CN108885455A - Coordinates measurement device and working truck - Google Patents
Coordinates measurement device and working truck Download PDFInfo
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- CN108885455A CN108885455A CN201780015815.9A CN201780015815A CN108885455A CN 108885455 A CN108885455 A CN 108885455A CN 201780015815 A CN201780015815 A CN 201780015815A CN 108885455 A CN108885455 A CN 108885455A
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- 238000003860 storage Methods 0.000 description 41
- 101100194816 Caenorhabditis elegans rig-3 gene Proteins 0.000 description 20
- 230000004048 modification Effects 0.000 description 16
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- 238000002347 injection Methods 0.000 description 8
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- 230000002159 abnormal effect Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 6
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- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- Life Sciences & Earth Sciences (AREA)
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- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
Coordinates measurement device of the invention includes：Coordinates measurement portion (55), it can determine the running region (F) for making body (2) to carry out automatic running, and can pre-generate driving path (P) of the body (2) among the running region (F)；And control unit (4), can the body (2) be made with instruction and travel the body (2) along the driving path (P).The coordinates measurement portion (55) can be generated the driving path (P) on the basis of the end position (E) of starting position (S) and the body (2) end traveling that the body (2) start running, and the position that can receive the either side in the starting position (S) and the end position (E) after the driving path (P) is generated is changed to modify the driving path (P) after the generation.
Description
Technical field
The present invention relates to generate for make body automatic running driving path coordinates measurement device and being capable of automatic row
The working truck sailed.
Background technique
In the past, it as we all know there are such a technology, in the main working truck and unmanned and automatic row of pilot steering
Respectively equipped with control device on the by-effect vehicle sailed, make to be able to carry out wireless communication between working truck, in by-effect vehicle
Have on：Program for making itself and main working truck go together (referring for example to patent document 1 etc.).In this case, it drives
Personnel manipulate main working truck on one side, operate long-distance operating device on one side and make by-effect vehicle automatic running, thus it enables that
Main working truck and by-effect vehicle go together and execute the agricultural operation in such as farmland.
In addition, it is also known that there are such a technologies, agricultural operation in farmland for high-efficient simple is carried out, so as to instead
It is multiple successively to carry out straight trip traveling, travelled after near border turning, turning followed by straight trip and generate driving path, make agricultural operation
Vehicle carries out automatic running along driving path (referring for example to patent document 2 and 3 etc.).
Patent document
Patent document 1：Japanese Unexamined Patent Application Publication 2001-507843 bulletin
Patent document 2：Japanese Unexamined Patent Publication 2004-8053 bulletin
Patent document 3：Japanese Unexamined Patent Publication 2011-254704 bulletin
Summary of the invention
But it is described in the prior art, presetting out starting position that body starts running and body terminates to travel
End position, be then based on these positions to generate driving path, starting position and end position and driving path are in one by one
Corresponding relationship (relationship between starting position and end position and driving path is fixed).Thus, for example, in farmland
Starting position is nearby possible in that case of interfering body traveling there are zanjon, in order to change the start bit of driving path
It sets, it is necessary to fulfil the step for resetting starting position and end position and regenerating new whole driving path from the beginning
Suddenly, still there are also rooms for improvement in terms of setting workability.
In addition, it is described in the prior art, just finish agricultural operation before reaching the end position that has set in advance
When automatic running (agricultural operation) that vehicle is carried out along driving path, used driving path exists when due to previous automatic running
It is unable to get recycling when next automatic running, generates traveling road again to the non-operating area in farmland therefore, it is necessary to execute
The operation of diameter.Thus, for example, requiring to be gone every time when last for days carries out agricultural operation etc. in large-scale farmland
The generation operation in path is sailed, cumbersome, there is still room for improvement in terms of setting workability.
In addition, it is described in the prior art, driver while manipulating main working truck use long-distance operating device
And carried out automatic running start operation when, by-effect vehicle then starts automatic running.In addition, driver is manipulating main operation
It has been carried out when automatic running stops operation while vehicle using long-distance operating device, by-effect vehicle then stops automatic row
It sails.Therefore, driver is when wanting makes by-effect vehicle start or stop automatic running, it is necessary to use long-distance operating device
Progress automatic running starts to operate or progress automatic running stops operation, along with also to manipulate main working truck, for manipulating
The operation of the long-distance operating device of by-effect vehicle is very complicated, this is also the problems of the prior art.
The present invention is completed in view of above-mentioned status, and technical task is that traveling can simply be formulated by providing one kind
Path is without the coordinates measurement device reformulated.
In addition, the present invention is completed in view of above-mentioned status, technical task is to provide a kind of carrying out automatically
Traveling starts operation or automatic running stop operation after and the work of automatic running can be started or stopped at the time of appropriate
Industry vehicle.
The present invention is a kind of coordinates measurement device, is had：Coordinates measurement portion, can determine carries out the body certainly
The running region of dynamic traveling, and driving path of the body among the running region can be pre-generated；And control
Portion can make instruction to the body and travel the body along the driving path, which is characterized in that the path
The starting position and the body that generating unit can be started running using the body terminate the end position of traveling as benchmark next life
At the driving path, and can receive after the driving path generation starting position and the end position it
In either side position change, to modify the driving path after the generation.
In above-mentioned coordinates measurement device, the coordinates measurement portion can be when receiving position change, can be by institute
The specified position stated on the driving path after generating receives as NEW BEGINNING position or new end position, and described in modification
Driving path after generation.
In above-mentioned coordinates measurement device, the coordinates measurement portion can be when receiving position change, can be by institute
The specified position other than driving path after stating the generation in running region is as NEW BEGINNING position or new stop bits
It sets to receive, and modifies the driving path after the generation.
In addition, coordinates measurement device of the invention has：Coordinates measurement portion, can determine carries out the body automatically
The running region of traveling, and driving path of the body among the running region can be generated；Unit path configuration part,
Its unit path that a part of driving path can be set as to the body；And control unit, it can be to described
Body makes instruction and travels the body along the unit path.
In above-mentioned coordinates measurement device, the coordinates measurement portion can be generated including a plurality of operation section and a plurality of turning
As the driving path, the unit path configuration part will be any included by the driving path in path including section
The end position in the one operation section is set as：Starting position that the body starts running on the unit path and
The body terminates the end position of traveling on the unit path.
In above-mentioned coordinates measurement device, the coordinates measurement portion can be generated including a plurality of operation section and a plurality of turning
As the driving path, the unit path configuration part is forbidden in path including section：It will be included by the driving path
The half-way in any one operation section be set as the start bit that the body starts running on the unit path
It sets and the body terminates the end position travelled on the unit path.
In addition, the present invention is a kind of working truck, have：Body and make the body along having set in advance
Driving path progress automatic running control unit, which is characterized in that the control unit when making the body start automatic running,
The body can be made standby, until traveling beginning condition is set up.
In above-mentioned working truck, which can have communication unit, which can be with another working truck
Possessed another control unit is communicated, and the traveling beginning condition is：The control unit is by the communication unit and from institute
The current location for stating another working truck that another control unit is got is specified position.
In addition, the present invention also can be made such a working truck, have：Body and make the body along
The driving path that has set carries out the control unit of automatic running in advance, which is characterized in that the control unit stops making the body
Only when automatic running, the body can be made to continue to travel, until traveling stop condition is set up.
In above-mentioned working truck, have：The location information acquisition unit of the location information of the body, institute can be obtained
Stating traveling stop condition includes：Current location based on the body obtained from the location information is specified position.
According to the present invention, coordinates measurement device has：Coordinates measurement portion, can determine makes the body carry out automatic row
The running region sailed pre-generates driving path of the body among the running region；And control unit, it can be right
The body makes instruction and travels the body along the driving path, which is characterized in that the coordinates measurement portion can be with
The body starts the starting position exercised and the body terminates to generate the traveling road on the basis of the end position of traveling
Diameter, and the either side among the starting position and the end position can be received after driving path generation
Position change, to modify the driving path after the generation, therefore, even if existing near the starting position in such as farmland deep
Ditch and be possible in that case of interfering the body automatic running, without the discarded original driving path generated
And new driving path is reformulated from the beginning, as long as to the either side among the starting position and the end position
Position change is carried out, original driving path generated can be adopted to modify.Therefore, it can be improved the traveling
The setting workability in path, can reduce the homework burden of driver, and generate the driving path for adapting to farmland situation.
