CN109074081A

CN109074081A - Autonomous driving path generates system

Info

Publication number: CN109074081A
Application number: CN201780027984.4A
Authority: CN
Inventors: 平松敏史
Original assignee: Yanmar Co Ltd
Current assignee: Yanmar Co Ltd
Priority date: 2016-05-10
Filing date: 2017-04-07
Publication date: 2018-12-21
Also published as: KR20200075029A; KR20200018732A; KR102126168B1; KR102079890B1; KR20210016086A; KR20180116319A; KR102283928B1; WO2017195510A1; CN114995427A

Abstract

Autonomous driving path generates system and generates the autonomous driving path (93) for travelling tractor independently to carry out operation for predetermined operating area (91).Autonomous driving path, which generates system, to be had: operating area cutting part and autonomous driving path generating unit.Operating area (91) are divided into multiple dividing regions (S) by operating area cutting part.Autonomous driving path generating unit generates autonomous driving path (93) in a manner of including multiple working paths (93A), these multiple working paths (93A) are arranged respectively in each dividing regions (S) divided by operating area cutting part.Operating area cutting part can divide operating area (91) in such a way that the quantity for the working path (93A) that each dividing regions (S) is included is the basic unit number of path (skip in the case that quantity is 1 is 5) being equal to each other.

Description

Autonomous driving path generates system

Technical field

A kind of autonomous driving path generation of driving path the present invention relates to generation for travelling working truck independently System.

Background technique

In the past, it is known that such a autonomous driving system: it makes working truck according to pre-generated driving path certainly Main traveling.Patent document 1 discloses such autonomous driving system.The agricultural work vehicle disclosed in Patent Document 1 has: In the following manner, to steering actuator, variable-speed unit, lift actuator, PTO engagement switching units, engine controller etc. into Row control, the control device as the automatic running unit automaticed job on one side while automatic running, that is, receive by GPS satellite The electric wave sent is found out the location information of body with setting time interval in a mobile communication device, is passed according to gyroscope Sensor and aspect sensor find out the displacement information and azimuth information of body, are based on these location informations, displacement information And azimuth information, the mode that body is travelled along preset setting path.

Patent document

Patent document 1: Japanese Unexamined Patent Publication 2015-201155 bulletin

Summary of the invention

Although agricultural work vehicle also has in field on one side the situation that while autonomous traveling operations in patent document 1 It is disclosed, but, following operation is carried out on a large scale, it may be assumed that on multiple linear working paths at equal intervals side by side, from simultaneously The end of side on the direction of row starts successively to be travelled one by one to the end of the other side and carry out operation.At this point, agriculture After being fulfiled assignment on a certain working path with working truck, the end edge portion in field is turned back, and driving direction is made to turn around, for Operation is carried out with the adjacent working path of the working path.

But in the driving path, carry out it is above-mentioned when turning back, according to feelings such as the minimum turning radius of working truck Condition must carry out the turning turned back with front and back sometimes, so as to cause efficiency reduction.Accordingly, it is considered to arrive: being used as in agricultural It after industry vehicle fulfils assignment on a certain working path, is made on the adjacent working path of the working path Industry, but operation is carried out on the working path after skipping 1~2 or so, to be travelled and (skip (skip) traveling).As The driving path of agricultural work vehicle at this time, for example, skipping 1 operation road from the end of the side on direction side by side Diameter and travel reach the other side end, then, on one side in remaining working path (working path for skipping operation) row It sails and is returned on one side to the side, so generate multiple working paths side by side in this wise.

But in the case where carrying out operation while carrying out and skipping traveling in biggish field, if because certain Situation and interrupt operation in midway, it is a wide range of sometimes to generate: what the place of operation and the place of non-operation were alternately present Part.In this case, it is difficult to hold: the place in the place of the operation in field and non-operation is summarized respectively and is obtained Region, cause to be difficult to successfully start again at operation.In addition, causing soil environment to be sent out because of rainwater etc. before and after job interruption In the case where having given birth to variation, the different part of operation quality is produced in comb teeth-shaped sometimes, so that operation effect later Rate reduces.

But, for the composition for travelling agricultural work vehicle independently, in particular, if field is wide Greatly, then it can play well laborsaving and other effects.But for example greatly to the field for the degree that in 1 day operation can not complete In ground, job interruption as described above just must be taken into consideration, thus for, there is still room for improvement.

The present invention is to implement in view of the foregoing, and potential purpose is, it is raw to provide a kind of autonomous driving path At system, when using traveling progress operation is skipped, even if operation can also prevent: big model in the case where midway is interrupted Exclosure generates the part that the place of operation and the place of non-operation are alternately present.

Project to be solved by this invention is as above, next, to for solving the project means and its effect say It is bright.

First viewpoint according to the present invention, the autonomous driving path for providing following composition generate system.That is, the autonomous traveling Path generating system generates the traveling road for travelling working truck independently to carry out operation to predetermined operating area Diameter.The autonomous driving path, which generates system, to be had: region segmentation portion and coordinates measurement portion.It the region segmentation portion will be described Operating area is divided into multiple dividing regions.The coordinates measurement portion generates the traveling road in a manner of including multiple traveling roads Diameter, and these multiple traveling roads are arranged respectively at each dividing regions divided by the region segmentation portion.The region segmentation It portion can be in such a way that the quantity on the traveling road that each dividing regions are included is the specified value being equal to each other and to described Operating area is split.

Even if also can be single with the small dividing regions divided as a result, using traveling progress operation is skipped Member, the successively operation since the end of operating area.It therefore, also can be in operation even if operation is in the case where midway is interrupted The part that is alternately present of place in the place of operation and non-operation is limited in a small range in dividing regions in region.Cause This, is easy clearly to know the place of operation, so as to successfully carry out operation again.Even if in addition, before job interruption It in the case where causing soil environment that variation has occurred because of rainwater etc. afterwards, can also prevent: a wide range of interior in comb teeth-shaped real estate The different part of raw operation quality.

In the autonomous driving path generation system, it is preferred to use composition below.That is, the coordinates measurement portion is based on A reference value and set the sequence of operation for the multiple traveling road.Quantity and the regulation on the traveling road for being included Be worth the equal dividing regions have it is multiple in the case where, the coordinates measurement portion is between the dividing regions, for corresponding to each other Each traveling road set the identical sequence of operation.

Thereby, it is possible to set certain sequence of operation for traveling road using dividing regions as unit, therefore, can be realized Regularity skips traveling, further, it is possible to simplify the generation processing of driving path.

In the autonomous driving path generation system, it is preferred to use composition below.That is, being wrapped in the operating area In the case that the quantity on the traveling road contained is not the integral multiple of the specified value, the region segmentation portion is to form out first The operating area is divided into multiple dividing regions by the mode of dividing regions and the second dividing regions.First dividing regions are included The quantity on the traveling road is equal with the specified value.The quantity on the traveling road that second dividing regions are included is greater than institute State specified value.

Will not generate as a result: therefore the dividing regions that the quantity on the traveling road for being included is unsatisfactory for specified value can be easy Ground is generated with the driving path for skipping traveling.

Second viewpoint according to the present invention, the autonomous driving path for providing following composition generate system.That is, the autonomous traveling Path generating system has: driving direction configuration part and barrier periphery configuration part.The driving direction configuration part sets institute State the driving direction of the working truck in running region.Barrier periphery configuration part is in the running region Barrier and set barrier outer region.The coordinates measurement portion can generate: the row comprising multiple traveling roads Path is sailed, and these multiple described traveling roads are along the institute set in the running region by the driving direction configuration part It states driving direction and is arranged.The coordinates measurement portion can be to include the first traveling road, detour road and the second traveling road Mode generates the driving path.The first traveling curb driving direction configuration.The detour road is with described The terminal on the first traveling road is starting point, is passed through in the barrier outer region and around the opposite side of the barrier, from And the position on the imaginary extended line after first traveling road extends is reached in a manner of passing through the barrier.Second row Sailing road and is configured on the imaginary extended line using the terminal of the detour road as starting point.

It generates as a result: the driving path including the first traveling road, detour road and the second traveling road.Therefore, by making Working truck is independently travelled along the driving path, and working truck can be made to be travelled in a manner of cut-through object.Also, Detour road is configured to: being passed through in the barrier outer region being previously set, accordingly, it is considered to between driving path entirety Relationship etc. and generate detour road plannedly, thereby, it is possible to successfully carry out the operation of working truck.In addition, in detour road Part in addition can make driving path along the path of driving direction, so as to the calculation for generating autonomous driving path Method becomes simple.

In the autonomous driving path generation system, it is preferred to use composition below.That is, in the path of the detour road In the case that length is less than predetermined distance, the coordinates measurement portion is to include first traveling road, the detour road and institute The mode on the second traveling road is stated to generate the driving path.On the other hand, the path length of the detour road be regulation away from In the case where above, the coordinates measurement portion can be to include first traveling road, turn back road and third traveling road Mode generates the driving path.The road of turning back is using the terminal on first traveling road as starting point, in the barrier Pass through in outer region and turns back in front of the barrier.Third traveling road is to be with the terminal on the road of turning back Point, and be configured to parallel with the first traveling road.

As a result, in the case where the path length of detour road is predetermined distance or more, it can generate in the front of barrier The path turned back is as driving path, to replace the path of cut-through object.Therefore, it can prevent: pair in driving path The problem that operation does not have helpful part too long.

In the autonomous driving path generation system, it is preferred to use composition below.That is, being in the working truck The avoidance barrier and must towards the direction vertical with the driving direction it is mobile at a distance from that is, avoid distance and be less than In the case where predetermined distance, the coordinates measurement portion is to include first traveling road, the detour road and second row The mode on road is sailed to generate the driving path.On the other hand, in the case where the avoidance distance is predetermined distance or more, institute The traveling can be generated in a manner of including first traveling road, turn back road and third traveling road by stating coordinates measurement portion Path.The road of turning back be using it is described first traveling road terminal as starting point, pass through in the barrier outer region and It turns back in front of the barrier.Third traveling road and is configured to and institute using the terminal on the road of turning back as starting point It is parallel to state the first traveling road.

It must be as a result, rule towards the mobile avoidance distance in the direction vertical with driving direction for cut-through object In the case where more than set a distance, the path turned back in front of barrier can be generated as driving path, to replace bypassing The path of barrier.Therefore, it can prevent: not have helpful part too long operation in driving path.

In the autonomous driving path generation system, it is preferred to use composition below.That is, the turning in the detour road In the case that number or angle of turn are less than specified value, the coordinates measurement portion is to include first traveling road, the detour The mode on road and second traveling road generates the driving path.On the other hand, in the detour road described in turn In the case that curved number or the angle of turn are specified value or more, the coordinates measurement portion can be to include first traveling Road, turn back road and third traveling road mode generate the driving path.The road of turning back is with first traveling road Terminal be starting point, pass through in the barrier outer region and turn back in front of the barrier.The third traveling Road be using the terminal on the road of turning back as starting point, and be configured to it is described first traveling road it is parallel.

It, can in the case that the number of turns required for cut-through object or angle of turn are specified value or more as a result, The path turned back in front of barrier is generated as driving path, to replace the path of cut-through object.Therefore, Neng Goufang Only: number of turns or the more driving path of angle of turn are generated, so operation can be carried out successfully.

In the autonomous driving path generation system, preferably, the barrier is in island in the running region In the case that ground configures, when the coordinates measurement portion is from the driving path until reaching first traveling road certainly Farther away side starts to generate the detour road to the mode of the opposite side detour of the barrier.

Even if travelling working truck along driving path as a result, in cut-through object, the first row will not be reached The region that working truck is run over is entered into before sailing road again.Therefore, working truck avoidant disorder object can be made and carried out Traveling, so that the operation that will not be carried out to working truck impacts.

Third viewpoint according to the present invention, the autonomous driving path for providing following composition generate system.That is, the autonomous traveling Path generating system has: coordinates measurement portion, storage unit, external environmental information acquisition unit, control information calculation part and correction Coordinates measurement portion.The coordinates measurement portion generates the driving path.The institute that the storage unit generates the coordinates measurement portion Driving path is stated to be stored.The external environmental information acquisition unit is set to the working truck, and obtains the traveling area External environmental information in domain.The outside that the control information calculation part is obtained based on the external environmental information acquisition unit Environmental information and calculate the control information for correcting the driving path.The correcting route generating unit generates: being based on institute The correcting route stating the calculated control information of control information calculation part and being obtained after being corrected to the driving path, And it is stored in the storage unit.

It is right based on the external environmental information as acquired in the external environmental information acquisition unit for being set to working truck as a result, Driving path is corrected.Therefore, pre-generated driving path can be corrected based on current environment etc..In addition, By the way that correcting route is stored in storage unit, can save in next time and later to the corrected process of driving path.

In the autonomous driving path generation system, it is preferred to use composition below.That is, the autonomous driving path is raw Have at system: calculating the positional information calculation portion of the absolute position of the working truck.By the external environmental information In the case that specific special object hinders the operation of the working truck, the control information calculation part is believed based on the position The position of the calculated working truck of calculation part and the position of the special object are ceased, to calculate the control information.

As a result, in the case where special object hinders the operation of working truck, be capable of detecting when whether there is or not the special object or Position deviation etc., so as to generate: the correcting route corrected to the deviation etc..

In the autonomous driving path generation system, it is preferred to use composition below.That is, the autonomous driving path is raw Have at system: calculating the positional information calculation portion of the absolute position of the working truck.By the external environmental information In the position of specific special object and the storage unit in advance registered position it is not identical and in the case where more than threshold value, Or the special object, in the case where register not in the storage unit, the control information calculation part is based on the position The position of the calculated working truck of information calculation part and the position of the special object, to calculate the correction letter Breath.

Deviate as a result, in the position of special object or there is in the case where the special object not being registered, it can Driving path is corrected.

4th viewpoint according to the present invention, the autonomous driving path for providing following composition generate system.That is, predefining Running region in, generate: the working truck of the working rig for making to have automobile body part and being assemblied in the automobile body part carries out The driving path independently travelled.The autonomous driving path, which generates system, to be had: offset control portion and coordinates measurement portion.It is described Offset control portion can set biased direction of the datum mark of the working rig for the datum mark of the automobile body part with And offset or dish.The coordinates measurement portion can the datum mark based on the working rig and described in generating in the running region Driving path.

Thereby, it is possible to generate: the road that the datum mark in path and automobile body part that the datum mark of working rig is passed through is passed through The driving path that diameter is staggered.As a result, it is possible to be applied to the autonomous traveling of working truck: for example carry out on one side to field end The various operation forms such as the situation that weeding is travelled on one side.

In the autonomous driving path generation system, it is preferred to use composition below.That is, the running region includes: The second area for carrying out the first area of operation using the working rig and being set in around the first area.Institute It states datum mark of the coordinates measurement portion based on the working rig and generates the driving path in the first area, and be based on institute It states the datum mark of automobile body part and generates the driving path in the second area.

In this way, the benchmark of position when making to generate autonomous driving path is different between operating area and non-operating area, Even if the case where biasing working rig in the lateral direction to carry out operation relative to travel machine body in operating area as a result, Under, it so that the generation of autonomous driving path is handled and simplify.

In the autonomous driving path generation system, it is preferred to use composition below.That is, the autonomous driving path generates System has: for setting the starting position of operation and the opening for end position of the working truck in the running region Beginning end position configuration part.Position configuration part is started over described in the utilization and by the starting position and the end position In the case that this two side is set in the end of the running region, the coordinates measurement portion is generated: on one side in the running region Edge and edge between turn back repeatedly on one side from the starting position towards the driving path of turning back of the end position, to make For the driving path.Position configuration part is started over described in the utilization and will be in the starting position and the end position A side be set in the end of the running region, in the case that another party is set in the central portion of the running region, it is described Coordinates measurement portion generates: from the starting position towards the gyrate driving path of turn-taking of the end position, as institute State driving path.

It, therefore, can thereby, it is possible to according to job content etc., suitably select to be generated from 2 kinds of autonomous driving paths Improve operating efficiency.

Detailed description of the invention

Fig. 1 is to show autonomous driving path of the robotic tractor in field along generation independently to be travelled, certainly The concept map of the situation of main operation.

Fig. 2 is to show to generate along the generation of autonomous driving path involved in first embodiment of the invention system The side view of the overall structure for the robotic tractor that autonomous driving path is travelled.

Fig. 3 is the top view of robotic tractor.

Fig. 4 is the figure for showing autonomous driving path and generating the wireless communication terminal that the main composition of system has.

Fig. 5 is to show the electrical system of robotic tractor and wireless communication terminal involved in first embodiment Main composition block diagram.

Fig. 6 be show the working truck information input picture for being shown in wireless communication terminal show exemplary figure.

Fig. 7 be show the field information input picture for being shown in wireless communication terminal show exemplary figure.

Fig. 8 is to show to be shown in the job information input picture of wireless communication terminal and show exemplary figure.

Fig. 9 is to show the process of the processing carried out when generating autonomous driving path by autonomous driving path generating unit Figure.

Figure 10 is to show to generate the autonomous driving path for skip traveling and configure in operating area The figure of the situation of multiple working paths.

Figure 11 is shown in the case where skip traveling as the unit of operation, operation by specific quantity The figure for the group that path is constituted.

Figure 12 is the figure for showing operating area and being divided and generating the situation of multiple dividing regions.

Figure 13 is to show operating area to be divided and generate the example that the quantity including working path is greater than specific quantity The figure of the situation of multiple dividing regions including outer dividing regions.

Figure 14 is to show the figure of the situation for the sequence of operation that working path has been determined.

Figure 15 is to show based on the sequence of operation determined in Figure 14 and generate the figure of the situation of autonomous driving path.

Figure 16 is to show the figure for the example that tractor is repeatedly turned in non-operating area.

Figure 17 is to show the figure for the example that tractor is repeatedly turned and turned back in non-operating area.

Figure 18 is to show the electrical system of robotic tractor and wireless communication terminal involved in second embodiment The block diagram of the main composition of system.

Figure 19 is to show to be shown in wireless communication terminal and for inputting and the field for robotic tractor traveling The figure of an example of the picture of relevant information.

Figure 20 is to show the flow chart of the processing carried out when generating driving path by coordinates measurement portion.

Figure 21 is to show the flow chart of the continuity of processing of Figure 20.

Figure 22 is to show the figure for the example for generating the tentative driving path for obtaining on multiple tentative traveling roads side by side.

Figure 23 is shown for 1 tentative figure for travelling road and generating the situation on the first traveling road.

Figure 24 is to show the figure for the situation for generating detour road and the second traveling road for 1 tentative traveling road.

Figure 25 is to show the figure of the example for the driving path that avoidant disorder object is generated by cut-through object.

Figure 26 is to show the figure for travelling road for 1 first and generating the situation on turn back road and third traveling road.

Figure 27 is to show the example for the driving path that avoidant disorder object is generated and turning back in front of barrier Figure.

Figure 28 is to show the stream of the processing carried out in third embodiment, when generating driving path by coordinates measurement portion Cheng Tu.

Figure 29 is to show the stream of the processing carried out in the 4th embodiment, when generating driving path by coordinates measurement portion Cheng Tu.

Figure 30, which is shown, is possible to unmanned tractor close to someone's tractor by avoidant disorder object In the case of, the alerting picture of the display screen that is shown in wireless communication terminal show exemplary figure.

Figure 31 is to show barrier to be configured to figure from the end in field towards center example outstanding.

Figure 32 be show field profile be formed with concave part example figure.

Figure 33 is the figure for showing 1 tentative traveling road for polyline shaped and generating the situation of detour road.

Figure 34 is to briefly illustrate in the 5th embodiment, carry out when generating driving path by coordinates measurement portion The flow chart of reason.

Figure 35 is to show robotic tractor involved in sixth embodiment of the invention and wireless communication terminal Electrical system main composition block diagram.

Figure 36 is to show to detect ridge and the flow chart of the processing that generates correcting route.

Figure 37 is to show the figure for the driving path for being pre-stored within storage unit.

Figure 38 is to show the figure for the situation that the position on ridge is deviateed in the direction of the width.

Figure 39 is to show the figure of the correcting route biased in the direction of the width.

