used by the first working vehicle after any travel route of the first travel route and following the optional travel route. The number of rows of running paths arranged between the different running paths is maintained at a constant number.

As a result, when maintaining the set positional relationship between the first work vehicle and the second work vehicle is not given priority, any other travel path of the first travel path and another travel path driven by the first work vehicle next to the optional travel path is not given priority. The number of rows of traveling paths arranged between the traveling paths, that is, the so-called skip number of how many rows the first work vehicle skips and travels the next traveling path is maintained at a constant number. In this case, since the turning method in the canine of one side and the canine of the other side of a pavement is fixed in a fixed aspect, it becomes easy to perform turning operation.

It is preferable to set it as the following structure in the said path|route generating system. That is, in this route generating system, the cooperative work is a cooperative work in a work area in which the cooperative work is different, the first work area is operated by the first work vehicle, and the second work area is performed by the second work vehicle. and a reference work setting unit configured to set whether or not a reference work by the first work vehicle in the second work area is required. a plurality of travel paths on which the reference work is performed by the first work vehicle in the second work area, and a plurality of travel paths on which the work is performed by the first work vehicle in the first work area as a first travel path Create a travel route including the travel route. As the second travel path, a travel path including a plurality of travel paths on which work is performed by the second work vehicle in the second work area excluding the area where the reference work is performed is generated.

Accordingly, in the second work area, the reference work is performed by the first work vehicle, and the work is performed on the plurality of travel paths by the second work vehicle with reference to the travel route on which the work is performed as the reference work. can be carried out. Therefore, it is easy to perform work orderly with respect to a work area|region.

It is preferable to set it as the following structure in the said path|route generating system. That is, as the first travel path, a travel path including a plurality of travel paths on which work is performed by the first work vehicle in the first work area is generated. As the second travel path, a travel path including a plurality of travel paths on which work is performed by the second work vehicle in the second work area is generated.

Thereby, the work can be performed by dividing the different work areas by the first work vehicle and the second work area, respectively, and the work can be performed efficiently as a whole.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a side view showing a robot tractor and a manned tractor in which a cooperative travel route is generated by a route generating system according to an embodiment of the present invention and a cooperative operation is performed.
2 is a side view showing the overall configuration of the robot tractor.
3 is a plan view of the robot tractor;
4 is a diagram illustrating a wireless communication terminal that is operated by a user and capable of wireless communication with a robot tractor.
5 is a block diagram showing the main electrical configuration of the robot tractor and the wireless communication terminal.
6 is a block diagram illustrating a main electrical configuration of a work information setting unit of a wireless communication terminal.
Fig. 7 is a diagram showing an example of a display of an input selection screen on a display of a wireless communication terminal;
Fig. 8 is a diagram showing a display example of a work vehicle information input screen on a display of a wireless communication terminal;
It is a figure which shows the display example of the packaging information input screen in the display of a wireless communication terminal.
Fig. 10 is a diagram showing a display example of a work mode/positional relationship setting screen for setting a work mode and setting a positional relationship in a display of a radio communication terminal.
Fig. 11 is a diagram showing a display example of a priority setting window for setting whether or not to prioritize maintenance of positional relationship in the display of the radio communication terminal.
Fig. 12 is a diagram showing a display example of a division/standard work setting screen for setting a division and setting whether a reference operation is necessary or not in the display of the wireless communication terminal.
Fig. 13 is a diagram showing a display example of an overlap width setting screen for setting the overlap width in the display of the wireless communication terminal.
Fig. 14 is a diagram showing a display example of a skip number setting screen for setting the number of skips on the display of the wireless communication terminal.
Fig. 15 is a diagram showing an example of a display of a non-working area width setting screen for setting the width of the digit and the width of the non-working area in the display of the wireless communication terminal.
Fig. 16 is a diagram showing an example of a display of an autonomous driving monitoring screen on a display of a wireless communication terminal;
17 is a diagram showing an example of a travel route generated by the travel route generating unit when an accompanying (cooperation) operation is selected, maintenance of a positional relationship between vehicles is given priority, and one row skip is selected. A solid arrow indicates a first travel path, and a dotted arrow indicates a second travel path.
18 is a diagram showing an example of a travel route generated by the travel route generating unit when an accompanying (cooperation) operation is selected, maintenance of a positional relationship between vehicles is not given priority, and skip one row is selected. A solid arrow indicates a first travel path, and a dotted arrow indicates a second travel path.
19 is a diagram showing an example of a travel route generated by the travel route generating unit when a division is set and the reference task is set to "required". A solid arrow indicates a first travel path, and a dotted arrow indicates a second travel path.
Fig. 20 is a diagram showing an example of a travel route generated by the travel route generating unit when a division is set and the reference operation is set to "unnecessary". A solid arrow indicates a first travel path, and a dotted arrow indicates a second travel path.

Next, with reference to drawings, embodiment of this invention is described. Below, in each figure of a figure, the same code|symbol is attached|subjected to the same member, and overlapping description may be abbreviate|omitted. Moreover, the names of members etc. corresponding to the same code|symbol may be briefly changed, or the names of a higher-level concept or a lower-level concept may be used.

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a route generating system for generating a travel route for running a work vehicle when a plurality of work vehicles are driven in a predetermined pavement to perform all or part of agricultural work in the pavement. In the present embodiment, a tractor is described as an example of the work vehicle, but the work vehicle includes, in addition to the tractor, a rice transplanter, a combine, a civil engineering/construction work apparatus, a snowplow, and the like, a walking work machine in addition to a passenger work machine. In the present specification, autonomous driving means that the configuration related to the driving of the tractor is controlled by a control unit (ECU) included in the tractor and the tractor runs along a predetermined route, and autonomous operation means that the tractor is equipped with It means that the configuration related to the operation of the tractor is controlled by the control unit, and the tractor performs the operation along a predetermined route. On the other hand, manual running/manual operation means that each structure with which a tractor is equipped is operated by a user, and running/work is implemented.

In the following description, a tractor that operates autonomously and works autonomously is sometimes referred to as an “unmanned (unmanned) tractor” or a “robot tractor”, and a tractor that is driven or operated manually is sometimes referred to as a “manned tractor”. have. When a part of the agricultural work in the field is performed by the unmanned tractor, the remaining agricultural work is performed by the manned tractor. Performing agricultural work in a single field with an unmanned tractor and a manned tractor may be referred to as cooperative work of agricultural work, tracking work, accompanying work, and the like. In this specification, the difference between an unmanned tractor and a manned tractor is the presence or absence of operation by a user, and each structure shall be basically common. That is, even in an unmanned tractor, it is possible for a user to ride (ride) and operate it (that is, it can be used as a manned tractor), or even a manned tractor, it is possible for the user to get off and operate autonomously and autonomously (ie, an unmanned tractor) can be used as). In addition, as cooperative work of agricultural work, in addition to "executing agricultural work in a single pavement with an unmanned vehicle and a manned vehicle", "agricultural work in different pavements such as adjacent pavements is performed at the same time" to be executed by unmanned vehicles and manned vehicles” may be included.

Next, with reference to drawings, embodiment of this invention is described. 1 is a side view showing a robot tractor 1 and a manned tractor 1X in which a cooperative travel route is generated by a route generating system 99 according to an embodiment of the present invention and a cooperative operation is performed. 2 is a side view showing the overall configuration of the robot tractor 1 . 3 is a plan view of the robot tractor 1 . 4 is a diagram showing a wireless communication terminal 46 operated by a user and capable of wireless communication with the robot tractor 1 . 5 is a block diagram showing the main electrical configurations of the robot tractor 1 and the wireless communication terminal 46. As shown in FIG. 6 is a block diagram showing the main electrical configuration of the job information setting unit 47 of the radio communication terminal 46. As shown in FIG.