According to the present invention, coordinates measurement device has：Coordinates measurement portion, can determine makes the machine carry out automatic running
Running region, and driving path of the body among the running region can be generated；Unit path configuration part, energy
Enough unit paths that a part of the driving path is set as to the body；And control unit, it can be to the body
It makes instruction and travels the body along the unit path, therefore, even if for example persistently being counted in large-scale farmland
In the case that day carries out agricultural operation, reformulated from the beginning new without discarded original driving path generated
Driving path can continue to use original driving path generated to set a plurality of institute's rheme path.Thus it is for example possible to examine
The time etc. for capableing of operation is considered, simply to divide the driving range of the body, to mitigate the homework burden of driver.
Furthermore for example it is also easy to the flow chart for arranging one day.
According to the present invention, working truck has：Body and carry out the body along the driving path that has set in advance
The control unit of automatic running, wherein the control unit can be such that the body waits for when making the body start automatic running
Therefore machine, can start to reserve, and can until traveling beginning condition establishment to the automatic running of the working truck
It carries out automatic running to the working truck in advance to start to operate, it is suitable to set up this in the traveling beginning condition later
Moment, (such as when making the working truck and another working truck is gone together, another working truck was reached with position
At the time of setting etc.) so that the working truck is started automatic running.Driver not necessarily corresponds to want to make the working truck
It carries out automatic running at the time of starting automatic running and starts to operate, so that the mobility operation of the working truck is mentioned
It is high.
In addition, according to the present invention, working truck has：Body and make the body along the traveling road set in advance
The control unit of diameter progress automatic running, wherein the control unit can make the machine when making the body stop automatic running
Body continues to travel, and until traveling stop condition establishment, therefore, can stop carrying out to the automatic running of the working truck pre-
About, and working truck progress automatic running can be stopped operation in advance, sets up this in the traveling stop condition later
One stops the working truck automatically at the time of (such as at the time of the working truck reaches the field side in farmland etc.) suitable
Traveling.It carries out automatic running at the time of driver not necessarily corresponds to want to make the working truck to stop automatic running and stops
It only operates, so that the mobility operation of the working truck is improved.
Detailed description of the invention
Fig. 1 is the whole side view of the robotic tractor of embodiment.
Fig. 2 is the top view of robotic tractor.
Fig. 3 is the functional block diagram of robotic tractor.
(a) of Fig. 4 is for illustrating the figure for inclined farmland region F and operating area W setting driving path P；(b)
The explanatory diagram for the case where being turning radius after correction for reduction；(c) be increase correction after turning radius the case where explanatory diagram.
Fig. 5 is the whole side view of unmanned tractor and artificial tractor.
Fig. 6 is the functional block diagram of unmanned tractor and artificial tractor.
The picture figure of long-distance operating device when Fig. 7 is unmanned tractor automatic running.
Fig. 8 is to indicate that automatic running starts the flow chart of an example of reservation control.
Fig. 9 is the figure for illustrating to execute the operation of going together when automatic running starts reservation control.
Figure 10 is to indicate that automatic running starts the flow chart of another example of reservation control.
Figure 11 is to indicate that automatic running stops the flow chart of an example of reservation control.
Figure 12 is the figure for illustrating to execute the operation of going together when automatic running stops reservation control.
(a) of Figure 13~(d) is for illustrating the driving path in the case where changing starting position except driving path
Modification, long-distance operating device picture figure.
(e) of Figure 14~(h) is for illustrating the driving path in the case where changing end position except driving path
Modification, long-distance operating device picture figure.
(i) of Figure 15~(l) is for illustrating that the driving path in the case where changing starting position on driving path is repaired
Picture figure that change example, long-distance operating device.
(m) of Figure 16~(p) is for illustrating that the driving path in the case where changing end position on driving path is repaired
Picture figure that change example, long-distance operating device.
(a), (b) of Figure 17 is for illustrating the split example of driving path, long-distance operating device picture figure.
Specific embodiment
Hereinafter, being based on attached drawing, illustrate a specific embodiment of the invention.Firstly, illustrating the one of working truck of the invention
A example, i.e. robotic tractor 1 (below sometimes referred to as " tractor ").Tractor 1 includes the machine of the automatic running in farmland
Body 2.Body 2 includes Fig. 1 and assemble and unassemble working rig 3 shown in dotted lines in Figure 2.The working rig 3 is used for agricultural operation.The operation
Machine 3 is, for example,：Cultivator ploughs the various working rigs such as plough, fertilizer applicator, grass trimmer, seeder, can according to need, therefrom selects
Desired working rig 3 is installed on body 2 out.Body 2 is configured to：The height and posture of working rig 3 after installation can be changed.
Referring to Figures 1 and 2, illustrate the structure of tractor 1.As shown in Figure 1, the front of body, that is, body 2 of tractor 1 by
Pair of right and left front-wheel 7,7 supports, and the rear portion of body 2 is supported by pair of right and left rear-wheel 8,8.Front-wheel 7,7 and rear-wheel 8,8 constitute traveling
Portion.
Hood 9 is configured in the front of body 2.In the hood 9, accommodate：Fuel tank (illustration omitted) and as dragging
Engine 10 of the driving source of machine drawing 1 etc..The engine 10 can be for example made of diesel engine, however, not limited to this, for example,
It can also be made of petrol engine.In addition, driving source other than using engine, can also use or substitute simultaneously engine
And use motor.
At the rear of hood 9, it is configured with：The driver's cabin 11 taken for driver.It is main in the inside of the driver's cabin 11
It is provided with：For carried out for driver direction operation steering wheel 12, can for seat 13 that driver takes a seat, be used into
The various operating devices of the various operations of row.But agricultural work vehicle is not limited to the vehicle with driver's cabin 11, it can also be with
Without driver's cabin 11.
As aforesaid operations device, for example, can enumerate：Display device, solar term bar, main shift lever, elevating lever, PTO switch,
PTO gear lever and multiple hydraulic speed-changing bars etc., here illustration omitted.These operating devices are configured near seat 13 or direction
Near disk 12.
Display device is configured to：It can show the various information of tractor 1.Solar term bar is used to set turning for engine 10
Speed.Main shift lever is for changing operation to the gear ratio of gearbox 22.Elevating lever is within the specified scope to being installed on
The height of the working rig 3 of body 2 carries out descending operation.PTO switch for power towards from the rear end side of gearbox 22 outwardly
The transmitting of PTO shaft (power output shaft) outstanding carries out on-off operation.That is, when PTO switch is ON state, to PTO shaft
It transmits power and rotates PTO shaft, to drive working rig 3；On the other hand, it when PTO switch is OFF state, cuts off to PTO
The power of axis is transmitted without allowing PTO shaft to rotate, so that working rig 3 be made to stop.PTO gear lever is used for what opposite working rig 3 inputted
Power changes operation, specifically, being the variable speed operation for carrying out the revolving speed of PTO shaft.Hydraulic speed-changing bar is used for hydraulic outer
Portion's delivery valve switches over operation.
As shown in Figure 1, being provided in the lower part of body 2：Constitute the chassis 20 of its skeleton.The chassis 20 is by organism frame
21, gearbox 22, front axle 23 and back axle 24 etc. are constituted.
Organism frame 21 is the supporting member of the front of tractor 1, is started directly or by partiting polarization component etc. to support
Machine 10.Gearbox 22 again passes power towards front axle 23 and back axle 24 after so that the power from engine 10 is changed
It passs.Front axle 23 is configured to：It will be transmitted from the power that gearbox 22 inputs towards front-wheel 7.Back axle 24 is configured to：It will be from speed change
The power that case 22 inputs is transmitted towards rear-wheel 8.
As shown in figure 3, tractor 1 has control device 4 as control unit, control device 4 is used to control the dynamic of body 2
Make (advance, retreat, stop and turning etc.) and working rig 3 movement (lifting, driving and stopping etc.).Control device 4 is electric respectively
It is connected with：Common-rail system 41, speed change gear 42 and lift actuator 44 etc. as fuel injection device.