Figure 40 is to show the figure of the situation for the direction deviation to form ridge.

Figure 41 is to show the figure of the correcting route corrected to angle.

Figure 42 is to show to detect barrier and the flow chart of the processing that generates correcting route.

Figure 43 is to show that there are the figures of the situation of unregistered barrier.

Figure 44 is to show the figure for the correcting route turned back in front of unregistered barrier.

Figure 45 is to show to generate system generation along autonomous driving path involved in the 7th embodiment of the invention The side view of the overall structure of robotic tractor that is travelled of autonomous driving path.

Figure 46 is the top view of robotic tractor.

Figure 47 is to show the block diagram of the main composition of electrical system of robotic tractor.

Figure 48 is to show the main structure for the electrical system for having the wireless communication terminal that autonomous driving path generates system At block diagram.

Figure 49 is in the case where biasing working rig to the left and right side of travel machine body, shows the datum mark of working rig With the schematic diagram of the positional relationship of the datum mark of travel machine body.

Figure 50 be show working truck information input picture in the display screen of wireless communication terminal show exemplary figure.

Figure 51 is that the another of field information input picture shown in the display screen of wireless communication terminal shows exemplary figure.

Figure 52 is that the job information input picture shown in the display screen of wireless communication terminal shows exemplary figure.

Figure 53 is to show the flow chart for the processing for generating autonomous driving path.

Figure 54 is shown to generate and turn back driving path and the situation in the path that generates the working rig in operating area Figure.

Figure 55 is to show the figure of the situation in the path for generating the travel machine body in operating area.

Figure 56 is to show the path for generating the travel machine body in non-operating area and completing to turn back the situation of driving path Figure.

Figure 57 is to show the figure for the situation for generating driving path of turn-taking.

Specific embodiment

Next, embodiments of the present invention will be described referring to attached drawing.Hereinafter, in each figure of attached drawing, to same Part marks same appended drawing reference, and the repetitive description thereof will be omitted sometimes.In addition, sometimes will component corresponding with same appended drawing reference Deng title simply replace, or be replaced with the title of upperseat concept or subordinate concept.

The present invention relates to autonomous driving paths to generate system, makes 1 or more working trucks in predetermined field Interior traveling generates: the traveling for travelling working truck independently in all or part of for executing the agricultural operation in field Path.It in present embodiment, as working truck, is illustrated by taking tractor as an example, but, as working truck, in addition to dragging It further include the passenger type working machines, Yi Jibu such as rice transplanter, combine harvester, civil construction apparatus for work, snow sweeper other than machine drawing Line working rig.In this specification, autonomous traveling refers to: the composition relevant to traveling that tractor has is stowed machine Control unit (ECU) control, so that tractor is travelled along predetermined path；AUTONOMOUS TASK refers to: tractor has It is relevant to operation composition controlled by the control unit, thus tractor along predetermined path carry out operation.With This is opposite, travels handwork manually and refers to: each composition that tractor has is operated by operator, carries out traveling work Industry.

In the following description, the tractor for carrying out autonomous traveling AUTONOMOUS TASK is known as " nobody () tractor sometimes " Or " robotic tractor ", the tractor for carrying out traveling handwork manually is known as " someone () tractor " sometimes.? In the case where a part for executing agricultural operation in field using unmanned tractor, remaining farming is executed using someone's tractor Industry.The process for executing the agricultural operation in single field with unmanned tractor and someone's tractor is known as to the association of agricultural operation sometimes Same operation follows operation, with operation etc..Unmanned tractor and someone's tractor can be composition different from each other, can also be with For common composition.In the case where the composition of unmanned tractor and someone's tractor is common, even unmanned tractor, behaviour Author takes also is able to carry out operation (i.e., it is possible to being used as someone's tractor) (by bus), alternatively, even someone's tractor, behaviour Author, which gets off, is also able to carry out autonomous traveling AUTONOMOUS TASK (i.e., it is possible to being used as unmanned tractor).In addition, as agricultural operation Work compound can be with other than " executing the process of the agricultural operation in single field with vehicle and someone's vehicle " Including " executing the agricultural operation in the different fields such as adjacent field with vehicle and someone's vehicle same time ".

< first embodiment >

Firstly, generating system to autonomous driving path involved in first embodiment of the invention referring to figs. 1 to Figure 17 99 are illustrated.

Fig. 1 is to show robotic tractor 1 to carry out autonomous row along the autonomous driving path 93 of generation in field 90 Sail the concept map of the situation of AUTONOMOUS TASK.Fig. 2 is shown along autonomous row involved in first embodiment of the invention Sail the side view of the overall structure for the robotic tractor 1 that the autonomous driving path 93 that path generating system 99 generates is travelled Figure.Fig. 3 is the top view of robotic tractor 1.Fig. 4 is to show to be equipped with the main composition that autonomous driving path generates system 99 Wireless communication terminal 46 figure.Fig. 5 is to show the master of the electrical system of robotic tractor 1 and wireless communication terminal 46 The block diagram to be constituted.

Autonomous driving path involved in present embodiment generates system 99 as shown in Figure 1, generating: for robotic tractor 1 carry out the autonomous driving path 93 of autonomous traveling AUTONOMOUS TASK in field 90, and be provided to Fig. 2 and Fig. 4 etc. shown in Wireless communication terminal 46.As shown in figure 5, robotic tractor 1 have to the traveling of the robotic tractor 1 and operation into The control unit 4 of row control, the wireless communication terminal 46 are carried out wireless communication with the control unit 4, and thereby, it is possible to drag to robot Signal as defined in the output of machine drawing 1 is relevant to autonomous traveling AUTONOMOUS TASK.It is exported as wireless communication terminal 46 to control unit 4 Signal, can be the beginning to the independently relevant signal in the traveling path of AUTONOMOUS TASK and autonomous traveling AUTONOMOUS TASK Signal, stop signal, end signal etc., but it is not limited to these signals.

Firstly, referring especially to Fig. 2 and Fig. 3, (below, sometimes referred to simply as " tractor " to robotic tractor.) 1 said It is bright.

Tractor 1 includes the travel machine body (automobile body part) 2 that can be independently travelled in field 90.In travel machine body 2 Fig. 2 and working rig shown in Fig. 33 are installed in a detachable manner.As the working rig 3, such as there is cultivator (management Machine), plough, fertilizer applicator, grass trimmer, the various working rigs such as seeder, can as needed from wherein selecting desired working rig 3 and It is assemblied in travel machine body 2.Travel machine body 2 is constituted are as follows: can change the height and posture of assembled working rig 3.

Referring to Fig. 2 and Fig. 3, the composition of tractor 1 is illustrated.The travel machine body 2 of tractor 1 is as shown in Fig. 2, before it Portion is supported by the front-wheel 7,7 for controlling 1 pair, and the rear part is supported by the rear-wheel 8,8 for controlling 1 pair.

Hood 9 is configured in the front of travel machine body 2.It is accommodated in the hood 9: as tractor 1 Engine 10 and fuel tank (not shown) of driving source etc..The engine 10 can be made of such as diesel engine, but simultaneously It is without being limited thereto, it can also be made of such as petrol engine.It, can be using engine 10 and electronic in addition, as driving source Motor, or engine 10 can be replaced using electric motor.

It is configured at the rear of hood 9: the driver's cabin 11 taken for operator.It is main in the inside of the driver's cabin 11 It is provided with steering direction disk 12, carries out steering operation for operator；Seat 13 can take a seat for operator；And it is various Operating device, they are for carrying out various operations.But working truck is not limited to the working truck with driver's cabin 11, it can be with Not have the working truck of driver's cabin 11.

It as above-mentioned operating device, can enumerate: monitor apparatus 14 shown in Fig. 3, throttle lever 15, main shift lever 27, multiple hydraulic operation bars 16, PTO switch 17, PTO gear lever 18, secondary gear lever 19 and working rig lifter switch 28 etc. are made For example.These operating devices are configured near seat 13 or near steering direction disk 12.

Monitor apparatus 14 is constituted are as follows: can show the various information of tractor 1.Throttle lever 15 are as follows: start for setting The operational instrument of the output revolving speed of machine 10.Main shift lever 27 are as follows: for the operation of the travel speed of multistage change tractor 1 Tool.Hydraulic operation bar 16 are as follows: for the hydraulic external operational instrument taken out valve and switch over operation (not shown).PTO Switch 17 are as follows: for power towards the PTO shaft (not shown) (power taking-up axis) that highlights from the rear end of gearbox 22 Transmitting/cutting switches over the operational instrument of operation.That is, power is transmitted towards PTO shaft when PTO switch 17 is on state, To which PTO shaft rotates, working rig 3 is driven, on the other hand, when PTO switch 17 is in OFF state, towards the power quilt of PTO shaft Cutting, so that PTO shaft does not rotate, working rig 3 stops.PTO gear lever 18 is the change behaviour for carrying out the power inputted to working rig 3 The component of work, in particular: for carrying out the operational instrument of the variable speed operation of the rotation speed of PTO shaft.Secondary gear lever 19 are as follows: use In the operational instrument that the gear ratio to the secondary change gear mechanism of traveling in gearbox 22 switches over.Working rig lifter switch 28 Are as follows: the operational instrument of descending operation is carried out for the height within the specified scope to the working rig 3 for being assemblied in travel machine body 2.

As shown in Fig. 2, being provided with the chassis 20 of tractor 1 in the lower part of travel machine body 2.The chassis 20 is by organism frame 21, gearbox 22, preceding bridge 23 and rear axle 24 etc. are constituted.

Organism frame 21 are as follows: the bearing part of the front in tractor 1, directly or by antivibrating parts etc. and to hair Motivation 10 is supported.Gearbox 22 makes the power from engine 10 change and bridge 23 and the transmitting of rear axle 24 forward. Preceding bridge 23 is constituted are as follows: will be transmitted from the power that gearbox 22 inputs to front-wheel 7.Rear axle 24 is constituted are as follows: will be inputted from gearbox 22 Power to rear-wheel 8 transmit.

As shown in figure 5, tractor 1 has: for the work (advance, retrogressing, stopping and turning etc.) to travel machine body 2 And the control unit 4 that the work (lifting, driving and stopping etc.) of working rig 3 is controlled.Control unit 4 is constituted are as follows: is had not CPU, ROM, RAM and I/O etc. of diagram, CPU can read various programs etc. from ROM and be executed.For to tractor 1 have each constitute controller that (such as engine 10 etc.) is controlled and can be with other wireless telecom equipment devices The wireless communication part 40 of wireless communication is equal to be electrically connected with control unit 4 respectively.

As above-mentioned controller, tractor 1 at least has: engine controller 61, speed controller 62, course changing control Device 63 and lifting controller 64.Each controller can according to the electric signal from control unit 4, to tractor 1 respectively constitute into Row control.

Engine controller 61 controls the revolving speed of engine 10.Have specifically, being provided in engine 10 The governor arrangement 41 for the actuator (not shown) for changing the revolving speed of the engine 10.Engine controller 61 fills governor It sets 41 to be controlled, thereby, it is possible to the revolving speeds to engine 10 to control.

Speed controller 62 controls the speed of tractor 1.Specifically, being provided in gearbox 22 for example living The Hyaulic infinite variable speed mechanism that is, speed change gear 42 of dynamic ramp type.Speed controller 62 is come by actuator (not shown) The angle for changing the inclined plate of speed change gear 42 realizes desired speed thereby, it is possible to change the gear ratio of gearbox 22.

Steering controller 63 controls the angle of revolution of steering direction disk 12.Specifically, in steering direction disk 12 Rotary shaft (steering shaft) middle part, be provided with steering actuator 43.In this composition, tractor 1 (unmanned tractor) is pre- In the case where first travelling in determining path, control unit 4 calculates the angle of revolution appropriate of steering direction disk 12, so that dilatory Machine 1 is travelled along the path, and exports control signal to steering controller 63, to reach obtained angle of revolution Degree.Steering controller 63 based on from control unit 4 input come control signal and drive steering actuator 43, to steering direction disk 12 Angle of revolution controlled.

Lifting controller 64 controls the lifting of working rig 3.Specifically, for tractor 1, by working rig 3 Near 3 point linkage mechanisms linked up with travel machine body 2, have: the lift actuator 44 being made of hydraulic cylinder etc..The structure Cheng Zhong, lifting controller 64 drive lift actuator 44 based on the control signal inputted from control unit 4, keep working rig 3 appropriate Lifting work, thereby, it is possible to carry out agricultural operation using working rig 3 with desired height.It, can be to keep out of the way height using the control The desired height such as (height without agricultural operation) and operation height (height for carrying out agricultural operation) is spent, to working rig 3 are supported.

In addition, multiple controllers such as above-mentioned engine controller 61 based on from control unit 4 input come signal and to hair Each component such as motivation 10 is controlled.Therefore, can hold: control unit 4 substantially controls each component.

The tractor 1 for having control unit 4 as described above is constituted are as follows: is taken by operator in progress in driver's cabin 11 Various operations can be controlled using each component (travel machine body 2, working rig 3 etc.) of the control unit 4 to tractor 1, thus Agricultural operation is carried out while being travelled in field 90.In addition, for the tractor 1 of present embodiment, even if operator It does not take in tractor 1, can carry out autonomous row based on the defined control signal exported by wireless communication terminal 46 yet It sails and AUTONOMOUS TASK.

Specifically, as shown in fig. 5 or the like, tractor 1 has: can independently travel the various compositions of AUTONOMOUS TASK.Example Such as, tractor 1 has: location antenna 6 required for the location information of oneself (travel machine body 2) is obtained based on location system Deng composition.Using this composition, tractor 1 can obtain the location information of oneself based on location system, thus field 90 into The autonomous traveling of row.

Next, the composition to tractor 1 in order to independently travel and have is described in detail.Specifically, As shown in figures 2 and 5, the tractor 1 of present embodiment has: location antenna 6, wireless communication antenna 48 and storage Portion 55 etc..In addition, in addition to the components, can also have in tractor 1: the posture for capableing of given travel body 2 (rolls Angle, pitch angle, yaw angle) inertia measuring means (IMU).

Location receives the letter from the location satellite for constituting the location system such as satellite location system (GNSS) with antenna 6 Number.As shown in Fig. 2, location antenna 6 is configured at the upper surface at the top 29 of the driver's cabin 11 of tractor 1.By location antenna 6 The location signal received is inputted to positional information calculation portion 49 shown in fig. 5.Positional information calculation portion 49 calculates tractor 1 Travel machine body 2 (strictly, be location antenna 6) location information, as such as Latitude-Longitude information.By the position The location information that confidence breath calculation part 49 detects is input to control unit 4, to be used to independently travel.

In addition, in present embodiment, using the high-precision satellite location system that GNSS-RTK method is utilized, but and it is unlimited In this, as long as high-precision position coordinates can be obtained, other location systems can also be used.For example, it is contemplated that using phase To location mode (DGPS) or fixed statellite type satellite navigation strengthen the system (SBAS).

Wireless communication receives the signal or direction of the wireless communication terminal 46 operated from operator with antenna 48 Wireless communication terminal 46 sends signal.As shown in Figure 1, the driver's cabin 11 that wireless communication antenna 48 is configured at tractor 1 has Top 29 upper surface.As wirelessly communicating the signal from wireless communication terminal 46 received with antenna 48 shown in Fig. 5 Wireless communication part 40 carry out signal processing after, and be input to control unit 4.In addition, equal to wireless communication terminal from control unit 4 It is whole by wireless communication with the sending of antenna 48 from wireless communication after 46 signals sent carry out signal processing by wireless communication part 40 End 46 receives.

Storage unit 55 can store the path for travelling tractor 1 independently that is, driving path (path), Huo Zhecun The passage (driving trace) of the position of tractor 1 (being strictly location antenna 6) in storage traveling.In addition to this, it stores Portion 55, which also stores, makes tractor 1 carry out independently travelling various information required for AUTONOMOUS TASK.Storage unit 55 is, for example, flash memory The nonvolatile memories such as (flash disk and storage card etc.), hard disk or CD.

As shown in Figures 2 and 4, wireless communication terminal 46 is configured to plate PC.Operator is referred to show The information for being shown in the display screen 37 of wireless communication terminal 46 is confirmed.In addition, operator can be to touch panel (not shown) Etc. being operated, to send the control signal for being controlled tractor 1 (such as tightly to the control unit 4 of tractor 1 Emergency stop stop signal etc.), wherein touch panel (not shown) is configured to: to the hardware keys configured near display screen 37 38 and display screen 37 covered.In addition, wireless communication terminal 46 is not limited to plate PC, replace, It can also be made of the PC of such as notebook type.Alternatively, making dragging for someone to carry out work compound above-mentioned In the case that machine drawing follows nobody tractor 1 to travel, the monitor dress for being equipped on the tractor of someone side can also be made It is set to wireless communication terminal.

The tractor 1 constituted like this can the instruction based on the operator for using wireless communication terminal 46 and along field On path independently travelled or utilize working rig 3 carry out agricultural operation.

Specifically, operator carries out various settings using wireless communication terminal 46, thereby, it is possible to be formed shown in Fig. 1 etc. Autonomous driving path 93.The autonomous driving path 93 is constituted are as follows: will carry out linear or polyline shaped the operation road of agricultural operation Diameter 93A and alternately connect the non-working path 93B of arc-shaped that the end of working path 93A is connected to each other is obtained A series of path.Also, in the information for the autonomous driving path 93 that 46 side of wireless communication terminal generates as described above Be entered (transmission) give tractor 1 control unit 4 be electrically connected storage unit 55 and carry out as defined in operation, thereby, it is possible to benefits Tractor 1 is controlled with the control unit 4, so that the tractor 1 be made independently to be travelled along autonomous driving path 93 AUTONOMOUS TASK.

Hereinafter, referring especially to Fig. 5, to have autonomous driving path generate system 99 wireless communication terminal 46 composition more It is described in detail.

As shown in figure 5, wireless communication terminal 46 has: control unit 71, display screen (display unit) 37, communication unit 72, operation Information of vehicles configuration part 51, field information setting portion 52, job information configuration part 53, operating area cutting part (region segmentation portion) 54 and autonomous driving path generating unit (coordinates measurement portion) 47.

Specifically, the control unit 71 of wireless communication terminal 46 is configured to have in the same manner as the control unit 4 of tractor 1 The computer of CPU, ROM, RAM and I/O (not shown) etc., CPU can read various programs etc. from ROM and be executed.Separately Outside, it is stored in the ROM: the program appropriate for making tractor 1 carry out independently travelling AUTONOMOUS TASK.Also, benefit With the cooperation of above-mentioned software and hardware, wireless communication terminal 46 can be made to be used as communication unit 72, working truck information setting portion 51, field information setting portion 52, job information configuration part 53, operating area cutting part 54 and autonomous driving path generating unit 47 etc. work.

Communication unit 72 between 1 side of tractor for being communicated.The control unit 71 of wireless communication terminal 46 utilizes logical Letter portion 72 and communicated with the control unit of tractor 14, it is autonomous thereby, it is possible to generate autonomous driving path generating unit 47 The information of driving path 93 is sent to 1 side of tractor.In addition, the control unit 71 of wireless communication terminal 46 will be controlled using communication unit 72 Signal processed is sent to 1 side of tractor, and thereby, it is possible to indicate to tractor 1: beginning and stopping for independently travelling etc..In addition, For tractor 1 independently in the case where traveling, the control unit 71 of wireless communication terminal 46 can be flanked from tractor 1 receives the tractor 1 State (position, travel speed etc.) and be shown in display screen 37.

Working truck information setting portion 51 (below, is sometimes referred to as working truck for setting information relevant to tractor 1 Information.).Working truck information setting portion 51, which can store suitably to operate wireless communication terminal 46 by operator, to be referred to Fixed content, the content include: the machine of tractor 1, the size of tractor 1, install location antenna 6 in tractor 1 Position, the type of working rig 3, the dimension and shape of working rig 3, position of working rig 3 etc..

Field information setting portion 52 sets information relevant to field 90 and (below, is sometimes referred to as field information.).Field letter Breath configuration part 52, which can be stored, to carry out wireless communication terminal 46 by operator to operate specified content, which includes: The position in field 90 and shape want the starting position for travelling it independently and end position, operating area, operating direction Deng.In addition, operating direction refers to: as shown in Figure 1, in field 90 remove (edge of a field, non-cultivated land etc.) non-operating area 92 with In outer region that is, operating area 91, on one side the direction for carrying out travelling tractor 1 while operation using working rig 3.