A route generating system 99 according to an embodiment of the present invention generates a cooperative travel route that is caused to travel when the robot tractor 1 and the manned tractor 1X shown in FIG. 1 are cooperatively operated. Here, the cooperative travel path includes a first travel path through which the robot tractor (first working vehicle) 1 travels, and a second travel path through which the manned tractor (second work vehicle) 1X travels. Each configuration of the route generating system 99 of the present embodiment is mainly provided in a wireless communication terminal 46 that wirelessly communicates with the robot tractor 1 .

First, the robot tractor (hereinafter, simply referred to as "tractor") (1) will be mainly described with reference to FIGS. 2 and 3 .

The configuration of the tractor 1 will be described with reference to FIGS. 2 and 3 . As for the traveling body 2 of the tractor 1, as shown in FIG. 1, the front part is supported by the front wheel 7, 7 of a pair of left and right, and the rear part is a pair of left and right. It is supported by the rear wheels (8, 8).

A bonnet 9 is disposed in front of the traveling body 2 . In this bonnet 9, the engine 10, the fuel tank (not shown), etc. which are a drive source of the tractor 1 are accommodated. Although this engine 10 can be comprised, for example with a diesel engine, it is not limited to this, For example, you may comprise with a gasoline engine. Moreover, you may employ|adopt an electric motor in addition to or instead of the engine 10 as a drive source.

The cabin 11 for a user to board is arrange|positioned behind the bonnet 9. As shown in FIG. Inside the cabin 11, a steering handle 12 for steering operation by a user, a seat 13 on which the user can sit, and various operation devices for performing various operations are mainly provided. However, the work vehicle is not limited to the one provided with the cabin 11 , and may not include the cabin 11 .

As said operation apparatus, the monitor apparatus 14 shown in FIG. 3, the throttle lever 15, the main gear lever 27, the some hydraulic operation lever 16, the PTO switch 17, the PTO shift lever 18 , the auxiliary transmission lever 19, and the work machine lifting switch 28, etc. are mentioned as examples. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering wheel 12 .

The monitor apparatus 14 is comprised so that various information of the tractor 1 can be displayed. The throttle lever 15 is an operation tool for setting the output rotation speed of the engine 10 . The main gear lever 27 is an operation tool for steplessly changing the traveling speed of the tractor 1 . The hydraulic operation lever 16 is an operation tool for switching operation of the hydraulic external blow-out valve which was abbreviate|omitted. The PTO switch 17 is an operation tool for switching operation of transmission/disconnection of power to an unillustrated PTO shaft (power transmission shaft) protruding from the rear end of the transmission 22 . That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft to rotate the PTO shaft, and the working machine 3 is driven, while when the PTO switch 17 is in the OFF state, the power to the PTO shaft is Blocked, the PTO shaft does not rotate, and the work machine 3 is stopped. The PTO shift lever 18 is an operation for changing the power input to the work machine 3 , and specifically is an operation tool for changing the rotation speed of the PTO shaft. The auxiliary transmission lever 19 is an operation tool for switching the speed ratio of the traveling auxiliary transmission gear mechanism in the transmission 22 . The work machine raising/lowering switch 28 is an operation tool for raising/lowering the height of the work machine 3 attached to the traveling body 2 within a predetermined range.

As shown in FIG. 2 , the chassis 20 of the tractor 1 is provided under the traveling body 2 . The chassis 20 includes a body frame 21 , a transmission 22 , a front axle 23 , a rear axle 24 , and the like.

The body frame 21 is a support member in the front part of the tractor 1, and is supporting the engine 10 directly or via a vibration-proof member. The transmission 22 changes power from the engine 10 and transmits it to the front axle 23 and the rear axle 24 . The front axle 23 is configured to transmit power input from the transmission 22 to the front wheels 7 . The rear axle 24 is configured to transmit power input from the transmission 22 to the rear wheels 8 .

As shown in FIG. 5 , the tractor 1 is a control unit for controlling the operation of the traveling body 2 (forward, backward, stopping, turning, etc.) and the operation of the work machine 3 (elevating, driving, stopping, etc.) (4) is provided. The control unit 4 is configured with a CPU, ROM, RAM, I/O, etc. (not shown), and the CPU can read and output various programs and the like from the ROM and execute them. In the control unit 4, a controller for controlling each configuration (for example, the engine 10, etc.) included in the tractor 1, and a radio communication unit 40 capable of radio communication with other radio communication equipment are each electrically is connected to

As the controller, the tractor 1 includes at least an engine controller, a vehicle speed controller, a steering controller, and an elevation controller, not shown. Each controller can control each configuration of the tractor 1 according to an electric signal from the control unit 4 .

The engine controller controls the rotation speed of the engine 10 and the like. The governor apparatus 41 provided with the actuator (not shown) specifically, for changing the rotation speed of the said engine 10 is provided in the engine 10. As shown in FIG. The engine controller can control the rotation speed of the engine 10 by controlling the governor device 41 . Moreover, the fuel injection device 52 which adjusts the injection timing and injection amount of the fuel for injecting (supplying) into the combustion chamber of the engine 10 is attached to the engine 10. By controlling the fuel injection device 52 , the engine controller can stop supply of fuel to the engine 10 and stop the drive of the engine 10 , for example.

The vehicle speed controller controls the vehicle speed of the tractor 1 . Specifically, the transmission 22 is provided with a transmission 42 which is a hydraulic continuously variable transmission of a movable swash plate type, for example. The vehicle speed controller can change the speed ratio of the transmission 22 and realize a desired vehicle speed by changing the angle of the swash plate of the transmission 42 by an actuator not shown.

The steering controller controls the rotation angle of the steering handle 12 . Specifically, the steering actuator 43 is formed in the midway part of the rotating shaft (steering shaft) of the steering handle 12. As shown in FIG. In this configuration, when the tractor 1 travels (as an unmanned tractor) along a predetermined path, the control unit 4 calculates an appropriate rotation angle of the steering wheel 12 so that the tractor 1 travels along the path. and output a control signal to the steering controller to obtain the obtained rotation angle. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4 and controls the rotation angle of the steering handle 12 . In addition, the steering controller may adjust the steering angle of the front wheel 7 of the tractor 1 instead of adjusting the rotation angle of the steering handle 12, and in this case, even if turning driving is performed, the steering handle 12 ) does not rotate.

The raising/lowering controller controls raising/lowering of the work machine 3 . Specifically, the tractor 1 is provided with a lifting actuator 44 made of a hydraulic cylinder or the like in the vicinity of a three-point link mechanism connecting the work machine 3 to the traveling body 2 . In this configuration, the lifting controller drives the lifting actuator 44 based on the control signal input from the control unit 4 to appropriately lift and lower the work machine 3, thereby performing agricultural work with the work machine 3 at a desired height. can be carried out. By this control, the working machine 3 can be supported at desired heights, such as a evacuation height (a height at which agricultural work is not performed) and a working height (a height at which agricultural work is performed).

In addition, since the plurality of controllers, not shown above, control each unit such as the engine 10 based on a signal input from the control unit 4, the control unit 4 substantially controls each unit and It can be understood that there is

As for the tractor 1 provided with the control part 4 as mentioned above, each part (traveling body) of the tractor 1 by the said control part 4 by a user getting on board the cabin 11 and performing various operations. 2), the work machine 3 etc.) are controlled, and it is comprised so that agricultural work can be performed while traveling in the field. In addition, the tractor 1 of the present embodiment can be autonomously driven and operated autonomously by a predetermined control signal output from the wireless communication terminal 46 without the user riding on the tractor 1, have.

As specifically, shown in FIG. 5 etc., the tractor 1 is equipped with various structures for enabling autonomous driving and autonomous operation. For example, the tractor 1 is provided with the structure of the positioning antenna 6 etc. which are necessary in order to acquire the positional information of itself (traveling body 2) based on a positioning system. With such a structure, the tractor 1 acquires its own positional information based on a positioning system, and it becomes possible to drive autonomously on a pavement.