Common-rail system 41 is used for each cylinder injection fuel towards engine 10.In this case, by with control device
4, control is opened and closed in the fuel injection valve of injector corresponding to each cylinder to engine 10, will using fuel feed pump from
Fuel tank is pressed and delivered to each cylinder injection of the high pressure fuel in common-rail system 41 from each injector towards engine 10, thus
Accurately control injection pressure, injection timing, the injection period (the amount of injection) of the fuel supplied from each injector.
Speed change gear 42 is specific to be, for example,：Movable inclined disc type Hyaulic infinite variable speed mechanism, is set in gearbox 22.
Speed change gear 42 is controlled by control device 4, thus the angle of appropriate adjustment swash plate, thus it enables that the speed change of gearbox 22
Than becoming desired gear ratio.
Lift actuator 44 for example by acting the three-link mechanism that working rig 3 and body 2 are linked up, and
Working rig 3 is set to be elevated to appointing in retreating position (position without agricultural operation) and job position (position for carrying out agricultural operation)
It anticipates a position.Lift actuator 44 is controlled by control device 4, so that working rig 3 is made suitably to carry out lifting action, by
This, such as agricultural operation can be carried out with desired height in farmland region using working rig 3.
In addition, control device 4 also with the speed probe 31 of the revolving speed of detection engine 10, detect the revolving speed of rear-wheel 8
Vehicle speed sensor 32, detection direction disk 12 rotational angle (steering angle) the equal sensors class electrical connection of steering angle sensor 33.
The detected value of these sensors is converted into detection signal, is then communicated to control device 4.
Tractor 1 with that above-mentioned control device 4 is configured to：Entered in driver's cabin 11 by driver and is carried out respectively
Kind operation, each section (body 2, working rig 3 etc.) that tractor 1 can be controlled using the control device 4, thus on one side in agriculture
Traveling executes agricultural operation on one side in field.In addition to this, even if the tractor 1 of embodiment is not driven by such as driver,
Can based on regulation that long-distance operating device 46 is exported control signal automatic running.
Specifically, as shown in figure 3, the various knots that the tractor 1 has in control device 4 for realizing automatic running
Structure.In addition, tractor 1 has：In order to be based on positioning day needed for positioning system obtains the location information of itself (body)
The various structures such as line 6.Using this structure, tractor 1 can be based on positioning system acquisition own location information and on farmland
Automatic running.
Next, tractor 1 is described in detail in order to realize structure that automatic running has.Specifically, such as Fig. 1 and figure
Shown in 3, tractor 1 has steering actuator 43, positioning antenna 6 and wireless communication antenna 48 etc..
Steering actuator 43 is for example set to the middle part of the rotary shaft (steering column) of steering wheel 12, is used for adjustment direction disk
12 rotational angle (steering angle).When tractor 1 on preset path (with unmanned tractor mode) when driving, in order to
Make tractor 1 along the route, control device 4 calculates the suitable rotational angle of steering wheel 12, and controls steering and cause
It moves device 43 and rotates steering wheel 12 with the calculated rotational angle of institute.
Positioning is used to receive the position location satellite of the positioning system such as from composition global position system (GNSS) with antenna 6
Signal.As shown in Figure 1, positioning antenna 6 is configured at the upper surface on the roof 14 of driver's cabin 11.Positioning antenna 6 receives
Signal be input into position shown in Fig. 3 and tilt angle information calculation part 49, utilize the position and tilt angle information calculation part
49, the location information of tractor 1 (being strictly positioning antenna 6) is gone out with the form calculus of such as Latitude-Longitude information.
Utilize the position and the calculated location information of tilt angle information calculation part 49 and the position of controlled device 4 and tilt angle information
Acquired in acquisition unit 50, for controlling tractor 1.
The position of embodiment and tilt angle information calculation part 49 can not only calculate the position letter of tractor 1 (body 2)
Breath, can also calculate tilt angle information all around.The inclination calculated using position and tilt angle information calculation part 49
Angle information again controlled device 4 position and tilt angle information acquisition unit 50 to be associated with location information (Latitude-Longitude information)
State acquired in, for controlling tractor 1.In addition, position and tilt angle information calculation part 49 can also calculate positioning day
Height and position of the line 6 relative to farmland face, and then calculate the overall height of tractor 1 (body 2).
In addition, using the high-precision global position system using GNSS-RTK method in the present embodiment, but not
It is defined in this, as long as high-precision position coordinates can be obtained, other positioning systems can also be used.GNSS-RTK is to be based on
The information of the base station of known location is corrected and proposes high-precision positioning method, according to the transmission of the information from base station
The difference of method and there are various ways.Since the present invention does not depend on GNSS-RTK mode, so omitting in the present embodiment detailed
It describes in detail bright.
Wireless communication with antenna 48 for receiving the signal from long-distance operating device 46, or towards long-distance operating device 46
Send signal.As shown in Figure 1, wireless communication antenna 48 is configured at the upper surface of the eaves 14 of the driver's cabin 11 of tractor 1.Nothing
In the signal from long-distance operating device 46 that line communication antenna 48 receives reception transmission processe department 47 shown in Fig. 3 into
After row signal processing, it is input into control device 4.In addition, the signal sent from control device 4 towards long-distance operating device 46
After carrying out signal processing in receiving transmission processe department 47, issued from wireless communication antenna 48, then be remotely operated device
46 receive.
In addition, tractor 1 is provided with pair of right and left brake apparatus 26,26, brake apparatus 26,26 according to brake pedal, stop
The operation of vehicle brake bar and this two systems is automatically controlled, left and right rear-wheel 8,8 is applied and is braked.That is, the braking of left and right both sides fills
26,26 are set to be configured to：According to the operation of the braking direction applied to brake pedal (or brake parking lever), after the both sides of left and right
Wheel 8,8 imposes braking.In addition, the brake apparatus 26,26 of left and right both sides is configured to：If the rotational angle of steering wheel 12 reaches regulation
More than angle, then according to the instruction of control device 4, the brake apparatus 26 as corresponding to the rear-wheel 8 of turning medial is automatically carried out
Braking maneuver (so-called automatic braking).
In addition, being equipped on tractor 1：Detection front, side or the rear obstacle sensor that whether there are obstacles
35.Obstacle sensor 35 is made of laser sensor, ultrasonic sensor etc., identify the front of tractor 1, side and after
Barrier existing for side, and generate detection signal.In addition, tractor 1 is equipped with：The camera in shooting front, side and rear
36.Obstacle sensor 35 and camera 36 are electrically connected with control device 4.The detected value of these sensors is converted into detection letter
Number, it is then communicated to control device 4.
Specifically, long-distance operating device 46 is configured to：Tablet-type personal computer with touch panel.Driver
Can referring to and confirm information (such as the agriculture required when carrying out automatic running shown on the touch panel of long-distance operating device 46
Field information etc.).In addition, driver can send to the control device 4 of tractor 1 and use by operating long-distance operating device 46
In the control signal of control tractor 1.In addition, the long-distance operating device 46 of embodiment is not limited to plate individual calculus
Machine can also replace and be made of such as subnotebook PC.Alternatively, keeping artificial tractor (illustration omitted) adjoint
The tractor of artificial side display device mounted when driving, can also be used as long-distance operating device by unmanned tractor 1.
Control device 4 shown in Fig. 3 has：The each section to be used of automatic ride control is carried out to tractor 1, is passed through
With them matingly by positioning with the various structure settings such as antenna 6 on tractor 1, it will be able to by existing tractor be used as nothing
People's tractor 1.Control device 4 is configured to：Minicomputer including CPU, ROM, RAM etc. is stored in above-mentioned ROM：Operation
Program, application program and various data etc..By the combination of above-mentioned hardware and software, control device 4 can be made as position
And tilt angle information acquisition unit 50, area information storage unit 51, job information storage unit 52, profile registration point storage unit 53, area
Domain shape acquisition unit 54, coordinates measurement portion 55 and display are worked with data creating portion 56 etc..