Such as operator takes in tractor 1, is driven in such a way that 1 circle is turn-taked in the periphery along field, at this time Location recorded with the passage of the location information of antenna 6, thereby, it is possible to automatically obtain the position in field 90 and shape Information.It is however also possible to based on make map denotation in the state of display screen 37, by operator to wireless communication terminal 46 carry out polygon obtained from operating the multiple points specified on the map, to obtain position and the shape in field 90.

(below, sometimes referred to as make for setting information relevant to specifically how to carry out operation job information configuration part 53 Industry information.).Job information configuration part 53 is constituted are as follows: can set the association for whether having the tractor of robotic tractor 1 and someone The quantity of the working path 93A that same operation, tractor 1 are skipped in headland turn that is, skip number (a reference value), the edge of a field Width and the width of non-cultivated land etc., as job information.

Operating area cutting part 54 is used for: being generated in autonomous driving path generating unit 47 with the autonomous row for skipping traveling When sailing path 93, as shown in Figure 12 etc., operating area 91 is divided into multiple dividing regions S.The division generated using the segmentation Area S are as follows: skip the unit of the operation of traveling.In addition, hereinafter, being said to the detailed content of the segmentation of operating area 91 It is bright.

Autonomous driving path generating unit 47 shown in fig. 5 is used to generate: the path that travels tractor 1 independently that is, from Main driving path 93.Autonomous driving path generating unit 47 can be based on by working truck information setting portion 51, field information setting The information that portion 52 and job information configuration part 53 are set, to generate the autonomous driving path 93 of tractor 1, and stores.

As shown in Figure 1, autonomous driving path 93 is by being configured at the working path 93A of operating area 91 and being configured at non- The non-working path 93B of operating area 92 is constituted.The process of autonomous driving path 93 is generated in autonomous driving path generating unit 47 In, it may be considered that: the working width of working rig 3, in operating area 91 and the operation between working path 93A adjacent to each other The working width of machine 3 could locally repeat each other (can in the case where for repeat width upper limit value), non-operating area 92 Size and shape (the in other words, width of the width at the edge of a field and non-cultivated land), non-operation road of the tractor 1 at the edge of a field The quantity (skipping number) of working path 93A etc. that diameter 93B is skipped when turning.In addition, dilatory with unmanned tractor 1 and someone Machine carry out work compound in the case where, in the generating process of autonomous driving path 93, it may be considered that: unmanned tractor 1 with have The working width of working rig etc. of positional relationship, someone's tractor between people's tractor.

Next, referring to Fig. 6 to Fig. 8, to the setting in the wireless communication terminal 46 for generating autonomous driving path 93 It is illustrated.Fig. 6 be show the working truck information input picture 81 for being shown in wireless communication terminal 46 show exemplary figure. Fig. 7 be show the field information input picture 82 for being shown in wireless communication terminal 46 show exemplary figure.Fig. 8 be show it is aobvious Be shown in the job information input picture 83 of wireless communication terminal 46 shows exemplary figure.

If operator operates as defined in carrying out in wireless communication terminal 46, control unit 71 is controlled as follows, that is, Working truck information input picture 81 shown in fig. 6 is shown in display screen 37.

In working truck information input picture 81, can input: with travel machine body 2 and be assemblied in the travel machine body 2 The relevant information of working rig 3 (the working truck information).Specifically, in working truck information input picture 81 respectively It is configured with: for inputting the installation position of the machine of tractor 1, the size of tractor 1, location antenna 6 relative to travel machine body 2 Set, the working width W of the type of working rig 3, working rig 3 and from the rear end (rear end of lower link) of 3 point linkage mechanisms to make The column of distance until the rear end of industry machine 3 etc..

Operator operates wireless communication terminal 46, to each column for being configured at working truck information input picture 81 Text box input numerical value is set as a result, alternatively, selecting from the guide look of combobox.Thereby, it is possible to set and traveling machine Body 2 and the relevant various information of working rig 3.

In working truck information input picture 81, the working truck information that operator specifies is stored in working truck information Configuration part 51.When the input of operation information of vehicles is completed, control unit 71 controls display screen 37, to show Fig. 7 institute The field information input picture 82 shown.

It in field information input picture 82, can input: information relevant to the field 90 travelled for travel machine body 2 (the field information).Specifically, being configured in field information input picture 82: by the position in field 90 and shape, from The plane display unit 88 that the starting position of main traveling and end position utilize graphical display to come out.In addition, defeated in field information Enter picture 82, for the periphery in field 90, the independently starting position, the independently end position that travels and the operating direction that travel And it is each configured with the key of " specified ", " resetting ".

In addition, the key in field information input picture 82 etc. is constituted are as follows: be shown in the imaginary key of display screen 37； The position for touching touch panel corresponding with the display area of the key with finger by operator, is able to carry out operation.

If " specified " key to " field periphery " operates, wireless communication terminal 46 is switched to field shape note Record mode.In the field shape logging mode, is operated in tractor 1 if operator takes and make it along field 90 Periphery turn-take 1 circle, then based on the passage of the location information of antenna 6 of location at this time, it will be able to obtain and (calculate) field 90 position and shape.Thereby, it is possible to carry out the specified of the position in field 90 and shape.

As shown in fig. 7, the control unit 71 of wireless communication terminal 46 is by the position in obtained field 90 and shape with figure Form be shown in the plane display unit 88 of field information input picture 82.In position and the shape for wanting to reassign field 90 In the case where shape, the operation of " resetting " key is utilized to be abolished content specified before, " specified " key is carried out again Operation.

In addition, for example, it is also possible to making map denotation in the display screen 37 of wireless communication terminal 46, operator refers on map The position of following polygons and shape, are appointed as position and the shape in field 90, that is, this is more by fixed multiple points as a result, Side shape be by by specified point line connected to each other it is disjoint in a manner of it is specific by so-called closed circuit chart, and with This is replaced: as described above by make tractor 1 in the field 90 actual travel and specified field 90 position and shape.

If " specified " key to " operation starting position " operates, as shown in fig. 7, in specified field 90 Position and shape be shown in the state of plane display unit 88, what point appropriate can be appointed as independently travelling by operator Starting position.Starting position label C1 is shown in specified starting position.In addition, the movement of " resetting " key and above-mentioned behaviour Make identical.

If " specified " key to " operation end position " operates, pressed with " specified " of " operation starting position " Point appropriate similarly, can be appointed as the end position independently travelled by key.End is shown in specified end position Position mark C2.The movement of " resetting " key is identical as aforesaid operations.

The field information that operator specifies in field information input picture 82 is stored in field information setting portion 52.Work as field When the input of ground information is completed, control unit 71 controls display screen 37, to show job information input picture shown in Fig. 8 Face 83.

In job information input picture 83, the information (job information) of specific operation can be inputted.It is specific and Speech is respectively arranged with: for inputting the column of following the description, that is, the content are as follows: whether have machine in job information input picture 83 Mode, someone when the work compound of the tractor of people's tractor 1 and someone, the tractor of someone carry out work compound it is dilatory The working width of tractor of someone when machine carries out work compound, robotic tractor 1 skip number, adjacent operation road The overlapping tolerance of working width in diameter 93A, head width and the width of non-cultivated land etc..

It in " whether the work compound of someone's tractor " column, can select: make the individually autonomous traveling of robotic tractor 1 Carry out agricultural operation (no someone's tractor with companion) or the tractor by making the robotic tractor 1 and someone that independently travel (tractor taken for operator) with and carry out agricultural operation (someone's tractor with companion), in any one.

It, can be by the tractor of someone relative to machine in " work compound mode " column in the case where " having with companion " The mode of the position of people's tractor 1 selects any one from the dead astern of robotic tractor 1, left rear ramp, right rear ramp. In addition, the working width that can input someone's tractor (is carried out using working rig in " working width of someone's tractor " column The effective width of operation).

It is selectively shown configured with drop-down list box using pulling operation in " the skipping number of robotic tractor " column Show: can be set as skipping the guide look of several numerical value.Operator can specify: skip several by selecting 1 from the guide look Working path 93A and carry out agricultural operation.In present embodiment, it can be set by being selected from any one in 0,1 or 2 Skip several SN.In the case where being not intended to skip traveling, as several SN are skipped, zero is selected.

In " the overlapping tolerance of working width " column, working width is each other between working path 93A adjacent to each other The upper limit value of the repetition width can be inputted in local duplicate situation.In the case where being impermissible for duplicate situation completely, at this Zero is inputted in column.

In " head width " column, it can be come based on the size etc. of the working rig 3 for the tractor 1 for being for example assemblied in nobody Setting: the lower limit of value identical with the lower limit value of the width at the edge of a field precalculated or the width greater than the edge of a field precalculated The value of value.

In " width of non-cultivated land " column, it may be considered that: along the periphery in field 90 with hand after autonomous traveling Dynamic traveling turn-take and operation etc., sets value appropriate.

The input field of job information input picture 83 is fully entered in operator and " generating autonomous driving path " is pressed In the case that key is operated, autonomous driving path 93, also, the autonomous row are generated using autonomous driving path generating unit 47 It sails path 93 and is stored in operating area cutting part 54.It is shown in suitably in order to confirm autonomous driving path 93 generated Display screen 37 operates " determination " key (not shown) by operator, autonomous driving path 93 can be made to be determined.

After autonomous driving path 93 determines, control unit 71 is controlled as follows, that is, transmits path data (not shown) Picture is shown in display screen 37.In path data transmission picture, operator can will be by autonomous driving path generating unit 47 The data of the autonomous driving path 93 generated are transmitted using for example wireless towards 1 side of tractor, it is made to be stored in 1 institute of tractor The storage unit 55 having.

If the data of autonomous driving path 93 are entered tractor 1, by operator to wireless communication terminal 46 into The appropriate operation of row, can indicate that tractor 1 starts independently to travel.When being instructed to start independently when driving, tractor 1 is according to by nothing Line communication terminal 46 is independently travelled to the autonomous driving path 93 that the tractor 1 is sent, and carries out AUTONOMOUS TASK.

Next, referring to Fig. 9 to Figure 15, to when generating autonomous driving path 93 by autonomous driving path generating unit 47 into Capable specific processing is illustrated.Fig. 9 is shown when generating autonomous driving path generating unit 47 by autonomous driving path The flow chart for the processing that generating unit 47 carries out.Figure 10 be show in order to generate skip traveling autonomous driving path 93 and The figure of the situation of multiple working path 93A is configured in operating area 91.Figure 11 is shown in the case where carrying out skipping traveling Unit as operation, by the figure of the working path 93A of the specific quantity group constituted.Figure 12 is to show operating area 91 are divided and generate the figure of the situation of multiple dividing regions S.Figure 13 is to show operating area 91 to be divided and generate including making The quantity of industry path 93A is greater than the figure of the situation of multiple dividing regions S, SE including the dividing regions SE of the exception of specific quantity. Figure 14 is to show the figure of the situation for the sequence of operation that working path 93A has been determined.Figure 15 is to show to determine based in Figure 14 The sequence of operation and generate the figure of the situation of autonomous driving path 93.

In job information input picture 83 shown in Fig. 8, if operated to " generating autonomous driving path " key, It is then firstly, set in shape, job information input picture 83 based on field 90 set in field information input picture 82 The width of fixed ground head width and non-cultivated land, to determine operating area 91 and non-operating area 92.Then, start Fig. 9 Processing, autonomous driving path generating unit 47 is in operating area 91 by working path 93A configuration (step spaced apart each other S101).Each working path 93A is configured to: the operating direction being set along the field information input picture 82 in Fig. 7.In addition, Working width W of working rig 3 etc. is considered to determine the interval of configuration working path 93A, so as not to 3 needle of working rig occurs The operation of operating area 91 is omitted and operating efficiency is good.In addition, the column of the working path 93A configured in operating area 91 Number (item number) can size based on operating area 91, the working width W of working rig 3 and overlapping tolerance, to calculate, because This, in this step, can calculate the columns for the working path 93A that configure, S102 be entered step, without in operation area Domain 91 configures working path 93A.

Next, autonomous driving path generating unit 47 obtains: (the job information input set by job information configuration part 53 Inputted in picture 83) information for skipping several SN of robotic tractor 1, and judge to skip whether several SN are 1 or more (step S102)。

For the judging result of step S102, in the case where skipping several SN is 0, autonomous driving path generating unit 47 is raw At: since the side on the direction side by side working path 93A in working path 93A successively (not skipping) traveling and to Up to the autonomous driving path 93 (step S103) of another side, end processing.It generates as a result: without the autonomous driving path skipped 93。

For the judging result of step S102, in the case where skipping several SN is 1 or more, autonomous driving path generating unit 47 Whether the quantity (working path number TP) for judging the working path 93A in operating area 91 is basic unit number of path BP or more (step S104).

Herein, basic unit number of path BP is illustrated.That is, the robotic tractor 1 of present embodiment skips row Sail is using the group being made of adjacent to each other and specific quantity side by side working path 93A as unit, come what is carried out.Once A certain group is started to skip traveling, then other groups will not be carried out skipping traveling, until for all of the group are belonged to Working path 93A fulfils assignment.

In the case where for example skipping several SN is 1, as shown in Figure 11 (a), consider adjacent to each other and 5 (5 column) side by side Working path 93A.In addition, in the following description, sometimes by each working path 93A from close to the one of the starting position independently travelled Side starts to be called as A, B, C, D, E with letter.In the case where carrying out skipping traveling to the group, tractor 1 After being travelled in A, skips 1 and travelled in C, further skip 1 and travelled in E.Then, fall the direction skipped for the time being Head and cross 2 than usual multi-hop, travelled in B.Then, so that the direction skipped further is turned around, travelled in D.By as above By the sequence progress operation of A, C, E, B, D, several SN (that is, 1) can be skipped and for 5 working paths substantially according to set 93A fulfils assignment.

In addition, as shown in Figure 11 (b), considering 7 operations adjacent to each other and side by side in the case where skipping several SN is 2 Path 93A.In addition, in the following description, sometimes by each working path 93A since close to the starting position side independently travelled It is called as A, B, C, D, E, F, G with letter.In the case where carrying out skipping traveling to the group, tractor 1 is in A It after middle traveling, skips 2 and is travelled in D, further skip 2 and travelled in G.Then, make the direction skipped turn around for the time being and 3 are crossed than setting number multi-hop, is travelled in C.Next, the direction skipped is made to turn around to travel in F.Then, make the side skipped 3 are crossed to turning around and comparing setting number multi-hop, is travelled in B.Next, the direction skipped is made to turn around, travelled in E.By such as The upper sequence progress operation by A, D, G, C, F, B, E can skip several SN (that is, 2) and for 7 works substantially according to set Industry path 93A fulfils assignment.

Based on being illustrated above, basic unit number of path BP refers to: being fulfiled assignment and skipping traveling substantially single The quantity of working path 93A in first (group).In the case where skipping several SN is 1, basic unit number of path BP is 5, is being jumped Cross count SN be 2 in the case where, basic unit number of path BP be 7.If generalization, basic unit number of path BP is relative to skipping For number SN, indicated with 2 (SN+1)+1.

Therefore, step S104 substantially refers to: the quantity of the working path 93A configured in judgment step S101 is for shape At at least one, whether above-mentioned group is abundant.

In the judgement of step S104, in the case where working path number TP is unsatisfactory for basic unit number of path BP, refers to and connect 1 A above-mentioned group can not all be formed.Therefore, control unit 71 in a manner of making the information of following the description be shown in display screen 37 into Row control (step S105), then ends processing, that is, the content are as follows: skipping set by can not generating is autonomous under several SN Driving path 93.

In the judgement of step S104, in the case where working path number TP is basic unit number of path BP or more, autonomous row Sail coordinates measurement portion 47 judge working path number TP whether the integral multiple (step S106) for being basic unit number of path BP.

In the judgement of step S106, in the case where working path number TP is the integral multiple of basic unit number of path BP, from Main driving path generating unit 47 divides operating area 91 on the direction side by side working path 93A, generates multiple dividing regions S (step S107).The quantity of working path 93A to include in each dividing regions S mode equal with basic unit number of path BP is come Carry out the segmentation.It is shown in Figure 12: in the case where skipping several SN is 1 (basic unit number of path BP is 5), 15 will be configured with The operating area 91 of a working path 93A is divided, and the example for being respectively provided with 3 dividing regions S of 5 working path 93A is formed out. But in the case where working path number TP is equal with basic unit number of path BP, due to not needing to divide, so operating area 91 1 dividing regions S of generation on the whole.

In the judgement of step S106, even if the feelings different from the integral multiple of basic unit number of path BP in working path number TP Under condition, autonomous driving path generating unit 47 also divides operating area 91 on the direction side by side working path 93A, generates more A dividing regions S (step S108).The segmentation carries out as follows, that is, is operation included in each dividing regions S in principle The quantity of path 93A is equal with basic unit number of path BP, but, as exception, only operation included in 1 dividing regions SE The quantity of path 93A is more than basic unit number of path BP.It is shown in Figure 13: being 1 (basic unit number of path BP skipping several SN In the case where 5), the operating area 91 configured with 16 working path 93A is divided, formation is respectively provided with 5 working paths The dividing regions (the second dividing regions) of 2 dividing regions (the first dividing regions) S of 93A and 1 exception with 6 working path 93A The example of SE.The dividing regions SE preferred disposition of the exception in: in other words the end on the direction of working path 93A side by side is to match It is placed in: close to the end of the end position side independently travelled.It is less than 2 times of basic unit number of path BP in working path number TP In the case where, due to not needing to divide, so 1 (exception) dividing regions SE of the generation on the whole of operating area 91.

If generating one or more dividing regions S, autonomous driving path generating unit 47 will be for working path 93A's The quantity of quantity (in principle) dividing regions S equal with basic unit number of path BP and working path 93A is more than basic unit Both (exception) dividing regions SE of number of path BP, to generate autonomous driving path 93, so that work of the tractor 1 according to regulation Industry sequence travels (step S109) in working path 93A.

The so-called above-mentioned sequence of operation refers to: equal with basic unit number of path BP for the quantity of working path 93A (in principle) dividing regions S is meant to be the sequence of above-mentioned A, C, E, B, D in the case where skipping several SN and being 1, is skipping number SN is meant to be the sequence of above-mentioned A, D, G, C, F, B, E in the case where being 2.In addition, being shown in Figure 14: being skipping several SN 1 and in the case that operating area 91 divides as Figure 12, the determined situation of the sequence of operation of working path 93A.In Figure 14 To the determined sequence of operation of the digital representation with circle of each working path 93A label.

It is (as shown in figure 15) to generate autonomous driving path 93, so that by above-mentioned sequence in being configured at each dividing regions S Working path 93A on travel, thereby, it is possible to realize: skip the anti-of driving mode by the tiny of unit of dividing regions S It is multiple.That is, for the dividing regions S near autonomous traveling starting position, skips driving mode according to above-mentioned and carry out skipping row It sails, when the operation of dividing regions S is completed, for the dividing regions S being adjacent, skips driving mode according to above-mentioned and carry out Skip traveling.Traveling and the autonomous traveling AUTONOMOUS TASK of progress are skipped by the way that repetition is above-mentioned, even if operation also can in midway interruption The part that enough places by the place of operation and non-operation are alternately present is limited in the lesser range in the S of dividing regions.

In addition, the quantity for being directed to working path 93A is more than the dividing regions (dividing regions of exception) of basic unit number of path BP SE is then preferably the sequence of operation similar with the sequence of operation in dividing regions S in principle, but, suitably neatly considers to jump The quantity for crossing working path 93A generates autonomous traveling by such a way that the sequence of operation appropriate travels in working path 93A Path 93.

By above processing, the autonomous driving path 93 being suitable for the operation for skipping traveling can be generated.This Outside, Figure 12 is shown into Figure 15 skips the situation that several SN are 1, but, in the case where skipping several SN is 2, such as Figure 11 (b) institute Show in addition to basic unit number of path BP be 7 point, the sequence of operation A, D, G, C, F, B, E point other than, can also with it is above-mentioned complete It is equally generated entirely.