Next, the configuration of the tractor 1 to enable autonomous driving will be described in detail with reference to FIG. 5 and the like. Specifically, the tractor 1 of the present embodiment includes an antenna 6 for positioning, an antenna 48 for radio communication, a storage unit 55 , and the like. Moreover, in addition to these, the tractor 1 is equipped with the inertia measurement unit (IMU) abbreviate|omitted from illustration which can specify the attitude|position (roll angle, pitch angle, yaw angle) of the traveling body 2 .

The positioning antenna 6 receives signals from positioning satellites constituting positioning systems, such as a satellite positioning system (GNSS), for example. As shown in FIG. 2, the antenna 6 for positioning is attached to the upper surface of the roof 5 with which the cabin 11 of the tractor 1 is equipped. The positioning signal received by the positioning antenna 6 is input to the positional information calculating unit 49 shown in FIG. 5 . The positional information calculation unit 49 calculates the positional information of the traveling body 2 (strictly, the positioning antenna 6) of the tractor 1 as latitude/longitude information, for example. The position information calculated by the position information calculation unit 49 is input to the control unit 4 and used for autonomous driving.

In addition, although the high-precision satellite positioning system using the GNSS-RTK method is used in this embodiment, it is not limited to this, As long as high-accuracy position coordinates are obtained, you may use another positioning system. For example, it is conceivable to use a relative positioning system (DGPS) or a geostationary satellite navigation augmentation system (SBAS).

The radio communication antenna 48 receives a signal from the radio communication terminal 46 operated by the user or transmits a signal to the radio communication terminal 46 . As shown in FIG. 2, the antenna 48 for radio|wireless communication is attached to the upper surface of the roof 5 with which the cabin 11 of the tractor 1 is equipped. The signal from the radio communication terminal 46 received by the radio communication antenna 48 is signal-processed by the radio communication unit 40 shown in FIG. 5 , and is input to the control unit 4 . Further, the signal transmitted from the control unit 4 to the radio communication terminal 46 is signal-processed by the radio communication unit 40 , and then transmitted from the radio communication antenna 48 and received by the radio communication terminal 46 .

The front camera 57 is to photograph the front of the tractor 1 . The rear camera 56 is to photograph the rear of the tractor 1 . The moving picture data photographed by the front camera 57 and the rear camera 56 is signal-processed by the wireless communication unit 40 and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46 . The wireless communication terminal 46 can display a moving picture based on the received moving picture data on the display 37 .

The vehicle speed sensor 53 detects the vehicle speed of the tractor 1 , and is provided, for example, on an axle between the front wheels 7 and 7 . The residual fuel amount sensor 54 detects the residual amount of fuel in the fuel tank (not shown) mounted in the bonnet 9, and is provided in the said fuel tank. The detection result obtained by the vehicle speed sensor 53 and the fuel remaining amount sensor 54 is signal-processed by the wireless communication unit 40 and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46 . The wireless communication terminal 46 can display the received detection result on the display 37 .

The storage unit 55 includes a linear or broken-line traveling path (working path for performing agricultural work) P1, which is a path for autonomously driving the tractor 1, and an arc-shaped connection path for turning (turning circuit). ) (P2) is alternately connected to store a travel path (path) P, or a transition (travel trajectory) of the position of the tractor 1 (strictly, the positioning antenna 6) during autonomous driving It is a memory that you remember or do. In addition, the memory|storage part 55 memorize|stores various information required in order to make the tractor 1 autonomously drive and work autonomously.

The radio communication terminal 46 is configured as a tablet-type personal computer as shown in FIG. 4 . In the present embodiment, a user who operates the manned tractor 1X holds the radio communication terminal 46 and boards the manned tractor 1X, and, for example, uses the radio communication terminal 46 in an appropriate manner in the manned tractor 1X. It is operated by setting it on the support part. Alternatively, a user different from the operator who operates the manned tractor 1X carries the radio communication terminal 46 outside the tractors 1 and 1X to operate the travel route generation. The user can confirm with reference to information displayed on the display 37 of the wireless communication terminal 46 (for example, information from various sensors mounted on the robot tractor 1). In addition, the user operates the hardware key 38 arranged in the vicinity of the display 37 and the touch panel 39 arranged so as to cover the display 37 to control the control unit 4 of the tractor 1 . It is possible to transmit a control signal for controlling the tractor 1 . Here, the control signal output from the wireless communication terminal 46 to the control unit 4 is a signal related to the path of autonomous driving/autonomous work, a start signal, a stop signal, an end signal, and an emergency stop signal for autonomous driving/autonomous work. , a pause signal and a resume signal after a pause can be considered, but the present invention is not limited thereto.

In addition, the radio communication terminal 46 is not limited to a tablet-type personal computer, and instead of this, it is also possible to comprise, for example with a notebook-type personal computer. Alternatively, for example, the monitor device 14 mounted on the manned tractor 1X may be a wireless communication terminal.

The tractor 1 configured in this way can perform agricultural work with the work machine 3 while autonomously traveling along the path on the pavement based on a user's instruction using the wireless communication terminal 46 .

Specifically, the user performs various settings using the wireless communication terminal 46, so that a straight or broken-line traveling path P1 and an arc-shaped connection path P2 connecting the ends of the traveling path. It is possible to generate the travel path P as a series of paths alternately connecting . Then, by inputting (transmitting) the information of the travel route (path) P generated in this way to the control unit 4 and performing a predetermined operation, the control unit 4 controls the tractor 1, It is possible to have the work machine 3 perform agricultural work while autonomously driving the tractor 1 along the travel path P.

As shown in FIG. 1 , in the present embodiment, in cooperation with a robot tractor (first work vehicle) that performs autonomous driving and autonomous work along the first travel path P, the second travel path P′ is Accordingly, the manned tractor (second work vehicle) 1X performs manual travel and manual work. Specifically, for example, among the two adjacent travel paths P1 and P1', the robot tractor 1 drives one traveling path P1 and the other traveling path P1' is the manned tractor 1X. ) can be considered in a case in which work is carried out within the same work area while driving. Further, the travel path P1 is a travel path included in the first travel path P, and the travel path P1' is a travel path included in the second travel path P'.

In this cooperative operation, the robot tractor 1 travels the preceding side and the manned tractor 1X travels the following side so that the user riding on the manned tractor 1X can directly visually recognize the robot tractor 1 easily. It is common for this aspect to be taken. In other words, in a general cooperative operation mode by two units of the robot tractor 1 and the manned tractor 1X, the manned tractor 1X runs on the rear side obliquely to the right or the rear side obliquely to the left of the robot tractor 1 . A user riding on the manned tractor 1X performs manual travel and manual work, monitors the robot tractor 1 on the preceding side, operates the radio communication terminal 46 as necessary, and operates the robot tractor 1 ) for autonomous driving and autonomous operation.

Hereinafter, with reference to Figs. 4 to 16, the configuration of the radio communication terminal 46 including the main components of the path generating system 99 according to the embodiment of the present invention will be described in more detail. do. 6 is a block diagram showing the main electrical configuration of the job information setting unit 47 of the radio communication terminal 46. As shown in FIG. 7 is a diagram showing a display example of an input selection screen on the display 37 of the radio communication terminal 46. As shown in FIG. FIG. 8 is a diagram showing a display example of the work vehicle information input screen 70 on the display 37 of the wireless communication terminal 46. As shown in FIG. FIG. 9 is a diagram showing a display example of the packaging information input screen 80 on the display 37 of the radio communication terminal 46. As shown in FIG. FIG. 10 is a diagram showing a display example of the work aspect/positional relationship setting screen 90 for setting the work aspect and setting the positional relationship on the display 37 of the radio communication terminal 46. As shown in FIG. 11 is a diagram showing a display example of the priority setting window 91 for setting whether or not to give priority to the maintenance of the positional relationship on the display 37 of the radio communication terminal 46. As shown in FIG. 12 is a diagram showing a display example of a division/standard job setting screen 92 for setting a division and setting a reference job on the display 37 of the radio communication terminal 46. As shown in FIG. FIG. 13 is a diagram showing a display example of an overlap width setting screen 93 for setting the overlap width on the display 37 of the wireless communication terminal 46. As shown in FIG. 14 is a diagram showing a display example of the skip number setting screen 94 for setting the number of skips on the display 37 of the wireless communication terminal 46. As shown in FIG. FIG. 15 is a diagram showing a display example of a non-working area width setting screen 96 for setting the interdigit width and the non-working area width in the display 37 of the wireless communication terminal 46. As shown in FIG. 16 is a diagram showing a display example of the autonomous driving monitoring screen 100 on the display 37 of the wireless communication terminal 46. As shown in FIG.