The tractor 1 constituted in this way can utilize path based on the instruction for the driver for using long-distance operating device 46
Generating unit 55 calculates the driving path in farmland region (running region), then on one side along the automatic row of the driving path
It sails, carries out agricultural operation using working rig 3 on one side.In this way, in the following description, sometimes by tractor 1 in farmland region (traveling area
Domain) path of interior automatic running is known as " driving path ".In addition, sometimes tractor will be become in farmland region (running region)
The region of the agricultural operation object of 1 working rig 3 is known as " operating area ".The operating area delimited：It is gone from entire farmland region
Fall the region after the edge of a field and ground more than needed, and when driver etc. executes the registration operation of aftermentioned registration point, is stepped on based on these
Remember the working width of point and tractor 1 and sets.
Next, referring to Fig. 3, control device 4 is explained one by one in order to realize each section that automatic running has.
The position and tilt angle information acquisition unit 50 constituted with control device 4 is made by oneself based on positioning with what antenna 6 obtained
The positioning signal of position system, to obtain the location information using position and the calculated tractor 1 of tilt angle information calculation part 49
(specially Latitude-Longitude information etc.), and to utilize position with location information (Latitude-Longitude information) associated state to obtain
It sets and the tilt angle information all around of tractor 1 that tilt angle information calculation part 49 calculates.
The area information storage unit 51 constituted using control device 4 is for storing：Pass through automatic running as tractor 1
Carry out the various relevant informations in the regions such as the farmland of object of agricultural operation.As the relevant information in farmland, specifically, can lift
Out：The location and shape (alternatively referred to as farmland region or running region) in farmland in farmland carry out agricultural operation with working rig 3
The location and shape of operating area, working rig in farmland 3 starts to carry out the place of agricultural operation that is, starting position, terminates agriculture
The place of operation that is, end position etc..
Traveling rail before generating driving path, when being turn-taked according to the body 2 of pilot steering tractor 1 around farmland
Mark, to determine the location and shape that is, farmland region (running region) in farmland, and using aftermentioned region shape acquisition unit 54 come
It obtains.Stage before so-called generation driving path is comparable to tractor 1 (body 2) beginning and utilizes working rig while travelling
3 carry out the stage before agricultural operation.In addition, the location and shape of operating area are also obtained using aftermentioned region shape acquisition unit 54
It takes.Other information can such as the touch panel for operating long-distance operating device 46 by driver operation set.It is utilizing
After region shape acquisition unit 54 obtains the information of farmland region (running region), long-distance operating device 46 is operated by driver
Touch panel set the information of starting position, end position.Farmland region, operating area information (alternatively referred to as region
Information) in include：With each position information (Latitude-Longitude information) associated tilt angle information all around.
The job information storage unit 52 constituted using control device 4 is the operation on the body 2 for will be installed on tractor 1
Operation type, working width and overlapping width that machine 3 is carried out etc. are stored as job information.In embodiments, this
A little information can be operated the touch panel of long-distance operating device 46 by driver to set.Operation type is, for example, that ploughing and weeding is made
Industry, seeding operation etc..Working width refers to：The effective width of the progress operation of working rig 3, for example, 3 meters.Overlapping width refers to：
For tractor 1 respectively in adjacent traveling route, the above-mentioned working width of working rig 3 is overlapped the width of (allowing to be overlapped), example
For example 30 centimetres.
The profile registration point storage unit 53 constituted using control device 4 is for carrying out location information in driver
In the case where registering operation, the location information and corresponding tilt angle information are stored, wherein the location information refers to：
The body 2 of tractor 1 be located at constitute multiple places of the profile of farmland region F (running region) shown in Fig. 4 (such as can be with
Including corner F1~F4) when location information.As described above, before generating driving path, the machine based on pilot steering tractor 1
Body 2 and driving trace when turn-taking around farmland, to determine farmland region F.In embodiments, profile registration point storage unit 53
Storage：The location information and tilt angle information in above-mentioned multiple places on driving trace.In the present embodiment, it will be taken turns sometimes
The place that exterior feature registration point storage unit 53 is registered is known as registering point.
Region shape acquisition unit 54 based on from profile register point storage unit 53 read multiple registration points location information and
Tilt angle information, to obtain (including inclination) shape of farmland region F.In addition, region shape acquisition unit 54 is based on above-mentioned farmland
The shape of region F and the job information (at least working width information) read from job information storage unit 52, to obtain operation
(including inclination) shape of region W.Specifically, obtaining so-called close in such a way that the line segment for linking each registration point is disjoint
Figure is closed, and is obtained using the closed figures and the polygon (being quadrangle in embodiment) of determination, as farmland region
F, the shape of operating area W.
Coordinates measurement portion 55 is based on the job information read from job information storage unit 52 and from area information storage unit 51
The information of the operating area W of reading formulates the driving path P of 2 automatic running of body for tractor 1 of sening as an envoy to by calculating.Traveling
Path P includes：A plurality of linear section Ps and a plurality of turning section Pc.That is, when the linear or polyline shaped of agricultural operation will be carried out
Path is referred to as in linear section Ps (alternatively referred to as operation section), and the section for carrying out cornering operation (direction conversion) is referred to as
When turning (the alternatively referred to as non-operation section) section Pc, driving path P is generated, as linear section Ps is alternately linked and turns
A succession of path made of detour section Pc.Therefore, according to embodiment, be consider inclined basis on determine agriculture
Field region F's, so as to accurately calculate the area of farmland region F.As a result, it is possible to generate optimal driving path P.
Display makes display data with data creating portion 56, and wherein the display is for that will be obtained by region shape with data
The shape of the farmland region F and operating area W that take portion 54 to be obtained and stored in area information storage unit 51 are shown in long-range behaviour
On the touch panel for making device 46.The display data that display data creating portion 56 produces are further through reception transmission processe department
47 and be remotely operated device 46 and received, and be shown on the touch panel of the long-distance operating device 46 in the form of images.
Next, illustrating that the automatic running of tractor 1 starts reservation control and automatic running stops referring to Fig. 5~Figure 12
The form of reservation control.Here, following situations is illustrated, to be illustrated, i.e.,：Make unmanned but is capable of automatic running
Robotic tractor 1 along with the tractor 101 (hereinafter sometimes referred to " artificial tractor ") taken by driver and manipulated,
And two tractors 1,101 is made to carry out colleague's operation, in this case, also that is, in unmanned tractor 1 and artificial tractor
Working rig 3,103 of the same race is mounted on 101 respectively, the situation of agricultural operation is executed while going together.
Artificial tractor 101 as another working truck is taken and is manipulated by driver, and also equipped with upper
It states long-distance operating device 46 and unmanned tractor 1 can be operated.The basic structure and unmanned tractor 1 of artificial tractor 101 are big
Cause identical, therefore description is omitted.In addition, the appended drawing reference of each section of artificial tractor 101 is set as：It is corresponding to it
The appended drawing reference of each section of unmanned tractor 1 plus the number after " 100 ", (such as the body of unmanned tractor 1 is attached
Icon is denoted as 2, and 102) appended drawing reference of the body of artificial tractor 101 is.As shown in figure 9, unmanned tractor 1 is along traveling
Path P traveling, artificial tractor 101 are travelled in its left rear ramp or right rear ramp (being also possible to side), can be on one side by people
The monitoring of work tractor 101 shows unmanned tractor 1, executes agricultural operation in farmland on one side.
Long-distance operating device 46 can be loaded and unloaded on the operation portions such as the instrument board of artificial tractor 101, unmanned tractor 1.Cause
This, long-distance operating device 46 can be operated in the state of on the operation portion for being installed on artificial tractor 101, can also be taken
Portable operation is carried out into the farmland departing from two tractors 1,101, additionally it is possible on the operation portion for being installed on unmanned tractor 1
In the state of operated.In the example after Fig. 8, it is assumed that the state on the operation portion for being installed on artificial tractor 101
Get off to operate long-distance operating device 46.
Fig. 7 is shown：One example of the display picture of the long-distance operating device 46 when unmanned 1 automatic running of tractor.