As described above, the autonomous driving path of present embodiment generates system 99 in order to predetermined operating area 91 It carries out operation and generates the autonomous driving path 93 for travelling tractor 1 independently.Autonomous driving path, which generates system 99, to be had: being made Industry region segmentation portion 54 and autonomous driving path generating unit 47.Operating area 91 is divided into more by operating area cutting part 54 A dividing regions S.Autonomous driving path generating unit 47 is to include matching respectively in each dividing regions S divided by operating area cutting part 54 The mode of the multiple working path 93A set generates autonomous driving path 93.Operating area cutting part 54 can be with each dividing regions S Included in working path 93A quantity be the basic unit number of path BP being equal to each other mode operating area 91 is carried out Segmentation.

Even if, also can be with divided lesser dividing regions S as a result, using traveling progress operation is skipped For unit, operation is successively carried out since the end of operating area 91.Therefore, even if operation is in the case where midway is interrupted, The part that is alternately present of place in the place of operation in operating area 91 and non-operation can be limited in the S of dividing regions compared with In small range.Therefore, it is easy clearly to know the place of operation, so as to successfully start again at operation.Even if in addition, It in the case where causing soil environment that variation has occurred because of rainwater etc. before and after job interruption, can also prevent: in a wide range of In comb teeth-shaped generate the different part of operation quality.

In addition, the autonomous driving path in present embodiment generates in system 99, autonomous driving path generating unit 47 is based on It skips several SN and sets the sequence of operation for multiple working path 93A.Including multiple included working path 93A's In the case where the quantity dividing regions S equal with basic unit number of path BP, as shown in figure 14, autonomous 47 needle of driving path generating unit To each working path 93A to correspond to each other between the S of the dividing regions, to set the identical sequence of operation.

Thereby, it is possible to certain sequence of operation, therefore, energy are set for working path 93A using dividing regions S as unit Enough realization regularity skip traveling, further, it is possible to simplify the generation processing of autonomous driving path 93.

In addition, the autonomous driving path of present embodiment generates in system 99, the operation included in operating area 91 In the case that the quantity of path 93A is not the integral multiple of basic unit number of path BP, as shown in figure 13, operating area cutting part 54 Quantity to form out the working path 93A for the being included dividing regions S in principle equal with basic unit number of path BP and institute The mode of the dividing regions SE of exception of the quantity for the working path 93A for including greater than basic unit number of path BP is by operating area 91 It is divided into multiple dividing regions S and dividing regions SE.

Will not produce as a result: the quantity for the working path 93A for being included is unsatisfactory for the division of basic unit number of path BP Therefore area can easily produce: with the autonomous driving path 93 for skipping traveling.

Next, 6 and Figure 17 referring to Fig.1, makes tractor 1 non-to due to the shape of field 90 and operating area 91 It needs repeatedly to be turned in operating area 92, the example for operation of turning back is illustrated.Figure 16 is to show tractor 1 in non-work The figure for the example repeatedly turned in industry region 92.Figure 17 is to show tractor 1 to carry out in non-operating area 92 repeatedly The figure for the example turned and turned back.

In the field 90P shown in Figure 16, in non-operating area 92, there are the parts of the continuous crank shape in L word road. Pass through the part in the non-working path 93B for being connected to each other the endpoint that the working path 93A of the sequence of operation has been determined In the case of, defined edge is estimated, (that is, operating area will not be entered with tractor 1 in a manner of falling in non-operating area 92 91, the mode in the outside of field 90P will not be reached), to generate non-working path 93B.At this point, being examined in the part on L word road Consider the turning radius R of travel machine body 2.In the example of Figure 16, since non-operating area 92 has the part of crank-like, so with figure Field 90 shown in 15 is compared, and the turning at the progress of non-operating area 92 2 times or more is needed.

In addition, field 90P even same as Figure 16 is also required to enter from working path 93A sometimes as shown in figure 17 The part of crank shape is immediately passed through after non-working path 93B.Even if at this point, into after non-working path 93B at once on L word road It is turned, travel machine body 2 or working rig 3 can also reach the outside of field 90P.In this case, as shown in figure 17, non- Working path 93B generate are as follows: in addition to the turning of the part on L word road other than also with make 2 one end of travel machine body forward or backward The path turned back.

In the irregular situation in non-operating area 92 like this, autonomous driving path generating unit 47 as needed with The mode turned or turned back generates non-working path 93B, so as to suitably carrying out skipping traveling.

More than, the preferred embodiment of the present invention is illustrated, still, above-mentioned composition can be become as follows More.

In above-mentioned embodiment, basic unit number of path BP are as follows: indicated for skipping several SN with 2 (SN+1)+1 Numerical value, it is however also possible to be changed to other numerical value.That is, basic unit number of path BP is with M (SN+1)+1, (M is oneself of 2 or more So number) it indicates.

In above-mentioned embodiment, skipping several SN can select from 1 or 2, it is however also possible to be configured to according to need Select 3 or more numerical value.

The sequence (sequence of operation) for carrying out the working path 93A of operation is not limited to example shown in Figure 11, can also be appropriate Change.

The judging result of step S102, in the case where skipping several SN is 0, autonomous driving path generating unit 47 is generated independently Driving path 93 is without dividing operating area 91, it is however also possible to generate on the basis of dividing operating area 91 Autonomous driving path 93.

In step S105 shown in Fig. 9, (carrying out simple of describing in above-mentioned problems to be solved by the invention can be generated Skip traveling) autonomous driving path, to replace showing information.Alternatively, being unsatisfactory for basic unit road in working path number TP In the case where diameter number BP, it can promote it that will skip several SN and be changed to 0, in the case where user will skip several SN and be changed to 0, into Enter step S103, in the case where user will not skip several SN and be changed to 0, enters step S105.

But as shown in Figure 14 and Figure 15, multiple dividing regions S are divided into operating area 91 or are divided into more In the case where an a dividing regions S and dividing regions SE, for the dividing regions for carrying out independently travelling AUTONOMOUS TASK using tractor 1 The sequence of operation be, for example, since close to starting position dividing regions successively set, fulfil assignment when to specific dividing regions When, operation is carried out to the dividing regions being adjacent.But be not limited to this for the sequence of operation of each dividing regions, it can set Arbitrary sequence.

In above-mentioned embodiment, based on the ground head width and non-cultivated land set by job information input picture 83 Width, as from the remaining area removed other than non-operating area 92 in field 90, determines operation to determine non-operating area 92 Region 91.But the method for setting operating area 91 is not limited to the above method, such as may be constructed are as follows: specified by operator It is shown in the arbitrary point in the field 90 of plane display unit 88 in above-mentioned field information input picture 82, operation area can be set Domain 91 and non-operating area 92.

In above-mentioned embodiment, constitutes autonomous driving path and generate the operating area cutting part 54 of system 99 and autonomous Driving path generating unit 47 is provided to 46 side of wireless communication terminal.But operating area cutting part 54 and autonomous driving path Part or all in generating unit 47 can also be provided to 1 side of tractor.

< second embodiment >

Next, referring especially to Figure 18 to Figure 34, to autonomous driving path involved in second embodiment of the present invention Generation system 199 is described in detail.Figure 18 is to show robotic tractor 1 and nothing involved in second embodiment The block diagram of the main composition of the electrical system of line communication terminal 46.Hereinafter, to the component similarly constituted with first embodiment And step marks identical appended drawing reference, suitably omits the description sometimes.

The main composition that the autonomous driving path of present embodiment generates system 199 is provided to wireless communication terminal 46.This The wireless communication terminal 46 of embodiment is in addition to having above-mentioned control unit 71, display screen (display unit) 37 and communication unit 72 In addition, it is also equipped with: display control section 31, storage unit 32, field periphery configuration part 33, barrier periphery configuration part 34, operation area Domain configuration part (running region configuration part) 35 starts over position configuration part 151, (the driving direction setting of operating direction configuration part Portion) 36 and autonomous driving path generating unit 147 etc..In addition, by field periphery configuration part 33, barrier periphery configuration part 34, Operating area configuration part (running region configuration part) 35 starts over position configuration part 151 and operating direction configuration part (row Sail direction configuration part) 36 be combined obtained from be partially corresponding with the field information setting portion 52 in first embodiment 's.In addition, autonomous driving path generating unit 147 is corresponding with the autonomous driving path generating unit 47 in first embodiment.

The wireless communication terminal 46 of present embodiment can also utilize above-mentioned in the same manner as the situation of first embodiment The cooperation of software and hardware, as display control section 31, storage unit 32, field periphery configuration part 33, barrier periphery configuration part 34, operating area configuration part 35, to start over position configuration part 151, operating direction configuration part 36 and autonomous driving path raw At portion 147 etc., work.

Display control section 31 makes the display data for being shown in display screen 37, suitably controls display content. When user has carried out defined operation, the display control section 31 of present embodiment makes information input picture in field shown in Figure 19 182 are shown in display screen 37.Figure 19 be show be shown in wireless communication terminal 46, for input with for tractor 1 travel The relevant information in field picture an example figure.

In the field information input picture 182, information relevant to the field travelled for tractor 1 can be inputted.Specifically For, it is configured in field information input picture 182: the shape in field is shown with the plane of figure (in graphically) display Portion 88.In addition, in field information input picture 182, in " position of field periphery " column and " position of the periphery of barrier " It in column, is each configured with: the key of " record starts " and " resetting ".In addition, in field information input picture 182, in " operation Starting position operation end position ", " operating direction " respectively in column, are configured with: the key of " specified " and " resetting ".

Storage unit 32 can be stored with: by touch panel of the user to wireless communication terminal 46 operate inputting Information relevant to field etc., also, be also stored with: the information etc. of driving path generated.

Field periphery configuration part 33 is set: the position of the periphery in the field of the object independently travelled as tractor 1. Specifically, if user in field information input picture 182 to " record starts " key of " position of field periphery " into Row operation, then wireless communication terminal 46 is switched to field periphery logging mode.In the field periphery logging mode, if making to draw Machine 1 is turn-taked 1 circle along the periphery in field, then the passage of the location information of antenna 6 of location at this time is by field periphery configuration part 33 records, thus by the shape in the field periphery configuration part 33 setting (acquisition) field.Thereby, it is possible to set the position in field with And shape.In addition, the record (setting) of the position of field periphery can be carried out again by operating to " resetting " key.

Barrier periphery configuration part 34 is set: the obstacle configured in the field for the object that tractor 1 is independently travelled The outer region of object.Specifically, if user is in field information input picture 182 to " position of the periphery of barrier " " record starts " key is operated, then wireless communication terminal 46 is switched to barrier periphery logging mode.The barrier periphery In logging mode, when tractor 1 is configured at the corner of the outer region of barrier, this is recorded by barrier periphery configuration part 34 When location antenna 6 location information, then by the barrier periphery configuration part 34 set (acquisitions): with polygon (such as grow It is rectangular) surround the shape of barrier.The polygon can be used for example in such a way that the line segment for linking each corner is disjoint By the so-called closed circuit specific polygon of chart, to calculate.Thereby, it is possible to set the position of the outer region of barrier and shape Shape.In addition, the outer region of the barrier set by barrier periphery configuration part 34 are as follows: by the more of the hollow form of barrier encirclement The region of side shape, the distance between inner rim and outer rim are identical as the vehicle-width of tractor 1 (working rig 3), or than tractor 1 The vehicle-width of (working rig 3) is little wider.

Operating area configuration part 35 sets the position of operating area (running region), operating area (running region) herein Refer to: being configured in the field for the object that tractor 1 is independently travelled, the area of agricultural operation is carried out while autonomous traveling Domain (running region).It specifically describes, in the wireless communication terminal 46 of present embodiment, constitutes are as follows: can believe with field In the different another input picture (not shown) of breath input picture 182, the width at the edge of a field and the width of non-cultivated land are set.And It and by the non-operating area that the edge of a field and non-cultivated land are constituted is based on above-mentioned setting content and by field periphery configuration part The position in the fields of 33 settings and shape, come what is determined, and from the area removed in the region in field other than non-operating area Domain is confirmed as operating area.

Start over the setting of position configuration part 151: tractor 1 starts the place independently travelled that is, starts place and knot Shu Zizhu traveling place that is, end place.Specifically, if user is in field information input picture 182 to " operation " specified " key of starting position operation end position " is operated, then the field set by field periphery configuration part 33 Data are overlapped with map datum and are shown in plane display unit 88.In this state, the profile in field is selected by user Neighbouring arbitrary point, it will be able to the location information of selected point be set into (record) by starting over position configuration part 151 To start place and end place.In addition, the function of the key about " resetting ", identical as above-mentioned " resetting " key.

Operating direction configuration part 36 sets the direction that tractor 1 travels while carrying out agricultural operation in operating area (direction on traveling road).Specifically, if user presses " specified " of " operating direction " in field information input picture 182 Key is operated, then the shape in the field set by field periphery configuration part 33 is overlapped with map datum and is shown in plane and shows Show portion 88.In this state, select at 2 points from multiple points specified when for example specifying field by user, it will be able to by operation The direction of 2 points of straight lines linked up is set (record) as operating direction (driving direction) by direction configuration part 36.In addition, referring to The point for determining to select when operating direction is not limited at 2 points, can be 3 points or more of multiple points.Thereby, it is possible to specified: along field etc. Profile, more accurate operating direction.In addition, the function about " resetting " key, identical as above-mentioned " resetting " key.

Autonomous driving path generating unit 147 in present embodiment generates: the traveling that tractor 1 independently travels in field Path.It alternately include: linear or polyline shaped traveling road and circle in the same manner as first embodiment, in the driving path The turning road of arcuation.Autonomous driving path generating unit 147 obtains: by the position for the field periphery that field periphery configuration part 33 is set The position of the operating area set, set by operating area configuration part 35, by with starting over position configuration part 151 is set The information of the position and the operating direction set by operating direction configuration part 36 of point and end place, is based on these information And automatically generate driving path.Substantially, linear or polyline shaped traveling road is included in operating area, turning road packet It is contained in the region other than the operating area in field (non-operating area), generates the driving path by this method.But There are in the case where barrier in field, autonomous driving path generating unit 147 generates traveling road in a manner of avoidant disorder object Diameter.Hereinafter, this is described in detail.Driving path made by autonomous driving path generating unit 147 is stored in storage Portion 32.

Next, generating specific place when driving path to autonomous driving path generating unit 147 referring to Figure 20 and Figure 21 Reason is illustrated.Figure 20 is to show the stream of the processing carried out when generating driving path by autonomous driving path generating unit 147 Cheng Tu.Figure 21 is to show the flow chart of the continuity of processing of Figure 20.

Firstly, autonomous driving path generating unit 147 obtains: by the position for the field periphery that field periphery configuration part 33 is set The position of the operating area set, set by operating area configuration part 35, by with starting over position configuration part 151 is set The information of the position and the operating direction set by operating direction configuration part 36 of point and end place, is based on these information, Generate tentative driving path T0 (referring to Figure 22).Specifically, autonomous driving path generating unit 147 is regarded as not having in field The situation of barrier generates: by multiple tentative traveling road P0 in operating area the tentative row spaced apart obtained side by side each other Sail path T0 (step S201).Each tentative traveling road P0 is configured to along operating direction.

The example of the tentative driving path T0 generated by autonomous driving path generating unit 147 is shown in Figure 22.Figure 22 is to show Generation is gone out by the figure of the example of multiple tentative traveling road P0 tentative driving path T0 obtained side by side.In Figure 22, by solid line The path that arrow indicates is the driving path travelled for nobody tractor 1.The traveling road travelled with the tractor 1 for nobody is adjacent (being configured between the 2 column traveling roads with arrow) the traveling road not with the arrow connect is to indicate: for carrying out work compound Someone tractor follow nobody tractor 1 and travel traveling road.In the example of Figure 22, imagination is at the dilatory of: someone Machine is on outlet (the traveling road on the direction above paper towards Figure 22) to walk in the right rear ramp of nobody tractor 1 Mode travel, circuit (towards the traveling road on the direction below the paper of Figure 22) by left rear ramp walking in a manner of row It sails.

Next, autonomous driving path generating unit 147 obtains barrier outer region from barrier periphery configuration part 34, sentence It is disconnected: whether to there is the tentative traveling interfered with barrier outer region among the tentative traveling road P0 generated in step S201 Road (step S202).

Feelings for the judging result of step S202, on the tentative traveling road not interfered with barrier outer region Under condition (step S202, No), the tentative driving path T0 that can be will be regarded as in field the not situation of barrier and make is direct As driving path T, therefore, this is fixed tentatively driving path T0 as driving path T (step by autonomous driving path generating unit 147 S203), terminate the generation in path.

On the other hand, it for the judging result of step S202, is fixed tentatively having with what barrier outer region interfered It travels (step S202, Yes) in the case where road, autonomous driving path generating unit 147 is in order to make the traveling road of avoidant disorder object Diameter and carry out the later processing of step S204.

In the processing of step S204, autonomous driving path generating unit 147 is dry for occurring with barrier outer region respectively The tentative traveling road P0 that relates to is obtained: using starting point of the tentative traveling road P0 that is, place F is as starting point and with to reaching obstacle The point that is, place G of object outer region are the first traveling road P1 of terminal.Figure 23 shows for 1 tentative traveling road P0 and gives birth to At the situation of the first traveling road P1.

Next, autonomous driving path generating unit 147 generates following detour road Q in the processing of step S205, it may be assumed that with The terminal (place G) of one traveling road P1 is starting point, is passed through in barrier outer region and around barrier opposite side, to pass through The mode of the barrier reaches the position on the imaginary extended line L after the first traveling road P1 extends and is to leave barrier perimeter region Detour road Q until the position (place H) in domain.The feelings that detour road Q is generated for 1 tentative traveling road P0 are shown in Figure 24 Shape.As shown in figure 24, detour road Q is pressed on the basis of the tentative traveling road P0, to non-operating area side (in other words, from arrival Farther away side is in when driving path observation until the first traveling road P1) mode of detour generates.

Next, autonomous driving path generating unit 147 obtains: in the processing of step S206 with terminal (of detour road Q Point H) it is starting point, be the second of terminal to travel road P2 with the end (place J) of tentative traveling road P0.The second traveling road P2 configuration In on tentative traveling road P0.In addition, being shown in above-mentioned Figure 24 for 1 tentative traveling road P0 and generating the second traveling road P2 Situation.

Next, in the processing of step S207, autonomous driving path generating unit 147 judge following detour road Q1, Q2, Q3, among whether with 1 distance L1 or more defined above path length detour road, that is, above-mentioned detour road Q1, Q2, Q3, it is: is generated for each tentative traveling road P0 interfered with barrier outer region Detour road.

For the judging result of step S207, in mono- all no situation of detour road Q of the above length of predetermined distance L1 Under (step S207, No), even if travelling it in such a way that tractor 1 is by detour road Q, driving path will not be grown very much, Therefore, detour road Q is used as driving path.

That is, in step S208, tentative row that autonomous driving path generating unit 147 will be interfered with barrier outer region Road P0 is sailed to be replaced into respectively by the first traveling road P1, detour road Q, the second traveling road P2 structure based on tentative traveling road P0 generation At traveling road.It generates as a result: having bypassed the driving path T1 of barrier.It is shown in Figure 25: generating and pass through cut-through The example of object and the driving path T1 of avoidant disorder object.

On the other hand, for the judging result of step S207, in the circuitous of the above length of predetermined distance L1 with 1 or more In the case where the Q of circuit (step S207, Yes), if travelling tractor 1 along detour road Q, driving path is too long, operation Efficiency is extremely low, and therefore, detour road Q is not used as driving path.

That is, in the case where reaching the detour road Q of predetermined distance L1 or more with length, step S211 shown in Figure 21 In, autonomous driving path generating unit 147 abolishes each detour road Q1, Q2, Q3 of generation and the second traveling road P2. Next, autonomous driving path generating unit 147 generates the road D that turns back as follows in step S212, it may be assumed that with the end of the first traveling road P1 Point (place G) is starting point, the road D that turns back for passing through in barrier outer region and turning back to non-operating area side.Show in Figure 26 Go out and has travelled the situation that road P1 generates the road D that turns back for 1 first.