4 and 5 , the wireless communication terminal 46 of the present embodiment has a display control unit 31 as a main configuration in addition to the display 37, hardware key 38, and touch panel 39. , pavement shape acquisition unit 33 , travel route generation unit (cooperative travel path generation unit) 35 , work vehicle information setting unit 36 , pavement information setting unit 45 , work information setting unit 47 , and A storage unit 32 and the like are provided.

Specifically, as described above, the wireless communication terminal 46 is configured as a computer, and includes a CPU, ROM, RAM, and the like not shown. In addition, in this radio communication terminal 46, a control application for controlling the tractor 1 is installed in advance. Then, by the cooperation of the hardware and software described above, the wireless communication terminal 46 is configured as a display control unit 31 , a pavement shape acquisition unit 33 , a travel route generation unit 35 , and a work vehicle information setting unit 36 . , the packaging information setting unit 45 , the job information setting unit 47 , the storage unit 32 , and the like.

The display control part 31 creates data for display to be displayed on the display 37, and performs control which switches a display screen suitably. The display control unit 31 can generate the input selection screen 60 as the initial screen (menu screen) shown in FIG. 7 and display it on the display 37 . In addition, when a predetermined operation is performed on the input selection screen 60, the display control unit 31 generates input screens 70, 80, and 90 (refer to FIGS. 8 to 10) to be described later, It is possible to switch the display screen of the display 37 to 70, 80, 90.

The pavement shape acquisition unit 33 shown in FIG. 5 rotates the tractor 1 once along the periphery of the pavement, for example, and records the transition of the position of the positioning antenna 6 at that time. to acquire the shape. The shape of the pavement acquired in the pavement shape acquisition unit 33 is stored in the storage unit 32 . However, the method of acquiring the shape of the pavement is not limited to this, for example, instead of this, the position information of the corner of the pavement is recorded, and the so-called closed path in which the line segments connecting the recorded points do not intersect. It is good also as acquiring a specific polygon as a shape of a pavement by a graph.

The travel route generation unit (cooperative travel route generation unit) 35 includes a first travel route P inputted (transmitted) to the tractor 1 and a second travel route referenced by a user driving the manned tractor 1X. (P') is created. The travel route generating unit 35 automatically sets the first travel route P and the second travel route when a predetermined operation is performed, while work vehicle information, pavement information, and work information, which will be described later, are set without omission of input. Generate (calculate) a cooperative driving path including (P'). The generated cooperative travel route is stored in the storage unit 32 .

The work vehicle information setting unit 36 receives work vehicle information (information regarding the traveling body 2 and the work machine 3 ) input to a work vehicle information input screen 70 , which will be described later. The work vehicle information set by the work vehicle information setting unit 36 is stored in the storage unit 32 .

The packaging information setting unit 45 receives packaging information (information regarding packaging) input to a packaging information input screen 80 to be described later. The packaging information set by the packaging information setting unit 45 is stored in the storage unit 32 .

The job information setting unit 47 accepts job information (information related to the job mode, etc.) input to the job mode/positional relationship setting screen 90 or the like. More specifically, the job information setting unit 47 includes, as shown in FIG. 6 , a working mode setting unit (cooperative work mode setting unit) 101, a positional relationship setting unit 102, a priority accepting unit 103, It mainly includes an overlap width setting unit 104 , a skip number setting unit 105 , a non-work area width setting unit 106 , a division setting unit 107 , and a reference work setting unit 108 . Each of these configurations will be described in detail later. The job information set by the job information setting unit 47 is stored in the storage unit 32 .

The storage unit 32 includes a non-volatile memory (eg, flash ROM), and includes the work vehicle information set in the work vehicle information setting unit 36 and the packaging set in the pavement information setting unit 45 . information and the job information set in the job information setting unit 47 can be stored. Moreover, the memory|storage part 32 can memorize|store the information of the registered pavement shape, information of the generated travel routes P, P', and the like. The storage unit 32 stores the information of the generated travel routes P, P' in association with the work vehicle information, pavement information, and work information used to generate the travel routes P, P'.

Next, the operation performed by the user using the wireless communication terminal 46 when setting the work vehicle information, the pavement information, and the work information and generating the travel routes P, P' will be described in detail. Explain.

In a stage before the user starts setting the work vehicle information, the pavement information, and the work information, the input generated by the display control unit 31 is displayed on the display 37 of the wireless communication terminal 46 as shown in FIG. 7 . A selection screen 60 is displayed as an initial screen (menu screen). On the input selection screen 60 , the work vehicle information input operation unit 61 , the pavement information input operation unit 62 , the work information input operation unit 63 , the travel route generation/transmission operation unit 64 , and agricultural work start The operation part 65 is mainly displayed.

All of these operation units are configured as virtual buttons (so-called icons) displayed on the display 37 . However, in a stage in which the work vehicle information, the pavement information, and the work information are not set, the work vehicle information input operation unit 61 , the pavement information input operation unit 62 , the work information input operation unit 63 , and the travel route generation Among the transfer operation unit 64 and the agricultural work start operation unit 65, only the work vehicle information input operation unit 61 can be operated. That is, the operation of the pavement information input operation unit 62, the work information input operation unit 63, the travel route generation/transmission operation unit 64, and the agricultural work start operation unit 65 is initially invalidated (eg, gray out), and cannot be operated even if touched.

When the user starts setting the work vehicle information, the pavement information, and the work information, the work vehicle information input operation unit 61 of the input selection screen 60 is initially operated. This work vehicle information input operation unit 61 is a button operated when switching from the input selection screen 60 to the work vehicle information input screen 70 .

When the user operates the work vehicle information input operation unit 61, a predetermined first selection screen (not shown) is displayed, and in the first selection screen, when information about a tractor set (registered) in the past exists, Tractor information that has been set in the past is displayed selectively.

In addition, on the first selection screen, it is possible to set (register) new tractor information or change the previously set tractor information (however, it can be selected only when information on previously set tractors exists). displayed as selectable. When the user selects new registration, the display screen of the display 37 switches to the work vehicle information input screen 70 shown in FIG.

On the work vehicle information input screen 70 , work vehicle information regarding the traveling body 2 and the work machine 3 attached to the traveling body 2 can be input. Specifically, on the work vehicle information input screen 70 , as work vehicle information, the model of the tractor 1 , the mounting position of the positioning antenna 6 to the traveling body 2 , the tractor 1 and the work machine ( 3) the horizontal width, the distance from the rear end of the three-point link mechanism (the rear end of the lower link) to the rear end of the work machine 3, the offset amount (distance) of the center line of the work machine 3 from the center line of the tractor 1, Vehicle speed during work on the outgoing route, vehicle speed during work on the return route, vehicle speed in the dog seat (when turning), engine speed during outgoing work, engine speed during work on the return route, engine speed during operation on the return route (when turning) Columns for designating the engine speed and the like are arranged respectively. In addition, in the work vehicle information input screen 70 shown in FIG. 8, only a part of the above-described fields is displayed, but by performing an operation of scrolling the screen downward from the state of FIG. 8, the remaining fields can be displayed.

When the designation of all items on the work vehicle information input screen 70 is completed, a button of "Vehicle setting confirmation" (not shown) is displayed. When the user operates the "Vehicle Settings Confirmation" button, a setting confirmation screen (not shown) is displayed, and the contents specified in each column are displayed for confirmation. When the user operates a "confirm" button (not shown) on this setting confirmation screen, the content of the work vehicle information is stored in the storage unit 32, and the setting of the work vehicle information is completed. When the setting (registration) of the work vehicle information is completed, a button for “edit/add pavement information” and a button for “return to the input selection screen” are displayed selectably at the bottom of the display screen. If "edit/add packaging information" is selected, packaging information can be set in the same manner as in the case where the packaging information input operation unit 62 is operated on the input selection screen 60 . When "return to input selection screen" is selected, the display screen is switched to the input selection screen 60 .