It is shown on the touch panel of long-distance operating device 46：The image of farmland region F, operating area W and driving path P, and
It shows：Automatic running for operating unmanned tractor 1 starts or automatic running stops the beginning/shutdown switch of (pause)
58 and the emergency stop switch 59 etc. for making unmanned 1 emergent stopping of tractor.The pause of tractor 1 and emergent stopping
Difference is：It, can be and pressing beginning/shutdown switch 58 of long-distance operating device 46 when tractor 1 has been in pause
Tractor 1 is set to start automatic running, and when tractor 1 has been in emergent stopping, it cannot be by pressing long-distance operating device
46 beginning/shutdown switch 58 and make tractor 1 start automatic running.When tractor 1 has been in emergent stopping, driver
It must take on tractor 1, carry out initialization procedure (such as first for the predetermined function on-off of switch (such as PTO)
PTO switch is set as " cutting off ", is then reset as " on "), it so that tractor 1 is started automatic running.
Under the traveling halted state of unmanned tractor 1, if starting/shutdown switch 58 with finger or a short-press, nobody
Tractor 1 immediately begins to automatic running.During the automatic running of unmanned tractor 1, if being started/being stopped with finger or a short-press
Only switch 58, then unmanned tractor 1 stops automatic running immediately.
In addition, under the traveling halted state of unmanned tractor 1, if being opened with finger or long-pressing (such as several seconds or so)
Beginning/shutdown switch 58, the then automatic running for executing unmanned tractor 1 start reservation control (described in detail later).In unmanned tractor 1
Automatic running during, if it is dilatory to execute nobody with finger or long-pressing (such as several seconds or so) beginning/shutdown switch 58
The automatic running of machine 1 stops reservation control (described in detail later).
As described above, long-distance operating device 46 and unmanned tractor 1 can carry out wireless communication mutually.In addition to this, nothing
It can also be carried out wireless communication mutually between people's tractor 1 and artificial tractor 101.From the control device 104 of artificial tractor 101
The signal for being sent to unmanned tractor 1 is used after receiving transmission processe department 147 by carry out signal processing, and from wireless communication
Antenna 148 is sent, then is received by the wireless communication antenna 48 of unmanned tractor 1.Wireless communication is received with antenna 48
To the signal from artificial tractor 101 be and to be input into after receiving transmission processe department 47 by carry out signal processing
The control device 4 of unmanned tractor 1.Therefore, the control device 4 of unmanned tractor 1 can be obtained is received by positioning antenna 106
And by the location information (Latitude-Longitude information) of the calculated artificial tractor 101 in position and tilt angle information calculation part 149.
When unmanned tractor 1 (body 2) starts automatic running, the control device 4 of unmanned tractor 1 can be such that nobody drags
Machine drawing 1 (body 2) is standby, until traveling beginning condition is set up.For example, making unmanned tractor 1 be parked in the start bit in farmland
Set S, driver towards unmanned tractor 1 left rear ramp or right rear ramp (being also possible to side) attendant position A (reference
Whens during Fig. 9) manipulating artificial tractor 101 or before will manipulating etc., once driver's finger or long-pressing
Beginning/shutdown switch 58 of long-distance operating device 46, then unmanned tractor 1 starts progress automatic running and starts reservation control.
Fig. 8 is to indicate that automatic running starts the flow chart of an example of reservation control.In this case, beginning/stopping
After the long-pressing of switch 58, if by stipulated time (such as 10 seconds or so) (S101：It is), then the preparation of unmanned tractor 1
Ready condition sets up (S102：It is), if it (is in this case starting position S) that unmanned tractor 1, which is just being parked in specified position,
(S103：It is), and each section of unmanned tractor 1 is without abnormal (S104：It is), then start unmanned tractor 1 along traveling
Path P automatic running (S105).If there is abnormal (S104 in any part of unmanned tractor 1：It is no), then make unmanned tractor
1 maintains halted state (S106).(such as 10 seconds left sides of defined time are needed before unmanned tractor 1 starts automatic running
It is right), the artificial tractor 101 of driver's manipulation can be taken advantage of reaches attendant position A this period (or in advance with position in advance
It is standby to set A).Therefore, unmanned tractor 1 and artificial tractor 101 can successfully be allowed to start to carry out agricultural operation when going together.
" whether pass through stipulated time (example again after the long-pressing of beginning/shutdown switch 58 shown in the step S101 of Fig. 8
Such as 10 seconds or so) " be traveling beginning condition in present embodiment one kind, if after the long-pressing of beginning/shutdown switch 58
Pass through the above-mentioned stipulated time again, then travels the establishment of beginning condition.As ready condition, can enumerate：" 1, unmanned tractor
In on (not departing from) driving path P ", " positioning with antenna 6,106 be in (can not cut off) receive the signal from position location satellite
State " and " communication between unmanned tractor 1 and long-distance operating device 46 is not switched off " etc..As unmanned tractor 1
Each section exception, can enumerate：Such as the exception of various sensors, actuator etc..
When being controlled as described above, it is able to carry out the reservation that the automatic running of unmanned tractor 1 starts, it can be preparatory
To unmanned tractor 1 carry out automatic running start to operate, later, travel beginning condition set up this it is suitable at the time of (for example,
When making unmanned tractor 1 and artificial tractor 101 go together, at the time of artificial tractor 101 reaches attendant position etc.),
Unmanned tractor 1 is set to start automatic running.Driver does not need：Alignment wants that unmanned tractor 1 is made to start automatic running
Moment and carry out automatic running and start to operate, thus, the mobility operation of unmanned tractor 1 is improved.
Figure 10 is to indicate that automatic running starts the flow chart of another example of reservation control.In another example shown in Fig. 10
Automatic running start in reservation control, traveling beginning condition include at least：It is sent out from artificial tractor 101 to unmanned tractor 1
The current location of the artificial tractor 101 for the number of delivering letters is in specified position (the left rear ramp or right rear ramp of unmanned tractor 1
The attendant position A of (being also possible to side)) this condition.In addition, the ready condition and previous examples of another example
Ready condition is identical.
In this case, if beginning/shutdown switch 58 of driver's finger or pen long-pressing long-distance operating device 46, just
The automatic running that can start unmanned tractor 1 starts reservation control, then the ready condition of unmanned tractor 1 sets up (S201：
It is), if it (is in this case starting position S) (S202 that unmanned tractor 1, which is just being parked in specified position,：It is), artificial tractor 101
Reaching specified position again (is in this case attendant position A) (S203：Be) and unmanned tractor 1 each section without abnormal
(S204：It is), then start unmanned tractor 1 along driving path P automatic running (S105).If unmanned tractor 1 is appointed
Position anticipate in the presence of abnormal (S204：It is no), then so that unmanned tractor 1 is maintained halted state (S206).
Therefore, when being controlled as so another example, can also play the role of similarly imitating with an example of front
Fruit still opens unmanned tractor 1 since " the artificial tractor 101 of driver's manipulation reaches attendant position A " to be classified as
One of the condition of beginning automatic running therefore, can be with compared with the example for making the unmanned tractor 1 standby stipulated time of front
Higher precision adjusts the opportunity that the automatic running of unmanned tractor 1 starts.
In addition, when the automatic running that make unmanned tractor 1 (body 2) stops, the control device 4 of unmanned tractor 1
Unmanned tractor 1 (body 2) can be made to continue to travel, until establishment until travelling stop condition.For example, in unmanned tractor 1
In the operation process of going together of artificial tractor 101, if the beginning of driver's finger or pen long-pressing long-distance operating device 46/
Shutdown switch 58, the then automatic running for starting unmanned tractor 1 stop reservation control.
Figure 11 is to indicate that automatic running stops the flow chart of an example of reservation control.If starting unmanned tractor 1
Automatic running stops reservation control, and the ready condition of unmanned tractor 1 sets up (S301：It is) and unmanned tractor 1 is each
Part is again without abnormal (S302：It is), then unmanned tractor 1 continues automatic running, drives to always in current automatic running
The terminal of linear section Ps that is, stop predetermined position ST (position being connected with next turning section Pc) (S303).Nobody
If tractor 1, which reaches, stops predetermined position (S304：It is), unmanned tractor 1 just stops automatic running (S305).If nobody is dilatory
There is abnormal (S302 in any part of machine 1：It is no), then S305 is entered step, unmanned tractor 1 is made to stop automatic running immediately.