Next, autonomous driving path generating unit 147 generates following third traveling road P3, it may be assumed that in step S213 to turn back The terminal (place K) of road D is starting point, with the non-operation side of the tentative traveling road P0 after generating the first traveling road P1 in flat The end (place M) of the next tentative traveling road P0 configured capablely is that the third of terminal travels road P3.In above-mentioned Figure 26, show Out: being directed to 1 first traveling road P1, generate the situation of the third traveling road P3 as circuit.

Next, autonomous driving path generating unit 147 will interfere and connect with barrier outer region in step S214 Continuous reciprocal tentative traveling road P0 (with multiple reciprocal roads, being distinguished) is replaced by the first traveling road The traveling road that P1, turn back road D and third traveling road P3 are constituted.It generates as a result: the traveling road turned back in front of barrier Diameter T2.It is shown in Figure 27: generating the example of the driving path T2 of avoidant disorder object and turning back in front of barrier.

In addition, the case where the processing using step S214 generates the driving path turned back in front of barrier Under, even if as shown in the dotted line in Figure 27, can also be appropriately created: in barrier in the region of the opposite side of barrier The driving path T3 that front is turned back.Show in Figure 27: unmanned tractor 1 carries out agriculture while travelling in driving path T2 Operation and after reaching end place, it is mobile to the starting point of driving path T3 further through non-operating area, on one side in driving path Traveling carries out the example of agricultural operation on one side in T3.But as an example of above-mentioned, for example, it is also possible to by barrier point The region of the side separated carry out operation after, the mode of operation is carried out in opposite side at once, to generate driving path.

It is generated as described above, the autonomous driving path of present embodiment generates system 199: for making tractor 1 preparatory The driving path independently travelled in determining operating area.The autonomous driving path, which generates system 199, to be had: operating direction Configuration part 36, autonomous driving path generating unit 147 and barrier periphery configuration part 34.Operating direction configuration part 36 is set: being made The driving direction (operating direction) of tractor 1 in industry region.Autonomous driving path generating unit 147 can generate: including multiple The driving path on road is travelled, wherein these multiple traveling roads are to be set along in operating area by operating direction configuration part 36 What operator was always arranged.Barrier periphery configuration part 34 sets barrier perimeter region for the barrier in operating area Domain.Autonomous driving path generating unit 147 can be in a manner of including the first traveling road P1, detour road Q and the second traveling road P2 To generate driving path (referring to Figure 22 to Figure 25).First traveling road P1 is configured along operating direction.Detour road Q is: with first The terminal (place G) for travelling road P1 is starting point, is passed through in barrier outer region and around the opposite side of barrier, to pass through The mode of the barrier reaches the position on the imaginary extended line L after the first traveling road P1 extends.Second traveling road P2 is with detour The terminal (place H) of road Q is starting point, and is configured on imaginary extended line L.

It generates as a result: the driving path including the first traveling road P1, the traveling of detour road Q and second road P2.Therefore, lead to Crossing travels tractor 1 independently along the driving path, and tractor 1 can be made to travel in a manner of cut-through object.Also, it is circuitous Circuit Q is configured to pass through in the barrier outer region being previously set, accordingly, it is considered to the relationship etc. with driving path entirety And detour road is purposefully generated, thereby, it is possible to so that the operation of unmanned tractor 1 is become smooth.In addition, other than detour road Q Part in, can make to travel road becomes path along operating direction, so as to the algorithm for generating autonomous driving path Become simple.By like this becoming traveling road: it is substantially linear or polyline shaped the path along operating direction, It is easy for handling using multiple traveling roads as 1 group, also can be easily implemented: agricultural operation is all carried out to every 1 group The practice.

In addition, the autonomous driving path of present embodiment generates in system 199, it is less than rule in the path length of detour road Q In the case where set a distance L1, autonomous driving path generating unit 147 can be to include the first traveling road P1, detour road Q and second The mode of road P2 is travelled to generate driving path (referring to Figure 25).It on the other hand, is predetermined distance in the path of the detour road In the case where L1 or more, autonomous driving path generating unit 147 can be to include the first traveling road P1, turn back road D and the third line The mode of road P3 is sailed to generate the driving path (referring to Figure 27).The road D that turns back is with the terminal (place G) of the first traveling road P1 For starting point, passes through in barrier outer region and turned back in front of barrier (referring to Figure 26).Third traveling road P3 be with Turn back road D terminal (place K) be starting point, with first traveling road P1 configured in parallel.

As a result, in the case where the path length of detour road Q is predetermined distance L1 or more, it can generate: in barrier The path that front is turned back, as driving path, to replace the path of cut-through object.Therefore, it can prevent in driving path Do not have helpful part too long operation.

In addition, the autonomous driving path in present embodiment generates in system 199, barrier is in island in operating area In the case that ground configures, when from driving path of the autonomous driving path generating unit 147 until travelling road P1 from arrival first Detour road Q is generated around the mode of the opposite side of barrier since farther away side (non-operating area side).

Even if travelling tractor 1 along the driving path T1 generated by autonomous driving path generating unit 147, When cut-through object, the region that tractor 1 is run over will not be entered into again before arrival first travels road P1 and (is implemented The region of agricultural operation).Therefore, the operation for carrying out tractor 1 will not be impacted, further, it is possible to avoid tractor 1 Barrier and travel.In addition, can prevent in the case where making someone's tractor that unmanned tractor 1 be followed to travel in nothing Close to someone's side of tractor when 1 cut-through object of people's tractor, will not clash.

< third embodiment >

Next, referring to Figure 24 and Figure 28 etc., it is raw to autonomous driving path involved in third embodiment of the present invention It is illustrated at system 199.Hereinafter, marking identical attached drawing to the component and step similarly constituted with second embodiment Label, suitably omits the description sometimes.

Autonomous driving path involved in third embodiment generates in system 199, when generating driving path by autonomous The processing that driving path generating unit 147 carries out is generally identical as second embodiment, but, the difference lies in that carrying out step The processing of S307 replaces step S207.

In the processing of step S307, autonomous driving path generating unit 147 judges: occurring for barrier outer region Each tentative traveling road P0 of interference and generate detour road Q1, Q2, Q3, among it is whether as follows with 1 or more Detour road, that is, the detour road is constituted are as follows: when tractor 1 must be to vertical with operating direction in order to avoid and (bypassing) barrier Direction it is mobile when, the distance of the movement that is, to avoid distance L10 (referring to Figure 24) be predetermined distance L2 or more.

For the judging result of step S307, all do not have avoiding detour road Q mono- that distance L10 is predetermined distance L2 or more In the case where having (step S307, No), even if tractor 1 to travel in a manner of in detour road Q, and does not have in operating area There is the situation of barrier to compare, the path length of driving path will not become very long, therefore, it is possible to use detour road Q Carry out avoidant disorder object.That is, carrying out the processing of step S208 and generating the driving path T1 including detour road Q.

On the other hand, for the judging result of step S307, with 1 or more, avoidances distance L10 be predetermined distance In the case where the detour road Q of L2 or more (step S307, Yes), if travelling tractor 1 along detour road Q, driving path Path length become very long, operating efficiency is extremely low, therefore, does not use detour road Q.That is, autonomous driving path generating unit 147, using the processing until step S211 to step S214 shown in Figure 21, generate: for replacing the road D that turns back of detour road.

Even by the processing of present embodiment, also detour road can be prevented too long.In addition, being used in present embodiment Avoid the path length that distance L10 is determined rather than uses detour road Q, therefore, autonomous driving path generating unit 147 can Easily judge whether detour road Q is too long.

As described above, when tractor 1 must be mobile to the direction vertical with operating direction for avoidant disorder object, it should In the case that mobile distance that is, avoidance distance L10 is less than predetermined distance L2, the autonomous driving path of present embodiment is generated Portion 147 can generate driving path in a manner of including the first traveling road P1, detour road Q and the second traveling road P2.It is another Aspect, in the case where avoiding distance L10 is predetermined distance L2 or more, autonomous driving path generating unit 147 can be to include the One traveling road P1, the road D and third traveling road P3 that turns back mode generate driving path.The road D that turns back is: with the first traveling road The terminal (place G) of P1 is starting point, passes through in barrier outer region and turns back in front of barrier.Third travels road P3 It is: with the terminal (place K) on road of turning back for starting point, with the first traveling road P1 configured in parallel (referring to Figure 26).

Must be to the mobile avoidance distance L10 in the direction vertical with operating direction for cut-through object as a result, In the case where predetermined distance L2 or more, the path T2 to turn back in front of barrier can be generated as driving path, with this generation For the path of cut-through object.Therefore, it can prevent not having helpful part too long operation in driving path T2.

The 4th embodiment > of <

Next, generating system to autonomous driving path involved in the 4th embodiment of the invention referring to Figure 29 etc. 199 are illustrated.Hereinafter, identical appended drawing reference is marked to the component and step similarly constituted with second embodiment, Sometimes it suitably omits the description.

Autonomous driving path involved in 4th embodiment generates in system 199, when generating driving path by autonomous The processing that driving path generating unit 147 carries out is generally identical as second embodiment, but, the difference lies in that carrying out step The processing of S407 replaces step S207.

In the processing of step S407, autonomous driving path generating unit 147 judges: occurring for barrier outer region Each tentative traveling road P0 of interference and generate detour road Q1, Q2, Q3, among it is whether as follows with 1 or more Detour road, that is, the detour road is constituted are as follows: when tractor 1 is in order to avoid and (bypassing) number of turns required for barrier or turning Angle is the detour road of specified value or more (such as 5 times or more or 120 ° or more).

For the judging result of step S407, in detour road Q mono- that number of turns or angle of turn are specified value or more All without in the case where (step S407, No), even if tractor 1 will not be formed by travelling in a manner of in detour road Q So complicated path therefore being capable of avoidant disorder object using detour road Q.That is, carrying out the processing of step S208 and generating Driving path including detour road Q.

On the other hand, for the judging result of step S407, with 1 or more, number of turns or angle of turn be In the case where detour road Q more than specified value (step S407, Yes), if travelling tractor 1 along detour road Q, having can Energy driving path becomes complicated, and operating efficiency is extremely low or user is chaotic, therefore, does not use detour road Q.That is, autonomous traveling Coordinates measurement portion 147 is generated using the processing until step S211 to step S214 shown in Figure 21: for replacing detour road Turn back road D.

As described above, the number of turns in the autonomous driving path generating unit 147 of present embodiment, in detour road Q It, can be to include the first traveling road P1, detour road Q and the second traveling road P2 or in the case that angle of turn is less than specified value Mode generates driving path.On the other hand, in detour road Q number of turns or angle of turn be specified value more than situation Under, autonomous driving path generating unit 147 can be in a manner of including the first traveling road P1, the road D and third traveling road P3 that turns back To generate driving path.The road D that turns back is: with the terminal (place G) of the first traveling road P1 for starting point, in barrier outer region By and turn back in front of barrier.Third traveling road P3 is: with the terminal (place K) for the road D that turns back for starting point, with the first row Sail road P1 configured in parallel.

It, can in the case that the number of turns required for cut-through object or angle of turn are specified value or more as a result, Generate: the path including the road D that turns back to turn back in front of barrier replaces cut-through object as driving path with this Path.Therefore, it can prevent: generate that number of turns is more or the biggish driving path of angle of turn, so can be successfully Carry out operation.

It is generated in system 199 in the autonomous driving path of present embodiment as a result, traveling road is linear, and energy as far as possible Enough avoidant disorder objects.In addition, as the path for avoidant disorder object, by the path of cut-through object and in the front of barrier The path turned back suitably is used separately.By linearly generating traveling road as far as possible like this, autonomous driving path can be made The algorithm of generation becomes simply, in addition, can become even for the driving path being also readily apparent that for user.

More than, the preferred embodiment of second embodiment to the 4th embodiment is illustrated, still, these realities The composition for applying mode can change as follows.

In above-mentioned embodiment, autonomous driving path generating unit 147 generates in operating area: including the first traveling road The traveling road of P1, detour road Q and the second traveling road P2.In other words, to plan that the mode in operating area is used for generate The traveling road of avoidant disorder object.But it is not necessarily limited to this, for example, replacing, non-cultivated land can be reached with detour road Q The mode of (non-operating area) travels road to generate.

In above-mentioned embodiment, autonomous driving path generating unit 147 next life in a manner of travelling back across non-operating area side At detour road Q.But it is not necessarily limited to this, it for example, replacing, temporarily can qualitatively generate: travel back across non-operating area side The detour road QA and detour road QB for travelling back across operating area side (side that agricultural operation has been carried out), to these detour roads QA, The path length of QB is compared, using the shorter detour road of length.

For example, making someone's tractor follow unmanned 1 row of tractor in a manner of being located at the rear ramp of the unmanned tractor 1 Sail and in the case where carrying out work compound, if travelling unmanned tractor 1 along detour road Q, it is likely that close to someone Tractor, at this point it is possible to which the warning of the content to be shown in the display screen 37 of wireless communication terminal 46.Specifically, showing Control unit 31 generates the display data for indicating warning, and the alerting picture based on display data is made to be shown in display screen 37 ?.In addition, the display of alerting picture as described above is illustrated in Figure 30.

In above-mentioned embodiment, barrier is in island in operating area.But it in fact, can certainly examine Consider barrier and is configured to the situation Chong Die with the profile of operating area.It is configured to for example, showing barrier in Figure 31 from field The end direction center example outstanding on ground.It is generated in system 199 in autonomous driving path of the invention, even if in such case Under, it can also generate avoidant disorder object and the good driving path of efficiency.In addition, physically can not as Figure 31 In the case where producing the detour road for travelling back across non-operating area side, replaces, can be generated out and travel back across operating area side The detour road of (side that agricultural operation has been carried out).

Invention disclosed in above-mentioned embodiment can also be applied to the situation of the profile complexity in field.For example, in picture Figure 32 is like that in the case where being formed with concave part on the profile in field, and the shape of the periphery in the field is then by field periphery Configuration part 33 is set.Even if in this case, as long as can regard as: barrier direction in the field of simple rectangle Inside is configured in standing shape, also just it can be seen that being identical with the situation of Figure 31.That is, present invention can also apply to Since a part of the profile in field is concavity, so substantially constituting the situation of " barrier ".

In the step S207 of Figure 20, judge whether there is 1 distance L1 or more defined above among multiple detour roads Path length detour road, this can also be replaced, be changed to whether the total of the path length for judging multiple detour roads is rule It is more than set a distance.Similarly, in the step S307 of Figure 28, also may determine that avoid distance it is total whether be predetermined distance with On.

When unmanned tractor 1 starts cut-through object, the direction indicators such as emergency warning lamp are made to play a role, so as to mention User and the operator of someone's tractor of awake wireless communication terminal 46 etc. add to pay attention to.Have as a result, in for example unmanned tractor 1 In the case where being possibly close to someone's tractor, user can discover the situation, can take precautions against conflict and be equal to possible trouble.

It in above-mentioned embodiment, as detour road Q, generates: using the terminal G of the first traveling road P1 as starting point, in obstacle In object outer region and travel back across the opposite side of barrier, reach the first traveling road P1 in a manner of through the barrier and prolong The detour road Q until the position on imaginary extended line L after length, but it is not limited to this.That is, detour road are as follows: will be across barrier And the terminal (reaching the point until barrier outer region) on the first traveling road configured and the starting point on the second traveling road are (from barrier Hinder the point that object outer region is left) access that connects, the starting point on the second traveling road can not be the first traveling road and prolongs The point on imaginary extended line after length.The starting point on so-called second traveling road is not on the imaginary extended line after the first traveling road extends The situation of point may be exemplified out following situation, it may be assumed that as shown in figure 33, fix tentatively the traveling road that traveling road P0 ' is polyline shaped, pass through First traveling road P1 ' and the second traveling road P2 ' are connected and are formed with by flexion portion the tentative traveling road of polyline shaped P0 ', and flexion portion is located at barrier outer region or there are the situations in the region of barrier.In addition, in Figure 33, by The starting point of one traveling road P1 ' is shown as F ', and terminal is shown as G ', and the starting point of the second traveling road P2 ' is shown as H ', terminal is shown as Detour road is shown as Q ' by J '.

In the above-described embodiment, in the presence of barrier is in island ground in operating area, outside barrier In all regions, with from arrival first travel road P1 until driving path from when since farther away side to the phase of barrier The mode for detour of tossing about generates detour road Q, and but it is not limited to this.As long as detour road generates in barrier outer region Close to end place side, in other words, as long as to include after reaching barrier outer region again in barrier outer region The mode on the interior turning road turned towards end place generates detour road.

That is, in operating area although the item number for travelling road is the 1 (operation of width and tractor for considering operating area Machine 3) vehicle-width be determined, still, the sequence of operation in each operation road can also according to user it is specified come suitably Setting.As the specified of user, it is possible to specify between traveling road P10 in current driving and the traveling road P11 next travelled Operation road item number (skipping number), in the case where this quantity is 0, traveling road P10 and traveling road P11 are adjacent, at this In the case that quantity is 2, traveling road P10 and traveling road P11 are configured across 2 traveling roads.The sequence of operation in each operation road It is essentially successively to be set from beginning place towards end place, still, in the case where above-mentioned quantity is other than 0, sometimes It is that part site setting since end place direction (in other words, after the traveling road traveling near end place, is starting ground Not cultivated traveling road traveling near point).Also, in the not cultivated traveling travelled after place towards since end place Road is there are in the case where barrier, in barrier in a manner of through other not cultivated traveling tracksides that is, end place side Detour road is generated in outer region.

In addition, on the not cultivated traveling road travelled after place towards since end place, there are barriers When, and in the case that adjacent both traveling roads are cultivated traveling road, as long as the path length of detour road can be generated Shorter detour road or the less detour road of number of turns amount.

The 5th embodiment > of <

In the above-described embodiment, although being considered as no barrier, and generating includes the tentative of multiple tentative traveling roads Whether driving path interferes with barrier outer region according to each tentative traveling road, be suitably modified (displacement) and Driving path is generated, still, the generation method of driving path is not limited to this.It is considered as no barrier in above-mentioned embodiment And generate tentative driving path be because are as follows: in the processing for generating driving path, carry out: whether will after generating tentative traveling road Tentative traveling road is replaced into the judgement processing (such as Figure 20 S207) for including the steps that the traveling road of detour road, but it is also possible to Traveling road is generated and carrying out the judgement in advance, without generating tentative traveling road.

Specifically, determination can be passed through when Use barriers beyond the region of objective existence week, configuration part 34 set the outer region of barrier Whether detour road is generated in the outer region of the barrier to realize.For example, in the processing of the step S207 of above-mentioned Figure 20 With 1 or more, length be predetermined distance more than detour road in the case where, in order to avoid the path length of detour road is spent Length, operating efficiency are extremely low, not using detour road as driving path, however, it is possible to calculate in advance: being set by barrier periphery The path length of detour road when determining portion 34 and generating detour road in the outer region of the barrier of setting for the time being.For example, hindering In the case where hindering the outer region of object to be hollow rectangular-shaped region, the maximum path length of detour road is the periphery in principle The length of the horizontal edge (with the side on the vertical direction of operating direction) of the outer rim in region and the longitudinal edge (direction parallel with operating direction On side) length total length (following, be known as maximum path length A).Herein, " in principle " for the road of detour road The shortest mode of electrical path length is come the meaning that generates, for example, because other main causes are (for example, due to generate not cultivated traveling trackside Do not generate the main reason for above-mentioned traveling trackside ploughed is such) and generated in such a way that the path length of detour road is shortest It is then the length of the horizontal edge of the outer rim of the outer region (side on the direction vertical with operating direction) in the case where not coming out 2 times of length (below, is known as most main road with total length of the length of longitudinal edge (side on the direction parallel with operating direction) Electrical path length B).Also, autonomous driving path generating unit 147 can be in the barrier that at least maximum path length A is predetermined distance or more Hinder generated in the outer region of object do not include detour road traveling road, also, it is long in maximum path length A and maximum path Generate the traveling road comprising detour road in the outer region of the degree B barrier that is respectively less than predetermined distance, thus generate including The driving path on each traveling road.