In addition, by repeating the operation of inputting and registering each item on the work vehicle information input screen 70 , the work vehicle information can be saved (that is, stored in the storage unit 32 ) for each of the plurality of work vehicles. . The stored work vehicle information can be used by selecting as information of a tractor set (registered) in the past on the above-described first selection screen when the work vehicle information input operation unit 61 is operated on the input selection screen 60. can

When the user completes setting (registration) of the work vehicle information and returns to the input selection screen 60 of FIG. 7 , the pavement information input operation unit 62 of the input selection screen 60 becomes operable. This packaging information input operation unit 62 is a button operated when switching from the input selection screen 60 to the packaging information input screen 80 .

When the user operates the packaging information input operation unit 62, a predetermined second selection screen (not shown) is displayed, and in the second selection screen, when information on packaging that has been set (registered) in the past exists, the past The information of the packaging set in . is displayed in a selectable manner.

In addition, on the second selection screen, it is possible to set (register) new packaging information or change the previously set packaging information (however, it can be selected only when information on previously set packaging exists). displayed as selectable. When the user selects new registration, the display screen of the display 37 switches to the packaging information input screen 80 shown in FIG.

On the pavement information input screen 80, information regarding the traveling area (pavement) in which the traveling body 2 travels can be input. Specifically, on the packaging information input screen 80 , a flat display unit 81 is arranged to graphically (graphically) show the shape of the packaging. In addition, in the pavement information input screen 80, in the columns of "position and shape of the outer periphery of pavement" and "position and shape of obstacles", buttons of "recording start" and "below again" are arranged. Moreover, in the packaging information input screen 80, in each column of "work start position", "work end position", and "work direction", buttons of "setting" and "redo" are arrange|positioned.

When the "recording start" button of "the position and shape of the outer periphery of the pavement" is operated, the wireless communication terminal 46 is switched to the pavement shape recording mode. In this pavement shape recording mode, for example, when the tractor 1 is rotated one turn along the periphery of the pavement, the transition of the position of the positioning antenna 6 at that time is recorded by the pavement shape acquisition unit 33, , the shape of the pavement is acquired (calculated) by the pavement shape acquisition unit 33 . This allows the location, shape and area of the pavement to be specified. The position and shape of the outer periphery of the pavement calculated (designated) in this way are graphically displayed on the flat display unit 81 . Moreover, by operating the "Redo" button, the recording (designation) of the position of the outer periphery of the packaging can be performed again.

Similarly, when the "record start" button of the "obstacle position and shape" is operated, the radio communication terminal 46 is switched to the obstacle circumferential shape recording mode. In this obstacle circumferential shape recording mode, for example, when the tractor 1 is rotated one turn along the periphery of the obstacle, the transition of the position of the positioning antenna 6 at that time is in the obstacle shape acquisition unit (not shown). It is recorded, and the shape of the obstacle is acquired (calculated). Thereby, the position, shape, and area of the obstacle can be specified. The position and shape of the obstacle calculated (designated) in this way are graphically displayed on the flat display unit 81 together with the shape of the pavement. Also, by operating the "Redo" button, the recording (designation) of the position of the outer periphery of the obstacle can be performed again.

When the "set" button of the "work start position" is operated, on the flat display unit 81 of the pavement information input screen 80, the pavement and the shape of the obstacle obtained as described above are displayed superimposed on the map data. In this state, when the user selects an arbitrary point in the vicinity of the outline of the pavement, positional information in the vicinity of the selected point can be set as the work start position. The setting of the "work end position" can be performed in the same manner as the "work start position".

When the "set" button of "work direction" is operated, on the flat display unit 81 of the pavement information input screen 80, the shape of the pavement and obstacles obtained as described above, the work start position, and the work end position are map It is displayed overlaid with data. In this state, the direction of the straight line which connected the said two points can be set as a work direction by a user selecting two arbitrary points on the outline of a pavement, for example.

When settings for all items on the packaging information input screen 80 are completed, a button of "Register" is displayed. When the user-specified content is confirmed by the flat display unit 81 or the like and the "registration" button is operated, the content of the set packaging information is stored in the storage unit 32, and the setting of the packaging information is completed. When the setting (registration) of packaging information is completed, a button for "edit/add job" and a button for "return to input selection screen" are selectively displayed at the bottom of the display screen. If "edit/add job" is selected, job information can be set in the same manner as in the case where the job information input operation unit 63 is operated on the input selection screen 60 . When "return to input selection screen" is selected, the display screen is switched to the input selection screen 60 .

In addition, by repeating the operation of registering each item on the packaging information input screen 80, packaging information can be stored (that is, stored in the storage unit 32) for each of a plurality of packaging. The stored packaging information can be used by selecting as information on packaging previously set (registered) on the second selection screen described above when the packaging information input operation unit 62 is operated on the input selection screen 60. .

When the user finishes setting the packaging information and returns to the input selection screen 60 of FIG. 7 , the operation information input operation unit 63 of the input selection screen 60 becomes operable. In other words, until the user sets the work vehicle information and the pavement information, the work information input operation unit 63 is in an inoperable state. That is, the work information setting unit 47 inputs information (job information) until the work vehicle information is set in the work vehicle information setting unit 36 and the pavement information is set in the pavement information setting unit 45 . setting) is not accepted. This job information input operation part 63 is a button operated when switching from the input selection screen 60 to the job aspect/positional relationship setting screen 90 shown in FIG.

When the user operates the job information input operation unit 63, the display screen is switched to the job mode/positional relationship setting screen 90 shown in FIG.

On the working mode/positional relationship setting screen 90, the working mode of the tractor 1 (and the manned tractor 1X) can be set. Moreover, when performing agricultural work with several tractors, the positional relationship between tractors can be set. Specifically, in the case of driving the manned tractor 1X with (cooperating) with the robot tractor 1, the manned tractor 1X is driven with the rear side slanted to the left of the robot tractor 1 In this case, the 1st accompanying operation selection part 111 is operated. In the case of driving the manned tractor 1X with (cooperating) with the robot tractor 1, when selecting the operation mode in which the manned tractor 1X runs the rear side slanted to the right of the robot tractor 1, The 2 accompanying operation selection part 112 is operated. When the following operation mode is selected, the rear of the robot tractor 1 is driven by the manned tractor 1X (by driving the robot tractor 1 and the manned tractor 1X on the same travel path) The job selection unit 113 is operated. When the robot tractor 1 independently performs agricultural work, the independent work selection part 114 is operated. In the case where the robot tractor 1 and the manned tractor 1X cooperate to perform agricultural work on the travel paths of the respective different work areas, a separate division cooperative work selection unit 115 is selected.

The first accompanying job selection unit 111 , the second accompanying job selection unit 112 , the follow job selection unit 113 , the single job selection unit 114 , and the separate division cooperative job selection unit 115 are virtual It is configured as a button, and the position of the touch panel 39 corresponding to the display area of the button can be operated by the user touching it with a finger or the like. The selected button is highlighted, for example, surrounded by a frame of a red thick line (see FIG. 11 ). When the user operates the "set" button at the bottom of the work mode/position relationship setting screen 90 in a state in which any of the selection units 111, 112, ... 115 is selected, the work aspect setting unit 101 sets the work mode, The positional relationship is received by the positional relationship setting unit 102, respectively, the contents of the set working mode/positional relationship are stored in the storage unit 32, and the setting of the working mode/positional relationship is completed.