The traveling stop condition of example shown in Figure 11 includes：" unmanned tractor 1 (body 2) is based on by positioning antenna 6
Receive and obtained from position and the calculated location information of tilt angle information calculation part 49 (Latitude-Longitude information) when
Front position is to be in specified position (being in this case to stop predetermined position ST) ".In addition, the ready condition of the example and from
The example that dynamic traveling starts control is identical with ready condition shown in another example.
When being controlled as described above, it is able to carry out the reservation that the automatic running of unmanned tractor 1 stops, additionally it is possible to pre-
First to unmanned tractor 1 carry out automatic running stop operation, later, travel stop condition set up this it is suitable at the time of (example
Such as, at the time of unmanned tractor 1 reaches the field side in farmland etc.) and unmanned tractor 1 is made to stop automatic running.Driver is not required to
It wants：It carries out automatic running at the time of alignment wants that unmanned tractor 1 is made to stop automatic running and stops operation, thus, nobody drags
The mobility operation of machine drawing 1 is improved.
In the above-described embodiment, the control device 4 of tractor 1 can be used as position and tilt angle information acquisition unit 50, area
Domain information storage unit 51, job information storage unit 52, profile registration point storage unit 53, region shape acquisition unit 54, coordinates measurement
Portion 55 and display data creating portion 56 and play a role, but not limited to this.That is, above structure also can be set in long-range
Operating device 46, can be set to control device 4 with a part, and another part is set to long-distance operating device 46.In addition, above-mentioned
All or part of of structure also can be set in 46 both sides of control device 4 and long-distance operating device.
Therefore, coordinates measurement device of the invention is also possible to be set to either be set to the structure on tractor 1
Structure on long-distance operating device 46.When coordinates measurement device is set to long-distance operating device 46,46 energy of long-distance operating device
It is enough to use antenna 48 by wireless communication, to obtain：The position as possessed by tractor 1 and tilt angle information acquisition unit 50 calculate
Tractor 1 location information and tilt angle information.In addition, using long-distance operating device 46 come when generating driving path, remotely
Operating device 46 includes storage unit 51,52, based on the information obtained from each storage unit 51,52 (job information and operating area W's
Information), to generate driving path.Moreover, long-distance operating device 46 can be issued to tractor 1：Allow it along row generated
The instruction (sending automatic running to start to control signal) of route is sailed, in this case, control device 4 is based on remote operation dress
Each section of 46 instruction control tractor 1 is set, to make 1 automatic running of tractor.
Next, 3~Figure 16 referring to Fig.1, illustrates the form of the driving path modification control of embodiment.As described above,
Control device 4 (coordinates measurement portion 55) can not only terminate the knot of traveling with the starting position S and body 2 that body 2 starts running
On the basis of beam position E, to generate traveling path P, additionally it is possible to after the generation of traveling path P, receive starting position S and stop bits
The change of any position in E is set, to modify the driving path P after generating.
In addition, in the following description and attached drawing, for convenience's sake, sometimes to original operating area W, original row
It sails path P, original starting position S and original end position E and adds alphabetical " o " to be marked.In addition, sometimes to new
Operating area W, new driving path P, NEW BEGINNING position S and new end position E add alphabetical " n " to be marked.
Control device 4 (coordinates measurement portion 55) can both receive original in the F of farmland region when receiving position and changing
Specified position outside driving path Po can also receive original as NEW BEGINNING position Sn or new end position En
Specified position on driving path Po, as NEW BEGINNING position Sn or new end position En.
Modification shown in (e)~(h) of (a) of Figure 13~(d) and Figure 14 is：By the original row in the F of farmland region
Sail the example for the case where specified position outside path P o is as NEW BEGINNING position Sn or new end position En, (i) of Figure 15
Modification shown in (m)~(p) of~(l) and Figure 16 is：It is opened the specified position on original driving path Po as new
The example of the case where beginning position Sn or new end position En.In any an example, starting position S is：It can be in operation
On the boundary edge wa where original starting position So among boundary edge wa~wd of region W or boundary edge wa prolongs
The long enterprising line position of line sets change.In addition, end position E is：It can be in the boundary edge wa where original end position Eo
Upper or boundary edge wa enterprising line position of extended line sets change.
In any modification, NEW BEGINNING position Sn (or new end position En) cannot be configured to far from original
Starting position So (or original end position Eo) arrive following this degree, i.e.,：Boundary edge wa~wd of operating area W it
In without turn that side section Pc boundary edge wb, wd exceed farmland region F degree.In Figure 13, Figure 14, Figure 15
(i), (m) of (j) and Figure 16, in modification shown in (n), NEW BEGINNING position Sn (or new end position En's) sets
Range is：The distance left from original starting position So (or original end position Eo) to two sides is respectively equal to adjacent
Between linear section Ps in the range of distance D.In other words, from the boundary edge wb before modification to the end of farmland region F away from
From being set as：Than the D big distance of the distance between adjacent linear section Ps, so that even if original starting position So is repaired
It is changed to NEW BEGINNING position Sn, body 2, working rig 3 will not exceed to outside the region of farmland region F.
In the modification shown in (i) of (a)~(d) and Figure 15 of Figure 13, (j), in tractor 1 (body 2) automatic row
Before sailing, when showing farmland region F, original operating area Wo and original on the touch panel in long-distance operating device 46
In the state of driving path Po, when being pressed near the original starting position So on touch panel with finger or pen, remotely grasping
On the touch panel for making device 46, the display of starting position S is switched to from original starting position So：Corresponding to depressed position
NEW BEGINNING position Sn (referring to Fig.1 3 (a), (c) and Figure 15 (i)).Moreover, in the touch surface of long-distance operating device 46
On plate, with the position offset (the distance between So, Sn) of NEW BEGINNING position Sn correspondingly, operation in the F of farmland region
Region W, end position E and driving path P are switched and are revised as：The shape of new Wn, En, Pn are slid onto from original Wo, Eo, Po
State (referring to Fig.1 35 (b), (d) and Figure 15 (j)).
In addition, similarly, in the modification shown in (m) of (e)~(h) and Figure 16 of Figure 14, (n), when with finger or
When pen is pressed near the original end position En on touch panel, on the touch panel of long-distance operating device 46, stop bits
It sets the display of E and is switched to new end position En corresponding with depressed position (referring to Fig.1 4 from original end position Eo
(e), (g) and Figure 16 (m)).Moreover, the position on the touch panel of long-distance operating device 46, with new end position En
Set offset accordingly, the operating area W, end position E and driving path P in the F of farmland region are switched and are revised as：From original
Wo, Eo, Po be slid onto new Wn, En, Pn state (referring to Fig.1 4 (f), (h) and Figure 16 (n)).
In above-mentioned any one situation, it is stored in the original operation area in control device 4 (area information storage unit 51)
Domain W (=Wo), starting position S (=So), end position E (=Eo) and driving path P (=Po) information be replaced with newly
Information Wn, Sn, En, Pn.
In the modification shown in (o) of (k) of Figure 15, (l) and Figure 16, (p), cross on original driving path Po
The initially part back and forth of one of (or last), and from the 3rd article of linear section Ps of the straight line path number of segment of initial (last) start of calculation
End position be set to NEW BEGINNING position Sn (or new end position En).In this case, in long-distance operating device
On 46 touch panel, initially the display of the part back and forth of one of (or last) is deleted on driving path Po originally, but
End position Eo (or original starting position So) originally is then maintained original state, operating area W and traveling in the F of farmland region
Path P is switched to：The state of new Wn, Pn are revised as from original Wo, Po.
In the modification shown in (k) of Figure 15, (l), it is stored in the original of control device 4 (area information storage unit 51)
Operating area W (=Wo), starting position S (=So) and driving path P (=Po) information be switched to new information Wn,
Sn,Pn.The information of end position E (=Eo) remains unchanged.In the modification shown in (o) of Figure 16, (p), it is stored in control
Original operating area W (=Wo), end position E (=Eo) and driving path P in device 4 (area information storage unit 51)
(=Po) information be switched to new information Wn, En, Pn.The information of starting position S (=So) remains unchanged.