It in step S501~S504 of Figure 34, is briefly illustrated with flow chart: when generating driving path, with above-mentioned Method, the processing carried out by autonomous driving path generating unit 147.The processing is illustrated, firstly, autonomous driving path generates Portion 147 precomputes maximum path length (step S501) for all barrier outer region.Then, road is independently travelled Diameter generating unit 147 is generated in operating area without the part that interferes with barrier outer region (barrier) Both the traveling road (step S502) without turning back or without detour.Next, autonomous driving path generating unit 147 is directed in operating area The part interfered with barrier outer region, the barrier outer region maximum path length be specified value more than In the case where, the traveling road (step S503) including road of turning back is generated, in the maximum path length of the barrier outer region In the case where specified value, the traveling road (step S504) including detour road is generated.In this way, passing through the perimeter region with barrier Whether domain correspondingly generates the traveling road including detour road, so as to generate driving path without generating tentative traveling Road.

In above-mentioned embodiment, pass through the width and non-cultivated land at the setting edge of a field in input picture (not shown) Width determines non-operating area, as from the remaining region removed other than non-operating area in field, to determine operation area Domain.But the method for setting operating area is not limited to the above method, may be constructed are as follows: for example, in above-mentioned field information input In picture 182, thus the arbitrary point in the specified field for being shown in plane display unit 88 of user sets operating area and non- Operating area.

Autonomous driving path of the invention generates the association that system is not limited to above-mentioned unmanned tractor 1 and someone's tractor Same operation also can be applied to the situation that only unmanned tractor 1 individually carries out autonomous traveling AUTONOMOUS TASK.

In above-mentioned embodiment, constitutes autonomous driving path and generate the operating direction configuration part 36 of system 199, autonomous row It sails coordinates measurement portion 147 and barrier periphery configuration part 34 is provided to 46 side of wireless communication terminal, but it is not limited to this.That is, Part or all in operating direction configuration part 36, autonomous driving path generating unit 147 and barrier periphery configuration part 34 1 side of tractor can be provided to.

< sixth embodiment >

Next, referring especially to Figure 35 to Figure 44, to autonomous driving path involved in sixth embodiment of the invention Generation system 299 is described in detail.Figure 35 is to show robotic tractor 1 and nothing involved in sixth embodiment The block diagram of the main composition of the electrical system of line communication terminal 46.

The tractor 1 of present embodiment has camera (external environmental information acquisition unit).Camera 247 is dragged by shooting Video or image are detected in the front of machine drawing 1.Although not illustrated in Fig. 1 and Fig. 2, camera 247 is installed on tractor 1 top 29.The data of the video or images that taken by camera 247 are using wireless communication part 40 and from wireless communication day Line 48 is sent to wireless communication terminal 46.It receives the wireless communication terminal 46 of the data of video or image and shows its content In display screen 37.

In addition, video or image that camera 247 takes carry out image solution using control unit 4 or wireless communication terminal 46 Analysis.Thereby, it is possible to detect: existing special object around the external environmental information, such as tractor 1 in field (for example, The barriers such as the fields such as ridge or ditch surface shape, stone, field end) position, size etc..In addition, based on getting Range shared by special object in image or video (size of special object), the position for showing special object etc., to examine Measure the position (direction existing for special object and the distance until special object) of special object.In addition, hereinafter, it is right It is illustrated according to the processing that the testing result of special object carries out.

The main composition that the autonomous driving path of present embodiment generates system 299 is provided to wireless communication terminal 46. The autonomous driving path of present embodiment generates system 299 in addition to having: above-mentioned control unit 71, communication unit 72, display control Portion 31, storage unit 32, field periphery configuration part 33, barrier periphery configuration part 34, (the running region setting of operating area configuration part Portion) 35, start over other than position configuration part 151 and operating direction configuration part (driving direction configuration part) 36 etc., also have It is standby: coordinates measurement portion 276, control information calculation part 277 and correcting route generating unit 278 etc..

The wireless communication terminal 46 of present embodiment can also utilize above-mentioned in the same manner as the situation of first embodiment Software cooperates with hardware, as coordinates measurement portion 276, control information calculation part 277 and correcting route generating unit 278 etc. It works.

The coordinates measurement portion 276 of present embodiment in the same manner as above-mentioned embodiment, also substantially with linear or The traveling road of polyline shaped includes in operating area and road of turning includes region (the non-work other than operating area in field Industry region) in mode generate driving path.But there are in the case where barrier in field, coordinates measurement portion 276 with The mode of avoidant disorder object generates driving path.Hereinafter, this is described in detail.Coordinates measurement portion 276 is generated Driving path be stored in storage unit 32.

The special object that control information calculation part 277 is got based on camera 247 is (for example, the fields surface such as ridge or ditch The barriers such as shape, stone, field end) testing result, calculate the control information for correcting driving path.Correction Coordinates measurement portion 278 is based on the calculated control information of control information calculation part 277, generates: being corrected to driving path Correcting route.In addition, hereinafter, the detailed processing that control information calculation part 277 and correcting route generating unit 278 are carried out It is illustrated.

Next, detecting ridge to the external environmental information detected based on camera 247 referring to Figure 36 to Figure 41 Position, the processing automatically corrected to driving path are illustrated.Herein, automatically correct and refer to: wireless communication terminal 46 is raw The correcting route that pairs of driving path is corrected, furthermore, it is possible to include the driving path update that will be stored in storage unit 32 For correcting route.

Firstly, driving path T set when carrying out operation along the ridge for being formed in field to tractor 1 is illustrated. As shown in figure 37, driving path T is made of traveling road P5~P8 and turning road U5~U7.Travel road P5~P8 are as follows: to pass through It is formed in the linear path that the mode in the center on the ridge in field is formed.Turn road U5 are as follows: by traveling road P5 and traveling road P6 The path of the arc-shaped connected.Turn road U6 are as follows: will travel road P6 and travels the path for the arc-shaped that road P7 is connected. Turn road U7 are as follows: will travel road P7 and travels the path for the arc-shaped that road P8 is connected.

Herein, as shown in figure 38, consider have: deviateing the position (central location for specifically referring to ridge) for starting the ridge of place side To the situation of the end side (opposite side of end place) in field.In this case, it is stored with shown in Figure 37 in storage unit 32 Driving path T.Therefore, if not being corrected and travelling to driving path T, tractor 1 will not by the center on ridge, because This, it is possible to it can not suitably carry out the operation of tractor 1.In this regard, the wireless communication terminal 46 of present embodiment It is handled based on flow chart shown in Figure 36, deviateed thereby, it is possible to the position in view of ridge and school is carried out to driving path T Just.

Firstly, the image (can be video, same as below) that wireless communication terminal 46 detects camera 247 is solved Analysis, is made whether to detect the judgement (step S601) on ridge as a result,.For example, the part for being formed with ridge is higher than other parts, because This, wireless communication terminal 46 can not form the part for being formed with ridge and ridge based on the image that camera 247 detects Part be distinguished.As described above, wireless communication terminal 46 detects ridge.In example shown in Figure 38, for example, being dragged in instruction Machine drawing 1 start independently travel and AUTONOMOUS TASK opportunity tractor 1 reach start place opportunity or its slightly before The opportunity appropriate such as opportunity, the detection of wireless communication terminal 46 start the ridge of place side end.

It is judged as that in the case where detecting ridge, wireless communication terminal 46 is detected to by camera 247 in step s 601 The central location (central location on actual ridge) on ridge detected (step S602).The central location on ridge are as follows: the width on ridge The position in the center on direction (Width direction).Wireless communication terminal 46 based on the image that camera 247 detects and Calculate the distance from tractor 1 to ridge.Thereby, it is possible to detect relative position of the ridge relative to tractor 1.Furthermore it is possible to The absolute position of tractor 1 is detected using positional information calculation portion 49.Wireless communication terminal 46 can be based on ridge relative to dragging The relative position of machine drawing 1 and the absolute position of tractor 1 and detect the absolute position on ridge (that is, the position on the ridge on driving path It sets).Wireless communication terminal 46 is specific to the center progress in the width direction on the ridge for having found out absolute position, calculates as a result, The central location (absolute position) on ridge.In example shown in Figure 38, the ridge of 46 pairs of wireless communication terminal beginning place side ends It is detected central location.

Next, wireless communication terminal 46 judge: the difference of the central location on registered driving path and ridge whether More than threshold value (step S603).Wireless communication terminal 46 is to driving path (specifically, the driving path for being stored in storage unit 32 In the traveling road for having passed through the ridge specifically detected) and step S602 in the central location on ridge that detects be compared, by This, calculates the bias of the two.In example shown in Figure 38, ridge is formed as deviateing in parallel in the direction of the width, therefore, On the length direction on ridge, bias is in constant.

In addition, the threshold value in step S603 is any, still, for example, it is preferable to meet the value of condition below.That is, this reality It applies in mode, uses: the high-precision satellite location system of GNSS-RTK method is utilized, still, it is possible to create micro (2~3cm Left and right) evaluated error.Therefore, threshold value is preferred are as follows: the value bigger than the evaluated error of the position of tractor 1 (such as 2cm or more, 3cm or more, 4cm or more).Furthermore it is possible to which the bias based on the operation for not hindering tractor 1, carrys out threshold value.In addition, can To be operable to change threshold value to wireless communication terminal 46 by operator.

In the case where being judged as that the bias of central location of registered driving path and ridge (difference) is less than threshold value (step S603, No), wireless communication terminal 46 do not generate correcting route, but the processing of return step S601 for the ridge.Separately On the one hand, (the step in the case where being judged as that the difference of central location of registered driving path and ridge is threshold value or more S603, Yes), if tractor 1 is in autonomous traveling, wireless communication terminal 46 is by the stop signal independently travelled to dragging Machine drawing 1 is sent, and tractor 1 is made to temporarily cease (step S604).If tractor 1 is not in autonomous traveling, enter Step S605.

Next, wireless communication terminal 46 judges: whether automatically correcting for driving path obtains operator's permission (step S605).Carry out prior: content is wireless communication terminal 46 in the case where allowing the setting of driving path automatically corrected Judgement are as follows: obtain operator's permission.In the case where in advance without the permission of progress driving path automatically corrected, wireless communication Defined content is shown in display screen 37 by terminal 46, and request operator allows to automatically correct.

Wireless communication terminal 46 for example " will allow automatically correcting for driving path " and " not allow the automatic of driving path Correction " is shown in display screen 37.In the case where operator's selection " allowing automatically correcting for driving path ", for example, " to 1 Traveling road automatically corrected " and " all traveling roads are automatically corrected " show.It selects in operator " to 1 Traveling road is automatically corrected " in the case where, wireless communication terminal 46 carries out certainly 1 traveling road (the traveling road P5 in Figure 38) Dynamic correction, does not automatically correct other traveling roads (traveling road P6~P8 in Figure 38).In addition, " right in operator's selection All traveling roads are automatically corrected " in the case where, wireless communication terminal 46 is to all traveling road (traveling road P5 in Figure 38 ~P8) it is automatically corrected.

In addition, in the case where operator selects " not allowing automatically correcting for driving path ", in wireless communication terminal 46 Show " to driving path carry out manual correction ", " driving path is not corrected and continues operation " and " to operation into The options such as row suspension ".

In the case where automatically correcting to obtain operator's permission (step S605, Yes) of driving path, nothing are directed to being judged as The central location of line communication terminal 46 (specifically referring to control information calculation part 277) location information and ridge based on tractor 1 Deng and calculate control information (step S606).As described above, wireless communication terminal 46 can be based on positional information calculation portion 49 Relative position of the absolute position and ridge of the tractor 1 detected relative to tractor 1, and detect the absolute of actual ridge Position (the i.e., position on the actual ridge on driving path).

Control information are as follows: for the corrected information of driving path, in particular: the amount of bias of driving path, partially Set direction, angle amount of change of driving path etc..In example shown in Figure 38, since ridge is formed as in the direction of the width in parallel Deviate, so, the amount of bias and biased direction of driving path are equivalent to control information.In addition, carrying out school to mulitpath In the case where just, control information is all calculated for each path.Wireless communication terminal 46 by it is being found out in step S603, traveling Bias between path and the central location on ridge is as amount of bias.In addition, wireless communication terminal 46 by driving path relative to The actual central location on ridge and the direction deviateed are as offset direction.

Next, wireless communication terminal 46 (specifically referring to correcting route generating unit 278) is based on calculating in step S606 Control information and generate correcting route, (step S607) is updated to the driving path for being stored in storage unit 32.Such as Figure 38 It is shown, in the case where the position on actual ridge is deviateed, as shown in figure 39, generate correcting route.In addition, being shown in Figure 39 : the correcting route generated when selection automatically corrects 1 traveling road.In example shown in Figure 39, wireless communication Terminal 46 generates: to the traveling road P5 correcting route corrected that is, traveling road P51.In addition, wireless communication terminal 46 is raw At: to the turning road U5 correcting route corrected that is, turning road U51.As the generation for travelling road P51 shown in Figure 39 Method is generated for example, being made to travel the starting point of road P5 and the location bias of terminal based on above-mentioned control information by rising after biasing The path that point and terminal connect, as traveling road P51.Also that is, correcting route generating unit 278 can be based on pre- Mr. At traveling road P5 position (being central location when including width information as traveling road P5) and according to detecting The central location on ridge and calculated control information, make the starting point and terminal biasing of traveling road P5, based on rising after biasing Point and terminal generate the new traveling road P51 different from traveling road P5, as correcting route.

Next, wireless communication terminal 46 starts again at the traveling of tractor 1, make tractor 1 along in step S607 more Driving path after new is travelled (step S608).Then, wireless communication terminal 46 also carries out: whether detecting the judgement on ridge (step S601) carries out the later processing of step S602 in the case where detecting ridge.It is continuously carried out by like this above-mentioned Processing, even if in the case where the central location for travelling road P6~P8 and actual ridge is deviateed, also can be to the traveling Road P6~P8 is corrected.

Next, being said referring to Figure 36, Figure 40 and Figure 41 to the situation deviateed in such a way that a plurality of ridge is inclined It is bright.

In Figure 40, actual ridge (ridge detected by camera 247) tilts relative to pre-generated driving path. Herein, camera 247 not only shoots the image on the ridge near tractor 1, the also image on the ridge in shooting front.Therefore, channel radio Letter terminal 46 can calculate the position on neighbouring and front ridge by parsing to the image.Therefore, step S603 In, wireless communication terminal 46 can calculate: be not only that there are also front, registered driving paths near tractor 1 Bias between the central location on the ridge detected by camera 247.In addition, in step S603, based on driving path with The position of the central location on ridge is deviateed, and is judged, still, is replaced, can direction and formation ridge based on driving path Direction between deflecting angle, judged.

In example shown in Figure 40, ridge is tilted relative to driving path, therefore, in step S606, wireless communication terminal 46 (control information calculation parts 277) calculate the angle amount of change of driving path, as control information.As described above, wireless The image that communication terminal 46 can be detected based on camera 247, and detect to be formed the direction on ridge.Therefore, to driving path Direction and formed ridge direction be compared, calculate the angle amount of change of driving path as a result,.

In addition, all ridges are tilted both relative to driving path in example shown in Figure 40, therefore, operator is in step Selection " allowing automatically correcting for driving path ", further selects " automatically correcting to all traveling roads " in S605.Cause This, wireless communication terminal 60 (specifically referring to correcting route generating unit 278) is in step S608, based on for traveling road P5~P8 The angle amount of change found out with step S606, to generate: as correcting route, traveling road P51, traveling road P61, traveling road P71, traveling road P81, turning road U51, turning road U71 (referring to Figure 41), to update storage in the driving path of storage unit 32.

Hereinafter, being illustrated for travelling road P51 to the generation method of correcting route, however, it is also possible to similarly give birth to At other correcting routes.As shown in figure 41, although the starting point of traveling road P5 is consistent with the central location on ridge, the side on ridge is formed To deviateing, as the generation method of traveling road P51 at this time, for example, in the state for maintaining the starting point of traveling road P5 constant Under, the value that keeps the location bias of terminal following, it may be assumed that based on above-mentioned control information (angle amount of change) and travel the path of road P5 Then the value (for example, path length × tan (angle amount of change)) that length gauge calculates generates: after above-mentioned starting point and biasing The path that connects of terminal, as traveling road P51.Also that is, correcting route generating unit 278 can be based on the shape according to ridge At the control information that telegoniometer calculates, and the terminal of traveling road P5 is biased, based on terminal after starting point and biasing, generated: The new traveling road P51 different from traveling road P5, as correcting route.

In addition, certainly Figure 39 and Figure 41 can also be combined and generate correcting route.That is, ridge center relative to The position of driving path and deviate and the formation direction on ridge occur deviate in the case where, calculated based on the deviation according to the former Control information out makes the starting point biasing for travelling road, also, based on the calculated correction according to the deviation of the former and the latter Information makes the terminal biasing for travelling road, so as to generate: by after biasing starting point and the path that connects of terminal, come As traveling road P51.

Next, being illustrated referring to Figure 42 to Figure 44 to following processing, it may be assumed that detected based on camera 247 outer Portion's environmental information and the position and size of barrier are detected, and to the processing that driving path is automatically corrected.? In the following description, driving path T shown in Figure 37 is also pre-stored within storage unit 32.Hereinafter, being said referring to the flow chart of Figure 42 It is bright: in the case where detecting barrier to the corrected processing of driving path.

Firstly, wireless communication terminal 46 is parsed by the image for detecting camera 247, it is made whether to detect The judgement (step S701) of barrier.For example, be formed with the part of barrier (stone, rubbish, other working trucks) with it is other Part is compared, color and of different sizes, therefore, wireless communication terminal 46 can based on the image that camera 247 detects and Detect barrier.In example shown in Figure 43, in tractor 1 along during traveling road P5 traveling, barrier is detected.

It is judged as that in the case where detecting barrier, wireless communication terminal 46 is same as the situation on ridge in step s 701 Ground is detected (step S702) to the position and size of the barrier detected by camera 247.The size of barrier is The width of barrier, height, at least one among longitudinal degree.For example, the height to break the barriers and can not detect barrier Longitudinal degree.In this case, wireless communication terminal 46 detects the width and height of barrier.In addition, barrier Height is relatively low with the correlation of driving path, therefore, it is convenient to omit the detection of the height of barrier.

Next, wireless communication terminal 46 judges whether the barrier detected is registered (step S703).By to depositing Registered in storage portion 32 barrier detected in the information and step S702 of the barrier of (storage) position and size into Row compares, to carry out the judgement of step S703.More specifically, whether registered about the barrier detected, when detecting Barrier exist ground region and registered barrier region the duplicate situation of at least part under, then be judged as and stepped on Note, not and in the duplicate situation in the region of registered barrier, is then judged as and is not registered.

In the registered situation of barrier detected (step S703, Yes), wireless communication terminal 46 judges: having stepped on Whether the barrier of note is threshold value or more (step S704) with the position of barrier or the difference of size detected.The threshold value with Step S603 similarly, is preferably based on the error of satellite location system or whether hinders the operation of tractor 1, to determine this Threshold value.

In the situation that the position of the barrier detected and/or size and the difference of registered barrier are threshold value or more Under (step S704, Yes), wireless communication terminal 46 sends the stop signal independently travelled towards tractor 1, to make to draw Machine 1 temporarily ceases (step S705).In addition, wireless communication terminal 46 is in the position of registered barrier and the barrier detected It sets and/or the bias of size is less than in the case where threshold value (step S704, No), do not generate correcting route for the barrier, And it is to return to the processing of step S701.More specifically, the region existing for the barrier detected and registered obstacle The region of object is consistent or in the case where the being included in and region existing for the barrier detected with it is registered In a part of duplicate situation in the region of barrier, for example, in the case where the size in unduplicated region is threshold value or more, Enter step S705.

In addition, wireless communication terminal 46 will be autonomous in the unregistered situation of barrier detected (step S703, No) The stop signal of traveling is sent towards tractor 1, so that tractor 1 be made to temporarily cease (step S705).Example shown in Figure 43 In, detect unregistered barrier.Even if in addition, in the case where detecting unregistered barrier, if the barrier It, then can be with the processing of return step S701 less than more than threshold value (for example, the degree for not hindering the operation of tractor 1).