Either the first accompanying job selection unit 111 or the second accompanying job selection unit 112 is selected, and the "set" button at the bottom of the operation mode/positional relationship setting screen 90 is operated, and the operation mode/relationship setting screen 90 is operated. When the setting of the positional relationship is completed, a priority setting window 91 for selecting whether to give priority to the maintenance of the positional relationship between the robot tractor 1 and the manned tractor 1X at the time of path creation is displayed (Fig. 11) see). When the user touches the "Yes" point of the priority setting window 91 with a finger or the like, the fact that the maintenance of the positional relationship of the vehicle is given priority is received in the priority acceptance unit 103 and stored in the storage unit 32 . Thereby, the maintenance of the positional relationship of the vehicle is given priority, and subsequent route generation is performed. On the other hand, when the user touches the "No" point of the priority setting window 91 with a finger or the like, the fact that the maintenance of the vehicle positional relationship is not given priority is received by the priority accepting unit 103 and stored in the storage unit 32 . remembered In this case, it is not necessarily constrained to the positional relationship of the vehicle set on the work mode/positional relationship setting screen 90, and subsequent route generation is performed.

On the other hand, on the work mode/position relationship setting screen 90, a separate division cooperative work selection unit 115 is selected, and the "Setting" button at the bottom of the work mode/position relationship setting screen 90 is operated, When the setting of the positional relationship is completed, a division/standard work setting screen 92 for setting a division and setting whether a reference operation is necessary is displayed (refer to FIG. 12). In the division/standard work setting screen 92 shown in FIG. 12, a dividing line (vertical line) 116 for division is displayed in the center of a rectangle in which the pavement (work area) is virtually displayed (refer to FIG. 12 ) ). The user can change the division ratio (the ratio of the first work area and the second work area) by tapping the dividing line 116 to move it left and right. Moreover, in the lower part of the division/standard work setting screen 92, virtual buttons of "Yes" and "No" are displayed together with the message "Is the standard work necessary?". When the user selects "Yes", a travel route for reference work is generated in the subsequent route generation. On the other hand, if the user selects "No", the travel route for the reference work is not generated in the subsequent route generation.

The user arranges the dividing line 116 for the above-mentioned division at an appropriate position, and in a state in which either button of “Yes” or “No” is selected, “Setting” at the bottom of the reference job setting screen 92 ' button is operated, the location of the division in the division setting unit 107 and whether the reference operation is necessary in the reference operation setting unit 108 is received, and the contents of the set division/standard operation setting are stored in the storage unit 32 It is memorized, and setting of division/standard work is completed.

After the above setting is completed, the display screen of the display 37 of the radio communication terminal 46 is switched to the overlap width setting screen 93 shown in FIG. On the overlap width setting screen 93, there is provided an overlap setting unit 121 to select when overlapping (overlapping) adjacent travel paths, and a non-overlapping setting to select when not overlapping (overlapping) adjacent travel paths. The portion 122 is configured as a virtual button, and the position of the touch panel 39 corresponding to the display area of the button can be operated by the user touching it with a finger or the like. When the overlap presence setting unit 121 is selected, this button is highlighted, for example, surrounded by a frame of a red thick line, and the overlap width can be input by touch. On the other hand, when the no-overlapping setting unit 122 is selected, this button is displayed with emphasis on, for example, surrounded by a frame of a red thick line, and a touch input of the separation width between adjacent travel paths becomes possible.

When the user selects either the overlap presence setting unit 121 or the no overlap setting unit 122, inputs the value of the width, and presses the "Set" button at the bottom of the overlap width setting screen 93, the overlap This information is received by the width setting unit 104, the set contents are stored in the storage unit 32, and the setting of the overlap width is completed.

After the above setting is completed, the display screen of the display 37 of the radio communication terminal 46 is switched to the skip number setting screen 94 shown in FIG. On the skip number setting screen 94, an arbitrary traveling path P1 of the traveling path (first traveling path) P on which the robot tractor 1 travels, and a robot tractor next to the optional traveling path P1 A "do not skip" button 123 for selecting the effect that the number of travel routes arranged between the travel routes P1 on which (1) travels is 0 column is disposed as a virtual button. Further, on the right side of the "do not skip" button 123, an arbitrary traveling path P1 of the traveling path (first traveling path) P on which the robot tractor 1 travels, and the optional traveling path ( Next to P1), a "Skip 1 row" button 124 for selecting the effect that the number of traveling paths arranged between traveling paths P1 driven by the robot tractor 1 is 1 row is arranged as a virtual button . Further, on the right side of the "Skip row 1" button 124, an arbitrary traveling path P1 of the traveling path (first traveling path) P on which the robot tractor 1 travels, and the optional traveling path ( Next to P1), a “skip two rows” button 125 for selecting the effect that the number of running routes arranged between the running routes P1 driven by the robot tractor 1 is two rows is disposed as a virtual button . When the user selects by touching any of these buttons 123, 124, and 125, the button is highlighted, for example, surrounded by a frame of a red thick line. In this state, when the user presses the "set" button at the bottom of the skip number setting screen 94, this information is received from the skip number setting unit 105, the set contents are stored in the storage unit 32, and the number of skips setting is completed.

After the above setting is completed, the display screen of the display 37 of the wireless communication terminal 46 is switched to the non-working area width setting screen 96 shown in FIG. On the non-work area width setting screen 96, the width of the dog seat in which the robot tractor 1 (and the manned tractor 1X) turns, that is, returns, and the non-work area arranged along the traveling direction of the robot tractor 1 The width of the region (side margin) is represented by a schematic image. In the image of the non-working area width setting screen 96, the recommended width calculated based on the working width and overlap width, etc. previously set by the user is displayed, but by performing the pull-down operation, for example, It is possible to set a value that is an integer multiple of the working width as the interdigital width or the non-working area width. However, the present invention is not limited thereto, and it is also possible for the user to input a desired width as the width of the dog seat or the width of the non-working area by touch input.

When the user selects or inputs the width of the canopy and the non-working area width and presses the "Set" button at the bottom of the non-working area width setting screen 96, this information is received by the non-working area width setting unit 106 and , the set contents are stored in the storage unit 32, and the setting of the interdigital width and the non-working area width is completed.

When the user sets all the work information and returns to the input selection screen of FIG. 7 , the travel route creation/transmission operation unit 64 of the input selection screen 60 becomes operable. In other words, until the user has all set the work vehicle information, the pavement information, and the work information, the travel route creation/transmission operation unit 64 is in an inoperable state. That is, only when packaging information and work information are input without omission, path generation and transmission are possible.

When the user selects the travel route creation/transmission operation unit 64, automatically the first travel route P of the robot tractor 1 (and, if applicable, the second travel route P of the manned tractor 1X) ') is generated, and this travel route is stored in the storage unit 32 . In addition, when the travel route is generated, a button of "path simulation" is selectively displayed on the display screen of the display 37. By selecting (operating) the "path simulation" button, an image representing the generated travel route with arrows, lines, or the like is displayed. Moreover, animation display in which the icon of a tractor moves along a travel route may be implemented.

After the display of "path simulation" is finished, a button for "transfer data" and a button for "return to input selection screen" are selectively displayed on the display screen of the display 37 . If "transmit data" is selected, an instruction for transmitting the travel route information to the control unit 4 of the tractor 1 can be executed. When the button "return to input selection screen" is selected, the display screen is switched to the input selection screen 60 .

In this way, in the route generating system 99 of the present embodiment, the travel route information generated on the radio communication terminal 46 side can be transmitted to the controller 4 of the tractor 1 . The control unit 4 stores information on the travel route (the first travel route P) received from the wireless communication terminal 46 in the storage unit 55 electrically connected to the control unit 4 .

When the 1st travel route P is memorize|stored in the memory|storage part 55, the agricultural work start operation part 65 of the input selection screen 60 becomes operable only. The control unit 4 is capable of instructing the start of work by the traveling body 2 and the work machine 3 , while starting until the first travel path P is generated and input to the storage unit 55 . It is structured in such a way that instructions cannot be executed.

When the user operates the agricultural work start operation unit 65 on the input selection screen 60, the control unit 4 controls the tractor 1 so that the tractor 1 operates autonomously and autonomously along the input first travel path P. 1) Control the driving and agricultural work. With the start of this autonomous driving, the display screen of the display 37 is switched to the autonomous driving monitoring screen 100 shown in FIG. 16 .