When being controlled as described above, even if being possible to hamper there are zanjon near the starting position S in such as farmland
In that case of hindering tractor 1 (body 2) automatic running, from the beginning without the discarded driving path P originally generated
New driving path is reformulated, as long as carrying out position change to the either side in starting position S and end position E
The driving path P that originally generated is adopted to modify.Therefore, it can be improved the setting workability of driving path P, so as to
Mitigate the homework burden of driver, and generates the driving path P for adapting to farmland situation.
In the above-described embodiment, the control device 4 of tractor 1 is used as position and tilt angle information acquisition unit 50, region
Information storage part 51, job information storage unit 52, profile registration point storage unit 53, region shape acquisition unit 54, coordinates measurement portion
55 and display data creating portion 56 and play a role, but not limited to this.That is, above structure also can be set in long-range behaviour
Make device 46, control device 4 can be set to a part, another part is set to long-distance operating device 46.In addition, above-mentioned knot
All or part of of structure also can be set in 46 both sides of control device 4 and long-distance operating device.
Therefore, coordinates measurement device of the invention is also possible to be set to remote either be set to the structure of tractor 1
The structure of journey operating device 46.When coordinates measurement device is set to long-distance operating device 46, long-distance operating device 46 can pass through
Wireless communication is obtained with antenna 48：The position as possessed by tractor 1 and tilt angle information acquisition unit 50 are calculated dilatory
The location information and tilt angle information of machine 1.In addition, when generating driving path using long-distance operating device 46, long-distance operating device
46 include storage unit 51,52, based on the information (information of job information and operating area W) obtained from each storage unit 51,52 come
Generate driving path.Moreover, long-distance operating device 46 can be issued to tractor 1：It is allowed to travel along the driving path of generation
Instruction (send automatic running start control signal), in this case, finger of the control device 4 based on long-distance operating device 46
Show, to control each section of tractor 1, makes 1 automatic running of tractor.
As described above, driving path P is generated, starting position S and end based on starting position S and end position E
Position E is set by driver and is stored in after the information for obtaining running region using region shape acquisition unit 54
In area information storage unit 51.When original driving path Po is revised as new driving path Pn, starting position S is (originally
Starting position So) and end position E (end position Eo originally) also change therewith, in the present embodiment, in start bit
After setting S and end position E change, by the starting position (i.e. NEW BEGINNING position Sn) after change and the end position after change
(i.e. new end position En) storage has been arrived in area information storage unit 51, and but not limited to this.That is, can also believe in region
Original operating area Wo, original starting position So, original end position Eo and original are still stored in breath storage unit 51
Driving path Po, then increase the modification information for indicating that each information has been modified, and it is associated with original information foundation
Ground stores.Through this process, such as when generating a plurality of driving path based on original starting position So, even if 1
Starting position S is had modified on driving path, the starting position S of other driving paths will not be modified, and 1 row can be prevented
The problem of sailing the modification in path influences other driving paths.
Next, referring to Fig.1 7 illustrate in embodiment driving path segmentation control form.The control of embodiment
Device 4 can also be worked by the combination of above-mentioned hardware and software as unit path configuration part 57 (referring to Fig. 3).Make
The unit path configuration part 57 constituted with control device 4 can be used in a part of driving path P being set as tractor 1
(body 2) travels primary unit path U.That is, in embodiments, after traveling path P generates, control device can be utilized
Driving path P segmentation (division) is multiple unit path U by 4 (unit path configuration parts 57).Constituent parts path U being partitioned into etc.
Information newly-increased be stored in the control device 4 as area information storage unit 51.When setting the group of unit path U,
The automatic running of tractor 1 (body 2) is to be controlled by control device 4 according to every unit path U.
In addition, in Figure 17 and its related description, for convenience, sometimes to original driving path P, original start bit
It sets S and original end position E and adds alphabetical " o " to be marked.In addition, sometimes to constituent parts path U and constituent parts road
Diameter U corresponding starting position S and end position E add number to be marked.
In the split example shown in (a) of Figure 17, (b), after traveling path P (=Po) generates, 1 (body of tractor
2) it before automatic running, presses the path segmentation button shown on such as touch panel of long-distance operating device 46 and (saves sketch map
Show).Then, farmland region F, operating area W and original driving path Po will be shown in the touch of long-distance operating device 46
On panel.In this state, when pressing on original driving path Po included any one linear section Ps with finger or pen
End position when, with depressed position accordingly newly-generated 1st unit path U1 end position E1 (the alternatively referred to as the 1st terminate
Position) (7 (a) referring to Fig.1).In this case, the part quilt until original starting position So to the 1st end position E1
It is set as the 1st unit path U1.
Then, new by turning section Pc and the end position of the 1st end position E1 linear section Ps being connected
It is generated as：The starting position S2 (alternatively referred to as the 2nd starting position) (7 (b) referring to Fig.1) of 2nd unit path U2.In the situation
Under, the part until the 2nd starting position S2 to original end position Eo is then set to the 2nd unit path U2.Positioned at the 1st
Turning section Pc between end position E1 and the 2nd starting position S2 is then deleted.As a result, original driving path Po is divided
Cutting (division) is：1st unit path U1 and the 2nd unit path U2 this two parts.Therefore, even if for example in large-scale farmland
In the case that middle last for days carries out agricultural operation, reformulated from the beginning without the discarded driving path Po originally generated
New driving path can continue to use the driving path Po that originally generated to set a plurality of unit path U.Thus it is for example possible to examine
Worry is capable of time of operation etc. simply to divide job area in farmland (driving range), to mitigate the work of driver
Industry burden.Furthermore for example it is also easy to the flow chart for arranging one day.It increases newly and deposits in control device 4 (area information storage unit 51)
Store up the 1st unit path U1, the 1st end position E1, the 2nd unit path U2 and the 2nd starting position S2.
The control device 4 (unit path configuration part 57) of embodiment is forbidden：It will be included by original driving path Po
The half-way of any one linear section Ps is set as the starting position S and end position E of constituent parts path U.Therefore, load is not had to
The heart on the U of constituent parts path automatic running tractor 1 (body 2) separate field side for example in farmland center near etc.
Place's (half-way for being equivalent to each linear section Ps) optionally stops traveling or starts running.
In addition, original driving path Po is not limited only to be divided into two parts, three or more can also be divided into
Unit path U.In this case, as long as carrying out repeatedly above-mentioned unit path setting operation (path segmentation setting operation).
In addition, the path segmentation button that can also be pressed on touch panel (saves sketch map during tractor 1 (body 2) automatic running
Show) and carry out above-mentioned unit path setting operation (path segmentation setting operation).In this case, it is only allowed in original row
It sails and is set on the path that the tractor 1 (body 2) on path P o not yet travels.Because need not be in the path travelled
It is upper to execute above-mentioned unit path generation operation (path segmentation operation).
It in the present embodiment, is after traveling path P generates, before tractor 1 (body 2) automatic running, to row
It sails what path was split, but operating area W can also be split before traveling path P generates, then in each operation area
Driving path is generated in domain.In this case, before traveling path P generates, for example, pressing the touch of long-distance operating device 46
The region segmentation button (illustration omitted) shown on panel.Then, farmland region F, operating area W etc. will be shown in long-range behaviour
On the touch panel for making device 46.In this state, when with finger or pen press any position (or it is shown it is multiple can
Bit selecting set in any position) when, accordingly operating area W is split with depressed position.The dividing number of operating area W
It can also be suitable for setting, for example, when operating area W is divided into operating area W1 and this two parts of operating area W2, according to
The width and working width of each region W1 and W2 is suitable for the new end position En and operating area W2 set in the W1 of operating area
In NEW BEGINNING position Sn.Then, it is generated in the W1 of operating area：From original starting position So to new end position
Driving path until En generates in the W2 of operating area：Until NEW BEGINNING position Sn to original end position Eo
Driving path.