Next, wireless communication terminal 46 judges whether automatically correcting for driving path obtains operator's permission (step S706).The judgement is substantially identical as the step S605 of Figure 36.But there is barrier operator can be removed with manual task A possibility that.Therefore, operator selects " be not corrected to driving path and continue operation " after removing barrier, Thereby, it is possible to continue operation along registered driving path.In addition, it is also contemplated that have: row is generated according to the shape of barrier Sail the situation of (or allowing lap more than preset) correcting route of road overlapping.In this case, wireless communication is whole End 46 requires operator to allow to be overlapped.

Judge driving path automatically correct to obtain operator allow in the case where (step S706, Yes), channel radio Believe terminal 46 (specifically referring to control information calculation part 277) location information based on tractor 1, the position of barrier and size Deng, and calculate control information (step S707).As described above, wireless communication terminal 46 can be based on positional information calculation portion 49 Relative position of the absolute position and barrier of the tractor 1 detected for tractor 1, and detect actual The absolute position (that is, position of the actual barrier on driving path) of barrier.It herein, is in the barrier detected In the case where the barrier of registration, control information are as follows: so that after the correction corrected to the region of registered barrier Region as following regions corrected information, that is, the region includes region and the inspection of registered barrier Region existing for the barrier measured.In contrast, in the case where the barrier detected is not registered barrier, school Positive information are as follows: so that the letter that the region for the barrier that should be re-registered is corrected and (re-registers) as following regions Breath, that is, the region includes region existing for the barrier that detects.

Next, wireless communication terminal 46 (specifically referring to correcting route generating unit 278) is based on calculating in step S707 Control information, and generate correcting route, and (step S708) is updated to the driving path for being stored in storage unit 32.Figure 43 And in example shown in Figure 44,46 couples of traveling road P5 of wireless communication terminal, traveling road P6, turning road U5 are corrected, and are generated Correcting route that is, traveling road P51, traveling road P61, the turning road U51 of front turning.

Hereinafter, the generation method to correcting route is illustrated.It is registered barrier in the barrier detected In the case of, it is based on control information, is come specific: the traveling road that the control information impacts autonomous traveling AUTONOMOUS TASK. For example, traveling of the barrier detected when driving in traveling road P5 compared with registered barrier relative to tractor 1 Direction and in the case where deviateing, the control information based on the deviation is specific are as follows: to the information that traveling road P5 is impacted, in phase In the case where deviateing in vertical direction for the driving direction of tractor 1, the control information based on the deviation is specific are as follows: right The information that adjacent traveling road P6 is impacted with traveling road P5.Also, make specifically to travel road based on control information Terminal in starting point and terminal, being set to around barrier is biased, as a result, based on the end after starting point and biasing Point generates new traveling road, as correcting route.

On the other hand, in the case where the barrier detected is not registered barrier, in the same manner as said circumstances, Based on control information, come specific: the traveling road that the control information impacts autonomous traveling AUTONOMOUS TASK.Also, base In control information, the terminal among the starting point and terminal that specifically travel road is changed to the week of barrier from field end It encloses, based on the terminal after starting point and change, new traveling road is generated, as correcting route.

Next, wireless communication terminal 46 makes tractor 1 start again at traveling, and make tractor 1 along in step S708 The driving path of update is travelled (step S709).Then, 46 further progress of wireless communication terminal: whether obstacle is detected The judgement (step S701) of object carries out the later processing of step S702 in the case where detecting barrier.By connecting like this It is continuous to carry out above-mentioned processing, it, also can be to driving path even if in the case that there is multiple unregistered barriers in field It is corrected.

In addition, wireless communication terminal 46 is the feelings of registered barrier in the barrier detected in step S708 Under condition, other than generating correcting route, barrier is stepped in further preferably suggestion user's Use barriers beyond the region of objective existence week configuration part 34 again Note or the registration that barrier is changed based on control information, also, be not registered barrier in the barrier detected In the case where, other than generating correcting route, further preferably suggestion user's Use barriers beyond the region of objective existence week configuration part 34 newly registers obstacle It object or is based on control information and newly registers barrier.

Have as described above, the autonomous driving path of present embodiment generates system 299: coordinates measurement portion 276, storage unit 32, camera 247, control information calculation part 277 and correcting route generating unit 278.Coordinates measurement portion 276 generates traveling road Diameter.Storage unit 32 stores the driving path generated of path generating unit 276.Camera 247 is set to tractor 1, and Obtain the external environmental information (position of special object (ridge or barrier etc.) and size etc.) in operating area.Control information The external environmental information that calculation part 277 is got based on camera 247, and calculate for the corrected school of driving path Positive information.Correcting route generating unit 278, which generates, is based on the calculated control information of control information calculation part 277, and generates to row The correcting route after path is corrected is sailed, and is stored in storage unit 32.

As a result, based on the external environmental information got by the camera 247 for being set to tractor 1 and to driving path into Row correction.Therefore, pre-generated driving path can be corrected based on current environment etc..In addition, by that will correct Path is stored in storage unit 32, can save next time and later to the corrected process of driving path.

In above-mentioned sixth embodiment, ridge and barrier are included as specific specific right by external environmental information As to be illustrated, however, it is possible to for other special objects (end in ditch or field).For example, in the periphery in setting field Position in the case where, as described above, tractor 1 is made to turn-take 1 week along the periphery in field.At this point, 46 energy of wireless communication terminal Enough ends that field is detected based on camera 247.The end and the end in field that detects in registered field it Between bias be threshold value more than in the case where, wireless communication terminal 46 is set for correcting to field periphery, by this In the case where the influence of field periphery, also driving path is corrected.

In above-mentioned embodiment, as external environmental information acquisition unit, it is illustrated by taking camera 247 as an example, but It is that external environmental information acquisition unit may be radar installations.In addition, in above-mentioned embodiment, it can also be by storage unit 32 At least part in the information of storage is stored in storage unit 55.It is equally possible that in the information that storage unit 55 is stored At least part is stored in storage unit 32.

In above-mentioned embodiment, constitute autonomous driving path generate the coordinates measurement portion 276 of system 299, storage unit 32, Control information calculation part 277 and correcting route generating unit 278 are provided to 46 side of wireless communication terminal, and but it is not limited to this. That is, part or all in these components can be provided to 1 side of tractor or other equipment.

In above embodiment, control information calculation part 277 is based on external environmental information acquisition unit (such as camera 247) The information that gets and calculate control information, correcting route generating unit 278 is based on calculated by control information calculation part 277 Control information and generate correcting route, but, control information, which may not be, to be calculated by control information calculation part 277, External input device (such as display screen 37) can be operated for user and the corrected value that inputs.Want to make to draw in user It is detected between driving path and the central location on ridge when machine 1 starts independently to travel AUTONOMOUS TASK or using camera 247 Position deviate when, display screen 37 can be operated and input corrected value, thereby, it is possible to the desired scheme of user come It generates: the correcting route after being corrected is deviateed to position.In addition, in order to which user can input corrected value appropriate, display control As long as following corrected values is shown in display screen 37 by portion 31 processed, that is, the corrected value is based on by control information calculation part 277 calculated control informations and it is recommended.In addition, being detached from the corrected value of above-mentioned recommendation in corrected value input by user In the case of, wireless communication terminal 46 can be alerted and be found out the amendment of corrected value.

In addition, in the case where generating correcting route for traveling road in multiple row traveling road, specific, it can companion With the generation of above-mentioned correcting route to including the specific traveling road and without carrying out autonomous row using tractor 1 The traveling road (following, referred to as traveling makes a reservation for traveling road) for sailing AUTONOMOUS TASK is corrected, can also be only to the specific traveling Road is corrected and is not corrected to other paths.It in the case where the former, is generating: for example opening specific traveling road direction In the case that beginning position side has biased the correcting route of Ncm, travels predetermined traveling road and similarly generate: to starting position side phase Bias the correcting route of Ncm with answering.On the other hand, in the case where the latter, even if specific traveling road direction is started for example, generating Position side correspondingly biases the correcting route of Ncm, also maintains the predetermined traveling road of traveling without being corrected.In this case, exist Do not become after specific traveling road using the starting point that tractor 1 carries out independently next traveling road of traveling AUTONOMOUS TASK More, therefore, it separately generates: the turning road that the starting point of the terminal on specific traveling road and next traveling road is connected.

In above embodiment, judge whether the barrier detected is registered barrier, still, unregistered barrier Hindering object not is only existing static (not carried out with natural phenomenas such as the idea of oneself or wind mobile) obstacle in operating area Object, or dynamic (carrying out movement with natural phenomenas such as the idea of oneself or wind) barrier.As dynamic obstacle Object can enumerate human or animal.In the step S707 of Figure 42, location information of the control information calculation part 277 based on tractor 1, The position of barrier and size etc. and calculate control information, be especially dynamic barrier in unregistered barrier still In the case where hindering object, in control information further include can to the barrier through when change in location carry out specific information.It can To through when change in location to carry out specific information may include: the moving direction and movement speed for indicating dynamic barrier Information, furthermore it is also possible to include: the location information of dynamic barrier when have passed through following time TM1, that is, time TM1 Be: position (separating distance) and movement speed based on the barrier mobile relative to tractor 1 and calculate to tractor 1 Time (hereinafter, time TM1) until being in contact with dynamic barrier.Furthermore, it is possible to the view detected based on camera 247 Frequency or multiple images capture the change in location of such as barrier, and it is still static for dynamic to carry out specific obstacle.

In the case where barrier is dynamic barrier, wireless communication terminal 46 judges: have passed through above-mentioned time TM1 At the time of, whether tractor 1 and dynamic barrier contact, when be judged as do not contact when, just do not generate based on control information Correcting route.On the other hand, at the time of have passed through above-mentioned time TM1, tractor 1 and when dynamic bar contact, just Generate the correcting route based on control information.As correcting route, are as follows: at the time of have passed through above-mentioned time TM1, tractor 1 and the path that does not contact of dynamic barrier.Therefore, right in the case where unregistered barrier is static barrier It specifically travels the terminal among the starting point and terminal on road to change, to generate correcting route；In unregistered obstacle In the case that object is dynamic barrier, just starting point and terminal are not changed, and are regenerated after time TM1: Correcting route including the detour road for avoiding dynamic barrier.It is circuitous at this in the case where bypassing dynamic barrier Include: in circuit for avoid with the turning road of dynamic bar contact, but, the turn direction is preferred are as follows: with it is dynamic The opposite direction of the moving direction of barrier.

In addition, dynamic barrier is not limited to always carry out certain activity, changes over time sometimes and be different work It is dynamic.In this case, as long as appropriately creating: avoiding the correcting route with dynamic bar contact, continue in tractor 1 In the case where carrying out movement, work as judgement are as follows: not can avoid the mobile side with dynamic bar contact or dynamic barrier When causing to be hard to avoid contact, tractor 1 can be made to stop to continuous change etc. in a short time.In this case, as long as Generate from the position that tractor 1 stops to terminal until correcting route.

The 7th embodiment > of <

Next, referring especially to Figure 45 to Figure 57, to autonomous driving path involved in the 7th embodiment of the invention Generation system 399 is described in detail.Figure 45 is shown along autonomous row involved in the 7th embodiment of the invention Sail the side view of the overall structure of the robotic tractor 1 of the traveling of autonomous driving path 93 of the generation of path generating system 399.

The robotic tractor 1 of present embodiment has working rig 300, replaces the working rig in first embodiment with this 3.It in the present invention, as working rig 300, uses: having the cutting operation for carrying out cutting operation using rotary cutter (not shown) The grass trimmer of portion (homework department) 3A.The grass-mowing becomes: can make cutting operation portion 3A with relative to travel machine body 2 in body The state that right and left upwardly biases carries out the eccentrically arranged type grass trimmer (eccentrically arranged type working rig) of cutting operation.It shows: cutting in Figure 46 The state that careless homework department 3A is biased relative to travel machine body 2 to direction of travel right side.But although detailed content is not shown, It is that working rig 300 has hydraulic cylinder (aftermentioned bias actuator 345), by driving to the hydraulic cylinder, additionally it is possible to make to cut Careless homework department 3A to the side opposite with Figure 46 (on the left of to direction of travel) biasing, or be located at travel machine body 2 just after Side.

Working rig 300 has: the working rig control unit 350 for being controlled cutting operation portion 3A etc..Working rig control Portion 350 processed is configured to have: CPU, ROM, RAM and I/O (not shown) etc., and CPU can read various programs etc. from ROM It is executed.Working rig control unit 350 is electrically connected with the control unit 4 of travel machine body 2, can be based on the instruction from control unit 4 And working rig 300 is controlled.Offset controller 365 is electrically connected in working rig control unit 350.

Offset controller 365 controls the amount of bias of the cutting operation portion 3A of working rig 300.Specifically, operation Machine 300 has bias actuator 345.As bias actuator 345, such as, it may be considered that it is hydraulic cylinder, electric motor etc., but It is not limited to this.In this composition, offset controller 365 is based on the control signal inputted from working rig control unit 350, and to biasing Actuator 345 is driven.Using the control, the cutting operation portion 3A of working rig 300 can be made upper in body left and right directions It moves.

Bias actuator 345 is controlled using control unit 4 (working rig control unit 350), with the mowing of working rig 300 Homework department 3A travels tractor 1 relative to the state that travel machine body 2 suitably biases, and thereby, it is possible to cutting operation portion 3A By path center and the state that is upwardly deviated from body right and left of the center in path that passes through of travel machine body 2, using cutting Careless homework department 3A carries out operation.

Multiple controllers including the offset controller 365 of working rig 300 are (for example, engine controller 61 Deng) based on the signal inputted from the control unit 4 of tractor 1 each component such as working rig 300 is controlled.It therefore, can be Control unit 4 is held substantially to control each component.

Next, generating system 399 referring especially to Figure 47 and Figure 48 to autonomous driving path and being illustrated in more details.

The main composition that the autonomous driving path of present embodiment generates system 399 is provided to wireless communication terminal 46.Such as Shown in Figure 48, the wireless communication terminal 46 of present embodiment in addition to have above-mentioned control unit 71, display screen (display unit) 37, with And other than communication unit 72 etc., be also equipped with: working truck information setting portion (offset control portion) 51, field information setting portion (start End position configuration part) 52, job information configuration part 53 and autonomous driving path generating unit 354 etc..

The wireless communication terminal 46 of present embodiment can also utilize above-mentioned in the same manner as the situation of first embodiment Software and hardware cooperate as working truck information setting portion (offset control portion) 51, field information setting portion (starts to tie Beam position configuration part) 52, job information configuration part 53 and autonomous driving path generating unit 354 etc., it works.

Working truck information setting portion 51 is for setting: information relevant to tractor 1 (below, is sometimes referred to as Operation Van Information.).Working truck information setting portion 51 can refer to suitably being operated by operator to wireless communication terminal 46 Fixed following contents are stored, the content are as follows: the machine of tractor 1, tractor 1 install location antenna 6 position, Position relative to travel machine body 2 of the type of working rig 300, the dimension and shape of working rig 300, working rig 300, tractor Speed and engine speed in 1 operation, the speed in the turning of tractor 1 and engine speed etc..

Working truck information setting portion 51 can will pass through effective on the left and right directions of cutting operation portion 3A progress operation Width (width E2 shown in Figure 46.Below, it is sometimes referred to as working width.) it is set as the size of above-mentioned working rig 300.Separately Outside, in the case where working rig 300 is eccentrically arranged type working rig, working truck information setting portion 51 can be set: make cutting operation Direction (body left, body right or two sides) that portion 3A is biased relative to travel machine body 2 and machine when being biased operation Offset or dish E1 on body left and right directions, the position as above-mentioned working rig 300 relative to travel machine body 2.

As shown in Figure 46 and Figure 49, offset or dish E1 can be with is defined as: the datum mark 2C that is suitably set in travel machine body 2, At a distance from the body left and right directions between datum mark 3C suitably set in working rig 300 (cutting operation portion 3A).Traveling The datum mark 2C of body 2 can be determined arbitrarily are as follows: represent the point of the position of travel machine body 2, still, datum mark 2C is preferably set It is set to: positioned at the left and right directions center of travel machine body 2.It, can also be with about the datum mark 3C of working rig 300 (cutting operation portion 3A) It arbitrarily determines are as follows: represent the point of the position of the working rig 300 (cutting operation portion 3A), still, datum mark 3C is preferably set Are as follows: positioned at the left and right directions center of cutting operation portion 3A.In addition, working rig 300 relative to travel machine body 2 coupling position not It is that (in the case where multiple positions link, can be by the coupling position in the case that the left and right directions of travel machine body 2 is central Coupling position center) it is used as datum mark, to replace said reference point 2C, by the body between the datum mark and said reference point 3C Distance definition on left and right directions is offset or dish E1.In addition, the installation site of location antenna 6 can as shown in figure 45 with row The datum mark 2C for sailing body 2 is consistent, can also be inconsistent.

Field information setting portion 52 is for setting field information.Field information setting portion 52 can to by operator to nothing Following contents that line communication terminal 46 is operated and set are stored, the content are as follows: the position in field 90 and shape, Want the starting position for travelling it independently and end position, operating direction etc..

Job information configuration part 53 is for setting: information relevant to how specifically to carry out operation is (below, sometimes referred to as Job information.).Job information configuration part 53 can be set: whether have robotic tractor 1 and the tractor of someone cooperates with work The quantity for the working path 383A that industry, tractor 1 are skipped in headland turn that is, skip number, the edge of a field width and it is non-plough Make the width etc. on ground, as job information.

Autonomous driving path generating unit 354 is for generating: the path that travels tractor 1 independently that is, independently travelling road Diameter 383.Autonomous driving path generating unit 354 can based on by working truck information setting portion 51, field information setting portion 52 with And job information configuration part 53 and the information that is set, to generate the autonomous driving path 383 of tractor 1, and stored.

Next, referring especially to Figure 50 to Figure 53, in the wireless communication terminal 46 for generating autonomous driving path 383 Be set for illustrate.Figure 50 is to show: the working truck information input picture in the display screen 37 of wireless communication terminal 46 391 show exemplary figure.Fig. 6 is to show: the field information input picture 392 in the display screen 37 of wireless communication terminal 46 Show exemplary figure.Figure 51 is to show: field information input picture 392 in the display screen 37 of wireless communication terminal 46 it is another Show exemplary figure.Figure 52 is to show: the display of the job information input picture 393 in the display screen 37 of wireless communication terminal 46 The figure of example.

If operator operates as defined in carrying out in wireless communication terminal 46, control unit 71 is controlled as follows, that is, Working truck information input picture 391 shown in Figure 50 is shown in display screen 37.

In working truck information input picture 391 other than being each configured with the column for inputting following the description, That is, the content are as follows: information same as working truck information input picture 81 involved in first embodiment that is, tractor 1 Machine, the size of tractor 1, location with antenna 6 relative to the installation site of travel machine body 2, the type of working rig 300, make The working width E2 of industry machine 300, is also each configured with the column for inputting following the description, that is, the content are as follows: from 3 connecting rods Distance of the rear end (rear end of lower link) of mechanism until the rear end of working rig 300, can be by 300 (cutting operation of working rig Portion 3A) relative to travel machine body 2 bias direction, by working rig 300 bias when body left and right directions on offset or dish (tool For body, the datum mark 2C of travel machine body 2 on the body left and right directions between the datum mark 3C of cutting operation portion 3A at a distance from) E1 etc..

Operator operates wireless communication terminal 46, configures into each column of working truck information input picture 391 Text box input numerical value, or select from the guide look of combobox, set as a result,.Thus, it is possible to set: including making The working width E2 for the cutting operation portion 3A that industry machine 300 has, cutting operation portion 3A can be made to bias relative to travel machine body 2 Various information including left and right biased direction (right, left or two sides) and offset or dish E1 etc..

The working truck information that operator specifies in working truck information input picture 391 is stored in working truck information Configuration part 51.When the input of operation information of vehicles is completed, control unit 71 as follows controls display screen 37, that is, , field information input picture 392 substantially same with the content shown in Fig. 7 of first embodiment is shown into (Figure 51).