On the left side of the autonomous driving monitoring screen 100 , a front camera display unit 131 for displaying video data captured by the front camera 57 is disposed. On the left side of the autonomous driving monitoring screen 100 , below the front camera display unit 131 , a rear camera display unit 132 for displaying video data captured by the rear camera 56 is disposed.

A vehicle speed display unit 133 for displaying the current vehicle speed of the tractor 1 is disposed above the autonomous driving monitoring screen 100 . The vehicle speed display unit 133 displays the current vehicle speed of the tractor 1 acquired based on the data transmitted from the vehicle speed sensor 53 .

A fuel required amount display unit 134 is disposed below the autonomous driving monitoring screen 100 . In the fuel required amount display unit 134 , the amount of fuel required from the start of the agricultural work to the end of the agricultural work is displayed. In addition, the required amount of fuel can be calculated based on the length (distance) of the work path, the vehicle speed, the engine speed, etc. set by the user. Moreover, the wireless communication terminal 46 acquires the detection result from the fuel residual amount sensor 54, calculates the amount of insufficient fuel based on this, and displays it on the fuel required amount display part 134 together with the amount of required fuel. .

On the right side of the autonomous driving monitoring screen 100 , a driving state display unit 109 for displaying image data including the traveling path P1 or the connection path P2 while the tractor 1 is traveling is disposed. The image data displayed on the running state display unit 109 is, for example, as shown in FIG. 9, superimposed on the map data with the shape of the pavement and the shape of the work area, and the running trajectory of the tractor 1 is displayed thereon. It may be indicated by hatching. The first traveling path P of the robot tractor 1 and the second traveling path P' of the manned tractor 1X are displayed on the traveling state display unit 109 of the present embodiment.

A user who steers the manned tractor 1X supports the radio communication terminal 46 by, for example, an appropriate support portion of the traveling body 2 of the manned tractor 1X, and displays ( 37), the manned tractor 1X can be driven along the second travel path P' to perform agricultural work while referring to the autonomous driving monitoring screen 100 displayed in FIG. Thereby, the cooperative work of the robot tractor 1 and the manned tractor 1X is realizable.

Hereinafter, the cooperative travel route generated by the route generating system 99 will be specifically described.

17 shows that the cooperative operation of causing the manned tractor 1X to travel the rear side inclined to the right of the robot tractor 1 is selected, and the effect that the maintenance of the positional relationship between the robot tractor 1 and the manned tractor 1X is prioritized An example of the travel routes P, P' generated by the travel route generating unit 35 when selected and skip one row is selected is shown. In this travel route (P, P'), as shown in FIG. 17 , the number of skips is 2 rows → 0 rows → 2 rows → 0 rows ... is changing to On the other hand, in this travel route (P, P'), as shown in Fig. 17, the positional relationship in which the manned tractor 1X is disposed on the rear side obliquely to the right of the robot tractor 1 is maintained in both the outbound route and the return route. have. When such travel paths P, P' are employed, the user of the manned tractor 1X is conscious of driving the manned tractor 1X on the rear side of the robot tractor 1 obliquely to the right at all times, conscious of the steering operation. There is an advantage in that it is easy to perform an operation based on the position of the robot tractor 1 by doing so.

18 shows that the cooperative operation in which the manned tractor 1X travels the rear side inclined to the right of the robot tractor 1 is selected, and the maintenance of the positional relationship between the robot tractor 1 and the manned tractor 1X is not given priority. An example of the travel path (P, P') generated by the travel path generating unit 35 is shown when is selected and skip one row is selected. In this travel route P, P', as shown in FIG. 18, the number of skips is constant in one row. On the other hand, in this travel path P, P', as shown in Fig. 18, on the outward path when viewed from the starting position, the manned tractor 1X is disposed on the rear side obliquely to the right of the robot tractor 1, the positional relationship is maintained, but on the return route, the manned tractor 1X is disposed on the rear side obliquely to the left of the robot tractor 1 (the set positional relationship is not maintained). When such travel routes P, P' are employed, the user of the manned tractor 1X only needs to turn in the same turning mode (same turning radius, etc.) in both the dog seat on one side and the dog seat on the other side. There is an advantage that the operation becomes easy for an inexperienced user.

Fig. 19 shows an example of travel routes P, P' generated by the travel route generating unit 35 when divisions are set in the pavement and the reference operation is set to "required". In this travel route P, P', as shown in FIG. 19, in the 2nd work area where agricultural work is mainly performed by the manned tractor 1X, adjacent to the boundary line (division line) with the 1st work area, Only the arranged travel path P0 is autonomously driven and autonomous work is performed by the robot tractor 1, and the other travel path P1' in the second work area is operated by the manned tractor 1X. On the other hand, in the 1st work area|region, autonomous running/autonomous work is implemented by the robot tractor 1 on all the traveling paths P1. When such travel paths P, P' are employed, the robot tractor 1 drives autonomously and autonomously works on the travel path P0 disposed adjacent to the boundary line with the first work area in the second work area. Then, using this traveling path P0 as a reference (reference), it is possible to perform agricultural work on the traveling paths P1', P1', ... by the manned tractor 1X in the second work area. Do. Therefore, there is an advantage in that it is easy to perform agricultural work in an orderly manner with respect to the field.

Fig. 20 shows an example of the travel routes P, P' generated by the travel route generating unit 35 when a section is set in the pavement and the reference operation is set to "unnecessary". In this travel path P, P', as shown in FIG. 20, the 1st work area in which agricultural work is performed by the robot tractor 1, and the 2nd work area in which agricultural work is performed by the manned tractor 1X The work area is divided and arranged by dividing lines. When such travel paths (P, P') are employed, the work area (pavement) is divided into a plurality of divisions, and work can be carried out by dividing the work between the robot tractor 1 and the manned tractor 1X, so that the work can be performed efficiently as a whole. It has the advantage of being able to

As described above, the route generating system 99 of the present embodiment includes the work aspect setting unit (cooperative work aspect setting unit) 101 , the positional relationship setting unit 102 , and the travel path generating unit (cooperative travel). a route generating unit) 35 , and a priority reception unit (acceptance unit) 103 . The work mode setting unit 101 sets cooperative work modes of the robot tractor (first work vehicle) 1 and the manned tractor (second work vehicle) 1X. The positional relationship setting unit 102 sets the positional relationship between the robot tractor 1 and the manned tractor 1X when the cooperative work mode is a cooperative work in the same work area. The travel path generating unit 35 includes a first travel path P on which the robot tractor 1 travels and a second travel path P on which the manned tractor 1X travels when the cooperative operation mode is a cooperative operation in the same work area. A cooperative driving path including the driving path P' is generated. The priority accepting unit 103 accepts whether or not to give priority to the maintenance of the positional relationship. When priority for maintaining the positional relationship is accepted by the priority accepting unit 103, cooperative travel paths (first travel path P and second travel path P′) maintaining the positional relationship are generated (FIG. 17). see). When priority for maintaining the positional relationship is not received by the priority accepting unit 103, cooperative travel paths (the first travel path P and the second travel path P′) that do not maintain the positional relationship are generated ( see Figure 18).

Thereby, the cooperative travel path can be flexibly generated according to the user's intention, without necessarily being constrained by the positional relationship between the robot tractor 1 and the manned tractor 1X set in the positional relationship setting unit 102 .

In addition, in the route generating system 99 of the present embodiment, the first travel route P and the second travel route P' include a plurality of travel routes P1 and P1' arranged in parallel, respectively. do. When the cooperative travel path (the first travel path P and the second travel path P') that does not maintain the positional relationship is generated by the travel path generating unit 35, any of the first travel paths P The number of rows of traveling paths arranged between the traveling path P1 of , and another traveling path P1 driven by the robot tractor 1 next to the optional traveling path P1 is maintained at a constant number (Fig. 18). see).