In the above-described embodiment, the control device 4 of tractor 1 is used as position and tilt angle information acquisition unit 50, region
Information storage part 51, job information storage unit 52, profile registration point storage unit 53, region shape acquisition unit 54, coordinates measurement portion
55, display data creating portion 56 and unit path configuration part 57 and play a role, but not limited to this.That is, above structure
Also it can be set in long-distance operating device 46, control device 4 can be set to a part, another part is set to remote operation
Device 46.In addition, all or part of of above structure also can be set in 46 both sides of control device 4 and long-distance operating device.
Therefore, coordinates measurement device of the invention is also possible to be set to either be set to the structure on tractor 1
Structure on long-distance operating device 46.When coordinates measurement device is set on long-distance operating device 46,46 energy of long-distance operating device
It is enough to be obtained by wireless communication with antenna 48：The position as possessed by tractor 1 and tilt angle information acquisition unit 50 are calculated
The location information and tilt angle information of tractor 1.In addition, when generating driving path, remotely being grasped using long-distance operating device 46
Making device 46 includes storage unit 51,52, based on the information (letter of job information and operating area W obtained from each storage unit 51,52
Breath) generate driving path.Moreover, long-distance operating device 46 can be issued to tractor 1：Allow it along the driving path of generation
The instruction (sending automatic running to start to control signal) of traveling, in this case, control device 4 is based on long-distance operating device 46
Instruction, to control each section of tractor 1, makes 1 automatic running of tractor.
The present invention is not limited to above embodiment, can use various specific embodiments.The structure of each section is unlimited
Due to embodiment illustrated, can be made various changes in the range for not departing from present subject matter.
Description of symbols
1：Robotic tractor；2：Body；3：Working rig；4：Control device；6：Antenna is used in positioning；26：Brake apparatus；
46：Long-distance operating device；48：Wireless communication uses antenna；49：Position and tilt angle information calculation part；50：Position and inclination angle letter
Cease acquisition unit；51：Area information storage unit；52：Job information storage unit；53：Profile registration point storage unit；54：Region shape
Acquisition unit；55：Coordinates measurement portion；56：Display data creating portion；58：Beginning/shutdown switch.
Claims (10)
1. a kind of coordinates measurement device,
It has：Coordinates measurement portion can determine the running region for making body carry out automatic running, and can pre-generate institute
State driving path of the body among the running region；And control unit, instruction can be made to the body and makes this
Body is travelled along the driving path, wherein
The starting position and the body that the coordinates measurement portion can be started running with the body terminate the stop bits of traveling
Be set to benchmark, to generate the driving path, and can receive after the driving path generation starting position and
The position of either side in the end position is changed, to modify the driving path after the generation.
2. coordinates measurement device according to claim 1, wherein
It the coordinates measurement portion, can be by the specified position on the driving path after the generation when receiving position change
Receive as NEW BEGINNING position or new end position, and modifies the driving path after the generation.
3. coordinates measurement device according to claim 1, wherein
It the coordinates measurement portion, can be by the traveling after the generation in the running region when receiving position change
Specified position other than path receives as NEW BEGINNING position or new end position, and modifies the traveling after the generation
Path.
4. a kind of coordinates measurement device, wherein
The coordinates measurement device has：
Coordinates measurement portion can determine the running region for making body carry out automatic running, and can generate the body in institute
State the driving path among running region；
A part of the driving path can be set as the unit path of the body by unit path configuration part；And
Control unit can make instruction to the body and travel the body along the unit path.
5. coordinates measurement device according to claim 4, wherein
The coordinates measurement portion can generate the path including a plurality of operation section and a plurality of turning section, as described
Driving path,
The unit path configuration part sets the end position in any one operation section included by the driving path
For：The starting position and the body that the body starts running on the unit path terminate on the unit path
The end position of traveling.
6. coordinates measurement device according to claim 4, wherein
The coordinates measurement portion can generate the path including a plurality of operation section and a plurality of turning section, as described
Driving path,
Forbid the unit path configuration part：By the half-way in any one operation section included by the driving path
It is set as starting position that the body starts running on the unit path and the body is tied on the unit path
The end position of beam traveling.
7. a kind of working truck,
It has：Body and the body is made to carry out the control unit of automatic running along the driving path that has set in advance,
In,
The control unit can make the body standby when making the body start automatic running, until travelling beginning condition
It sets up.
8. working truck according to claim 7, wherein
The working truck has communication unit, which can be led to another control unit possessed by another working truck
Letter,
The traveling beginning condition is：Described in the control unit is got by the communication unit and from another control unit
The current location of another working truck is in specified position.
9. a kind of working truck,
It has：Body and the body is made to carry out the control unit of automatic running along the driving path that has set in advance,
In,
The control unit can make the body continue to travel when making the body stop automatic running, until traveling stops
Condition is set up.
10. working truck according to claim 9, wherein
The working truck has：The location information acquisition unit of the location information of the body can be obtained,
The traveling stop condition includes：Current location based on the body obtained from the location information is in regulation
Position.
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-067255 | 2016-03-30 | ||
| JP2016067256A JP6622131B2 (en) | 2016-03-30 | 2016-03-30 | Route generator |
| JP2016-067254 | 2016-03-30 | ||
| JP2016067254A JP2017182374A (en) | 2016-03-30 | 2016-03-30 | Service vehicle |
| JP2016067255A JP6622130B2 (en) | 2016-03-30 | 2016-03-30 | Route generator |
| JP2016-067256 | 2016-03-30 | ||
| PCT/JP2017/006935 WO2017169373A1 (en) | 2016-03-30 | 2017-02-23 | Path generation device and work vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108885455A true CN108885455A (en) | 2018-11-23 |
Family
ID=59963163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780015815.9A Pending CN108885455A (en) | 2016-03-30 | 2017-02-23 | Coordinates measurement device and working truck |
Country Status (3)
| Country | Link |
|---|---|
| KR (3) | KR102106252B1 (en) |
| CN (1) | CN108885455A (en) |
| WO (1) | WO2017169373A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019083755A (en) * | 2017-11-08 | 2019-06-06 | 株式会社クボタ | Autonomously travelling type work machine and farm field management system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10795351B2 (en) * | 2016-07-19 | 2020-10-06 | Raven Industries, Inc. | System and method for autonomous control of agricultural machinery and equipment |
| WO2019183890A1 (en) * | 2018-03-29 | 2019-10-03 | 深圳市大疆软件科技有限公司 | Method and apparatus for adjusting working path, method and device for adjusting working path of movable device, and recording medium |
| KR20210039452A (en) * | 2018-08-29 | 2021-04-09 | 가부시끼 가이샤 구보다 | Automatic steering system and harvester, automatic steering method, automatic steering program, recording medium |
| JP6978388B2 (en) * | 2018-08-30 | 2021-12-08 | 株式会社クボタ | Automatic steering system for field work vehicles |
| JP7146671B2 (en) | 2019-02-28 | 2022-10-04 | ヤンマーパワーテクノロジー株式会社 | work vehicle |
| CN112578777A (en) * | 2019-09-27 | 2021-03-30 | 苏州宝时得电动工具有限公司 | Autonomous robot and walking path planning method and device thereof and storage medium |
| KR102444226B1 (en) * | 2020-09-21 | 2022-09-19 | 주식회사 긴트 | Autonomous tractor system and the method for creating work route thereof |
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- 2017-02-23 WO PCT/JP2017/006935 patent/WO2017169373A1/en active Application Filing
- 2017-02-23 KR KR1020207011545A patent/KR20200045004A/en not_active IP Right Cessation
- 2017-02-23 CN CN201780015815.9A patent/CN108885455A/en active Pending
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| JP2015112071A (en) * | 2013-12-12 | 2015-06-22 | 株式会社クボタ | Field work machine |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR102106252B1 (en) | 2020-05-04 |
| KR20200045004A (en) | 2020-04-29 |
| WO2017169373A1 (en) | 2017-10-05 |
| KR20180114086A (en) | 2018-10-17 |
| KR102548019B1 (en) | 2023-06-26 |
| KR20210043723A (en) | 2021-04-21 |
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Address after: Osaka Prefecture, Japan Applicant after: Yangma Power Technology Co., Ltd Address before: Osaka Prefecture, Japan Applicant before: YANMAR Co.,Ltd. |