Accordingly, when the maintenance of the set positional relationship between the robot tractor 1 and the manned tractor 1X is not given priority, the arbitrary travel path P1 of the robot tractor 1 and the arbitrary travel path P1 The number of rows of traveling paths arranged between different traveling paths P1 driven by the robot tractor 1, that is, the number of so-called skips of how many lines the robot tractor 1 skips and travels on the next traveling path P1 is constant. number will be maintained. In this case, since the turning method (turning radius, etc.) in the opening on one side and the opening on the other side of the pavement is fixed in a fixed aspect, it becomes easy to implement a turning operation.

Moreover, in the path generating system 99 of this embodiment, the said cooperative work is a cooperative work in a different work area, the 1st work area is work|worked by the robot tractor 1, and the manned tractor 1X A reference work setting unit 108 is provided which sets whether or not a reference work by the robot tractor 1 in the second work area is required when the second work area is operated. As the first travel path P, the travel path P0 on which the reference work is performed by the robot tractor 1 in the second work area, and the work is performed by the robot tractor 1 in the first work area A travel route including a plurality of travel routes P1 to be used is generated. Create a travel route including, as the second travel path P', a plurality of travel paths P1' on which work is performed by the manned tractor 1X in the second work area excluding the area where the reference work is performed (see FIG. 19).

Accordingly, in the second work area, the reference work (work along the travel path P0) is performed by the robot tractor 1, and with reference to the travel path P0 on which the work is performed as the reference work, By the manned tractor 1X, it is possible to perform work on the plurality of travel paths P1'. Therefore, it is easy to perform work orderly with respect to a work area|region.

In addition, the route generating system 99 of the present embodiment is the first travel route P, and includes a plurality of travel routes P1, P1, ... on which the work is performed by the robot tractor 1 in the first work area. ) to create a driving route including As the second travel path P', a travel path including a plurality of travel paths P1', P1', ... on which work is performed by the manned tractor 1X in the second work area is generated.

Thereby, the robot tractor 1 and the manned tractor 1X can perform an operation|work by sharing different operation areas, respectively, and it can perform an operation|work efficiently as a whole.

Although preferred embodiment of this invention was described above, the said structure can be changed as follows, for example.

In the cooperative work of the robot tractor 1 and the manned tractor 1X in the above embodiment, the robot tractor 1 runs on the preceding side and the manned tractor 1X runs on the following side, but it is always limited to this It is not necessary, and for example, the manned tractor 1X may drive the preceding side, and the robot tractor 1 may drive the following side.

In the above embodiment, when the cooperative travel route that does not maintain the positional relationship is generated by the travel route generating unit 35, the arbitrary travel path P1 of the first travel path P and the optional travel path ( After P1), the number of rows of traveling paths arranged between other traveling paths P1 driven by the robot tractor 1 is assumed to be kept constant. However, when there is a fractional number in the number of travel paths P1, the number of skips does not need to be constant in some travel paths P1.

In the example shown in Fig. 20, the first work area and the second work area are partitioned so as to have the same area. However, the present invention is not limited thereto, and the first work area may be wider than the second work area, or the first work area may be narrower than the second work area. By appropriately moving the dividing line 116 shown in FIG. 12 , for example, the number of columns of the travel path in the first work area is appropriately different from the number of columns in the travel path in the second work area, so that the work end position of the first work vehicle is set. It is possible to set the dog seat in which is arranged and the dog seat in which the work end position of the second work vehicle is arranged as the dog seat on the same side.

In the said embodiment, it was decided that the reference|standard work|work was performed on the travel path by the side of the 2nd work area adjacent to a dividing line. When comprised in this way, the boundary of a 1st work area|region and a 2nd work area becomes easy to understand visually, and there exists an advantage that the user who steers the manned tractor 1X becomes easy to work. However, it is not necessarily limited to this, You may implement a reference operation|work with respect to any of the travel paths in a 2nd operation area|region. For example, you may implement a reference|standard operation|work with respect to the traveling path located at the end of the opposite side to the side where the dividing line of a 2nd work area|region is arrange|positioned.

The display screens (input screens, etc.) shown in each drawing are only examples, and the layout of the display and the design of each icon (button) are not limited to those shown.

In the above embodiment, the work mode setting unit 101 , the positional relationship setting unit 102 , the travel route generating unit 35 , the priority accepting unit 103 , and the reference work setting unit 108 include the wireless communication terminal 46 . Although it is assumed that these structures are provided in which of the tractor 1 and the radio|wireless communication terminal 46, it is not limited to this. Moreover, you may be equipped with any of the tractor 1 and the radio|wireless communication terminal 46 also about other structural parts.

An apparatus having a function corresponding to the radio communication terminal 46 may be inseparably provided in the traveling body 2 of the manned tractor 1X traveling accompanying the tractor 1 . In this case, the radio communication terminal 46 can be omitted.

In the above embodiment, it is assumed that the second work vehicle is a manned tractor 1X steered by the user. However, the present invention is not limited thereto, and the second work vehicle is an unmanned tractor similarly to the first work vehicle, and the second travel path P' generated by the travel path generating unit 35 is transmitted to the tractor. Thus, the vehicle may be driven autonomously.

1: (Robot) Tractor (1st work vehicle)
1X: Manned (s) Tractor (2nd Working Vehicle)
35: driving route generating unit (cooperative driving path generating unit)
99: path generation system
101: work mode setting unit (cooperative work mode setting unit)
102: position relationship setting unit
103: Priority reception section (reception section)
108: reference work setting unit

Claims (5)

a cooperative operation mode setting unit for setting cooperative operation modes of the first work vehicle and the second work vehicle;
a positional relationship setting unit for setting a positional relationship with the second work vehicle with respect to the first work vehicle as a reference when the cooperative work mode is a cooperative work in the same work area;
generating a cooperative travel path including a first travel path through which the first work vehicle travels and a second travel path through which the second work vehicle travels when the cooperative work aspect is a cooperative work in the same work area; a cooperative driving path generating unit;
The work area has a first work area in which work is performed by the first work vehicle and a second work area in which work is performed by the second work vehicle, wherein the first work area and the second work area are A division setting unit for setting a line dividing the area;
and a reference work setting unit for setting whether or not a reference work by the first work vehicle in the second work area is required. The method of claim 1,
When the reference task is set as necessary by the reference task setting unit, the cooperative driving path generation unit,
a plurality of travel paths on which the reference work is performed by the first work vehicle in the second work area, and a plurality of travel paths on which the work is performed by the first work vehicle in the first work area as a first travel path generating a driving route including the driving route;
generating, as the second travel path, a travel path including a plurality of travel paths on which work is performed by the second work vehicle in the second work area excluding the area where the reference work is performed;
When the reference task is set to be unnecessary by the reference task setting unit, the cooperative driving path generating unit includes:
generating, as the first travel path, a travel path including a plurality of travel paths on which work is performed by the first work vehicle in the first work area;
and generating, as the second travel route, a travel route including a plurality of travel routes on which work is performed by the second work vehicle in the second work area. 3. The method according to claim 1 or 2,
and a receiving unit for receiving whether or not the maintenance of the positional relationship is given priority;
The cooperative driving path generation unit,
generating the cooperative travel route for maintaining the positional relationship when priority of maintaining the positional relationship is accepted by the accepting unit;
and when the priority of maintaining the positional relationship is not accepted by the accepting unit, the cooperative travel route not maintaining the positional relationship is generated. 4. The method of claim 3,
The first travel path and the second travel path each include a plurality of travel paths arranged in parallel;
When the cooperative travel route that does not maintain the positional relationship is generated by the cooperative travel-path generating unit, the first working vehicle is used by the first working vehicle after any travel route of the first travel route and following the optional travel route. A path generating system, characterized in that the number of rows of driving paths disposed between other driving paths is maintained at a constant number. 3. The method according to claim 1 or 2,
The travel path on which the reference work is performed by the first work vehicle is a travel path disposed adjacent to a boundary line with the first work area in the second work area.

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