The field of the content substantially same with content shown in first embodiment is inputted to field information input picture 392 Information is set, still, hereinafter, being described in detail to the distinctive setting content of present embodiment.

It is shown in Fig. 6: setting the position in field 90 and the example of shape, the starting position of operation and end position Son.In the example of Fig. 6, starting position is set at 1 angle in the field of rectangle 90, at the angle for being in diagonal position relationship with the angle Set end position.In this way, the autonomous driving path of present embodiment generates in system 399, and shown in first embodiment Scheme similarly, in principle, the end in field 90 is set in starting position and end position this two side.

On the other hand, in present embodiment, in 51 setting content of working truck information setting portion are as follows: working rig 300 (is mowed Homework department 3A) setting for operation can be carried out while biasing relative to travel machine body 2 to body left and right directions any direction In the case where fixed, assignment area can be come (only) to the side among the starting position and end position independently travelled Point near the center in domain 381.Such a example is shown in Figure 51.In the example of Figure 51, starting position is set in field 90 angle, on the other hand, end position is set in the central portion in field 90.In addition, the setting is to use eccentrically arranged type working rig When distinctive setting cannot carry out specifying as Figure 51 using not offset type working rig.

In field information input picture 392, the field information that operator specifies is stored in field information setting portion 52.When When the input of field information is completed, control unit 71 as follows controls display screen 37, that is, by operation shown in Figure 52 Information input picture 393 is shown.

In job information input picture 393, the information (job information) of specific operation can be inputted.It is specific and Speech is separately provided for the column of input following the description, that is, the content are as follows: whether organic in job information input picture 393 The work compound of device people tractor 1 and someone's tractor, someone tractor work compound when mode, someone tractor assist With the working width of the tractor of someone when operation, someone tractor work compound when robotic tractor 1 jump Cross number (skipping several column working paths to be travelled), the overlapping tolerance of working width in adjacent working path, working rig 300 initial bias direction, the width at the edge of a field and width of non-cultivated land etc..

Wherein, in " whether the work compound of someone's tractor ", " work compound mode ", " jump of robotic tractor Cross several ", " lap of working width ", " width at the edge of a field " and " width of non-cultivated land " each column in, with it is above-mentioned The same method of first embodiment inputs setting value.

In " the initial bias direction of working rig " column, in the case where tractor 1 is equipped with eccentrically arranged type working rig, it can refer to Fixed: at the beginning of autonomous traveling, working rig 300 (cutting operation portion 3A) which side biases or does not bias to the left and right.

In addition, for using " width at the edge of a field " and " non-farming when eccentrically arranged type working rig as in the present embodiment The width on ground " can limit setting value, so that it broadens compared with the situation for using not offset type working rig.It is as a result, civilian dress In the case where equipped with eccentrically arranged type working rig, the end (end of cutting operation portion 3A) of working rig 300 can be also considered on one side no It can be stretched from field 90, be readily formed autonomous driving path the ground is first-class on one side.

But in present embodiment, set as working truck information: being equipped with eccentrically arranged type working rig as work Whether industry machine 300 carries out the content of operation, in order to avoid the complication of the generation logic of autonomous driving path 383, and " to have The work compound of someone's tractor " column can not input (that is, forcing no work compound).In addition, being made according to same situation In the case where using eccentrically arranged type working rig for working rig 300, so that " the skipping number of robotic tractor " column can not input (that is, skipping quantity is forcibly zero).Therefore, in present embodiment, make tractor 1 autonomous using eccentrically arranged type working rig In the case where travelling AUTONOMOUS TASK, the existing path for considering someone's tractor cannot be generated and travel it independently AUTONOMOUS TASK can not skip the working path 383A of 1 column or more and carry out operation.

Next, the processing for generating autonomous driving path 383 to autonomous driving path generating unit 354 carries out referring to Figure 53 Explanation.Figure 53 is to show the flow chart for the processing for generating autonomous driving path 383.

" generating autonomous driving path " key is operated when in the input picture 393 of the job information shown in Figure 52 When, it is initially based on the shape in the field 90 set in field information input picture 392 and inputs picture 393 in job information The width of the width at the edge of a field of middle setting and non-cultivated land, to determine operating area 381 and non-operating area 382.Then, Start the processing of Figure 53, initially, autonomous driving path generating unit 354 generates: operating area as the dotted arrow of Figure 54 The path 384 (step S801) that in 381, cutting operation portion 3A passes through.The calculating in path at this time is with the base of working rig 300 It carries out on the basis of (datum mark of cutting operation portion 3A) 3C, rather than is calculated with the datum mark 2C of travel machine body 2 on schedule. In addition, hereinafter, the path 384 for sometimes passing through the datum mark 3C of working rig 300 in operating area 381 is known as " operation machine operation Path ".

Next, the working rig working path generated in autonomous 354 processing based on step S801 of driving path generating unit (path 384) and the biased direction and offset or dish set using working truck information setting portion 51 are (in other words, Datum mark 2C based on travel machine body 2), as the thick-line arrow of Figure 55, the travel machine body 2 generated in operating area 381 is logical The path (working path 383A) (step S802) crossed.The calculating can be carried out based on simple geometry relationship.In addition, with Under, the path for sometimes passing through the datum mark 2C of travel machine body 2 in operating area 381 is known as " travel machine body working path ".

Then, travel machine body working path of the autonomous driving path generating unit 354 will be generated in the processing of step S802 The mode of the endpoint connection of (working path 383A) generates in non-operating area 382 as the thick-line arrow of Figure 56 and travels machine The path (non-working path 383B) (step S803) that the datum mark 2C of body 2 passes through.At this point, similarly generating: by autonomous row Path that the endpoint of the starting position and travel machine body working path sailed links up and by the end of travel machine body working path The path that point and the end position independently travelled link up.From prevent the end of working rig 300 from field 90 to outside stretch out From the viewpoint of going, as needed, in defined edge, the path that travel machine body 2 in non-operating area 382 passes through is carried out Appropriate amendment.According to the above operation, the traveling machine in field 90 (operating area 381 and non-operating area 382) can be generated The autonomous driving path 383 of body 2.

In addition, the autonomous driving path 383 that autonomous driving path generation system 399 can generate in present embodiment has 2 Kind, wherein 1 is driving path of turning back shown in the thick-line arrow with Figure 56.The driving path of turning back is applied to: as the example of Fig. 6 It is sub such, the starting position independently travelled set by field information setting portion 52 and the end that end position being field 90 Situation, and generated in a manner of carry out operation while turning back repeatedly between the edge and edge in field 90.

The driving path of turning back is characterized in that, by by the straight line path parallel with preassigned operating direction with this On the vertical direction of operating direction with outlet, circuit, outlet, replace side by side, come formed working rig shown in Figure 54 make Industry path.When configuring the working rig working path, it is contemplated that working width E2 of the working rig 300 etc., so that will not send out Raw working rig 300 is omitted for the operation of operating area 381, also, operating efficiency is good.In addition, making for working rig The configuration in industry path, can also be with due regard to: from specified starting position (or near starting position) according to above-mentioned operation Direction carries out initial operation, terminates operation at end position (or near end position) as far as possible.

In addition, operating area 381 or field 90 it is complex-shaped in the case where, above-mentioned outlet and circuit can be made For broken line road etc., to replace straight line path.

But in present embodiment, working rig 300 is configured to the biased direction of change cutting operation portion 3A.It is this In the case of, autonomous driving path generating unit 354 can according to need, link working path 383A and working path 383A On non-working path 383B, to change the biased direction of cutting operation portion 3A.For example, in the example of Figure 55, from the 1st article of left-hand digit And the biased direction of the cutting operation portion 3A in the 2nd article of working path 383A is the right side, but, in the 3rd article, biased direction is cut It is changed to a left side, is then alternately switched again.It, can be according to the big of the width (lateral margin SM1) of non-cultivated land by generating path like this The various situations such as small and neatly carry out independently travelling AUTONOMOUS TASK.In addition, being cut by switching in non-working path 383B The biased direction of careless homework department 3A can generate autonomous driving path 383 with simple processing.

Next, to another 1 autonomous driving path that is, driving path of turn-taking is illustrated referring to Figure 57.

In the starting position independently travelled and end set the example as Figure 51 by field information setting portion 52 In the case that a side among position is the center in field 90, driving path of turn-taking shown in Figure 57 is generated.In the example of Figure 51, The end position independently travelled is set in the center in field 90, therefore, as the thick-line arrow of Figure 57, in field 90 from Outside generates driving path of turn-taking in a manner of turn-taking in angle swirl shape towards inside.However, it is also possible to will independently travel Starting position is set in the center in field 90, and end position is set in the end in field 90, in this case, in field 90 It is interior turn-take in angle swirl shape from inside towards outside in a manner of generate driving path of turn-taking.

It is also handled using shown in Figure 53, to generate the driving path of turn-taking.Specifically, to make in operating area 381 Working rig working path (path 384 of the dotted arrow of Figure 57) is generated on the basis of the datum mark 3C of industry machine 300 in swirl shape, Travel machine body working path (operation is generated by working rig working path biasing (the datum mark 2C based on travel machine body 2) Path 383A).In addition, the part near the starting position independently travelled is therefore non-operating area 382 will independently travel Starting position and the mode of endpoint connection of travel machine body working path generate: travel machine body 2 in the non-operating area 382 The path (non-working path 383B) that passes through datum mark 2C.According to the above operation, can generate in Figure 57 with thick-line arrow institute The driving path of turn-taking shown.

It is turn-taked in the example of driving path shown in Figure 57, the biased direction of working rig 300 can not be in autonomous driving path 383 midway changes.In other words, in the driving path of turn-taking, operation is being carried out from the outside in field 90 towards inside Path entire stroke in, maintain: working rig 300 towards than travel machine body 2 more by field 90 center side state.Cause This, the traveling of travel machine body 2 exists: working rig 300 has terminated the part of operation, thus, for example, can be in cutting operation with always Vision open state in front carries out operation.In addition, in driving path of turn-taking, also with driving path of turning back likewise it is possible to root According to job content in the midway of autonomous driving path 383, the biased direction of change operation machine 300.

In present embodiment, including operating area 381 and non-operating area 382 in field (running region) 80, still, Operating area 381 and non-operating area 382 can be a part of duplicate region.Operating area 381 and non-operating area 382 A part repeats to refer to: unfavorable to be used as when tractor 1 is in the case where the repeat region travels n times (N be 2 or more integer) Industry machine 300 travels X times (X is the integer less than N) with carrying out operation, carries out operation using working rig 300 on one side, travels N- on one side X times.Therefore, in present embodiment, operating area 381 is properly termed as: tractor 1 is gone with the operation of working rig 300 The region sailed, non-operating area 382 are referred to as: the region that tractor 1 is travelled with being not accompanied by 300 operation of working rig.

As shown in figure 57, in the case where the central part towards field 90 generates working rig working path in swirl shape, In order to be carried out for the residual region also narrower than the turning radius of tractor 1 using working rig 300 in the central part in field 90 Operation, it may be necessary to turn back (make tractor 1 retreat for the time being and from residual region at a distance after it is mobile to residual region again Work).This series of work of turning back is not to carry out operation using working rig 300, therefore, carries out a series of work of turning back The region of work is properly termed as non-operating area 382.Autonomous driving path generating unit 354 is being generated for being turned back like this When the path of work, path is generated based on the datum mark 2C of travel machine body 2, rather than the datum mark 3C based on working rig 300 To generate path.Also that is, in the present embodiment, autonomous driving path generating unit 354 can be for tractor 1 with working rig 300 operations and the region travelled, the datum mark 3C based on working rig 300, to generate path (working rig working path), also Can be for the region that tractor 1 is not accompanied by 300 operation of working rig and is travelled, the datum mark 2C based on travel machine body 2 comes It generates path (travel machine body working path).

As described above, the autonomous driving path of present embodiment generates system 399 in predetermined field 90, it is raw At: it is autonomous for travelling the tractor 1 for having travel machine body 2 and the working rig 300 for being assemblied in travel machine body 2 independently Driving path 383.Autonomous driving path, which generates system 399, to be had: working truck information setting portion 51 and autonomous driving path are raw At portion 354.Working truck information setting portion 51 can be set: benchmark of the datum mark 3C of working rig 300 relative to travel machine body 2 Biased direction and offset or dish for point 2C.Autonomous driving path generating unit 354 can be based on the datum mark of working rig 300 3C and generate the autonomous driving path 383 in field 90.

Thereby, it is possible to generate: by the datum mark 2C in the path 384 passed through and travel machine body 2 the datum mark 3C of working rig 300 By path (working path 383A) be staggered after autonomous driving path 383.As a result, it is possible to by the autonomous of tractor 1 Traveling is applied to: for example, on one side various operation forms such as the situations for travel while weeding to field end.

In addition, present embodiment autonomous driving path generate system 399 in, field 90 include: using working rig 300 into The operating area 381 of row operation and the non-operating area 382 being set in around operating area 381.Autonomous driving path is raw Datum mark 3C at portion 354 based on working rig 300 and generate the working path 383A in operating area 381, be based on travel machine body 2 Datum mark 2C and generate the non-working path 383B in non-operating area 382.

As a result, by the benchmark of position when making to generate autonomous driving path 383 in operating area 381 and non-operating area It is different between 382, even if working rig 300 (cutting operation portion 3A) is made to bias in operating area 381 and carry out operation Under, also the generation of autonomous driving path 383 can be handled into letter in 382 the two of operating area 381 and non-operating area Change.

Have in addition, the autonomous driving path of present embodiment generates system: the setting operation in field 90 of tractor 1 Starting position and the field information setting portion 52 of end position.As shown in fig. 6, will start using field information setting portion 52 In the case that both position and end position are set in the end in field 90, autonomous driving path generating unit 354 is generated: one While turning back repeatedly between the edge and edge in field 90, on one side from starting position towards the driving path of turning back of end position (Figure 56), as autonomous driving path 383.As shown in figure 51, using field information setting portion 52 by starting position and In the case that a side in end position is set in the end in field 90 and another party is set in the central portion in field 90, from Main driving path generating unit 354 generates: from starting position towards the gyrate driving path of turn-taking (Figure 57) of end position, coming As autonomous driving path 383.

Thus, it is possible to which operating efficiency therefore can be made according to suitably 2 kinds of autonomous driving paths 383 of selection such as job content It is improved.

In above-mentioned embodiment, field 90 is designated as in the starting position and end position both of which independently travelled End in the case where, generation is turned back driving path.But for example, being shown in turning back for the generation for confirmation of display screen 37 When driving path, the method appropriate such as display of information can use, generate 399 side of system from autonomous driving path and suggest operation Person generates driving path of turn-taking.

As eccentrically arranged type working rig, it is not limited to above-mentioned cutting operation machine, the plough of eccentrically arranged type can be used for example.

It in above-mentioned embodiment, constitutes are as follows: working rig 300 only can be made by the setting of working truck information setting portion 51 In the case where the content biased relative to travel machine body 2, as the starting position or end position independently travelled, it can select The central portion in field 90.But using working rig 300 of not offset type, it also can choose the center in field 90 Portion is as the starting position or end position independently travelled.

In above-mentioned embodiment, working rig 300 can be made relative to travel machine body 2 and right to body left and body Side's biasing, it is however also possible to be merely able to side direction biasing to the left and right.In this case, (when not biasing, offset or dish E1 is 0, therefore) be configured to only set offset or dish E1 in working truck information setting portion 51, so as to pass through autonomous row Sail the generation that path generating system 399 carries out autonomous driving path 383.

In above-mentioned embodiment, in reciprocal driving path, tractor 1 replaces for the direction of travel of operation Ground is towards opposite direction, and in driving path of turn-taking, tractor 1 is for the direction of travel of operation always towards phase Tongfang To.That is, it can be said that: it is higher to be biased the necessity that direction is turned around in reciprocal driving path, in driving path of turn-taking into The necessity that row biased direction turns around is lower.Therefore, in the case where the path of generation is reciprocal driving path, biased direction root It turns around according to needs, in the case where the path of generation is to turn-take driving path, biased direction can not occur change in midway and (fall Head).

In addition, the working rig for only capableing of side biasing to the left and right is not assemblied in travel machine body 2 as working rig 300, Can also only will to the left and right two sides biasing working rig be assemblied in travel machine body 2.In this case, can not consider can The only situation of side biasing to the left and right, therefore, in the setting screen of Figure 50, it is convenient to omit " working rig can control biasing The project in " the only left side " and " only right side " in direction ".

In above-mentioned embodiment, width and non-farming based on the edge of a field set by job information input picture 393 The width on ground, to determine that non-operating area 382, operating area 381 are confirmed as: removing non-operating area 382 from field 380 Remaining region in addition.But the method for setting operating area 381 is not limited to the above method, such as may be constructed are as follows: operation Person is in above-mentioned field information input picture 392, the specified arbitrary point being shown in the field 380 of plane display unit 88, Thus, it is possible to set operating area 381 and non-operating area 382.

In above-mentioned embodiment, 51 and of working truck information setting portion that autonomous driving path generates system 399 is constituted Autonomous driving path generating unit 354 is provided to 46 side of wireless communication terminal.But working truck information setting portion 51 and from Part or all in main driving path generating unit 354 can also be provided to 1 side of tractor.

Description of symbols

1 tractor (working truck)

47 autonomous driving path generating units (coordinates measurement portion)

54 operating area cutting parts (region segmentation portion)

91 operating areas (running region)

93 autonomous driving paths (driving path)

93A working path (traveling road)

99 autonomous driving paths generate system

BP basic unit number of path (specified value)

The dividing regions S

The dividing regions of SE exception

SN skips number (a reference value)

Claims

1. a kind of autonomous driving path generates system, in order to be made for the operating area in predetermined running region Industry and generate the driving path for travelling working truck independently,

The autonomous driving path generates system and is characterized in that having:

The operating area is divided into multiple dividing regions by region segmentation portion, the region segmentation portion；And

Coordinates measurement portion, which generates the driving path in a manner of comprising multiple traveling roads, and these are more A traveling road is arranged respectively at each dividing regions divided by the region segmentation portion,

The region segmentation portion can be the regulation being equal to each other with the quantity on the traveling road that each dividing regions are included The mode of value and the operating area is split.

2. autonomous driving path according to claim 1 generates system, which is characterized in that

The coordinates measurement portion sets the sequence of operation for the multiple traveling road based on a reference value,

In the case that the dividing regions equal with the specified value in the quantity on the traveling road for being included have multiple, institute Coordinates measurement portion is stated between the dividing regions, sets the identical sequence of operation for each traveling road to correspond to each other.

3. autonomous driving path according to claim 1 or 2 generates system, which is characterized in that

It is described in the case where the quantity on the traveling road that the operating area is included is not the integral multiple of the specified value The operating area is divided into multiple dividing regions in a manner of forming out the first dividing regions and the second dividing regions by region segmentation portion,

The quantity on the traveling road that first dividing regions are included is equal with the specified value,

The quantity on the traveling road that second dividing regions are included is greater than the specified value.

4. generating system to autonomous driving path described in any one in 3 according to claim 1, which is characterized in that have:

Driving direction configuration part, the driving direction configuration part set the traveling side of the working truck in the running region To；And

Barrier periphery configuration part, the barrier periphery configuration part set barrier for the barrier in the running region Outer region,

The coordinates measurement portion can generate the driving path comprising multiple traveling roads, and these multiple described travelings Road is arranged along the driving direction set in the running region by the driving direction configuration part,

It the coordinates measurement portion can be by including the first following traveling roads, following detour roads and the second following traveling roads Mode generate the driving path, that is, the first traveling curb the driving direction configuration；The detour road be with The terminal on first traveling road is starting point, is passed through in the barrier outer region and around the opposite of the barrier Side, to reach the position on the imaginary extended line after first traveling road extends in a manner of passing through the barrier；It is described Second traveling road and is configured on the imaginary extended line using the terminal of the detour road as starting point.

5. autonomous driving path according to claim 4 generates system, which is characterized in that

In the case where the path length of the detour road is less than predetermined distance, the coordinates measurement portion is to include the first row The mode for sailing road, the detour road and second traveling road generates the driving path,

In the case where the path length of the detour road is predetermined distance or more, the coordinates measurement portion can be to include described First traveling road, following turn back road and following third traveling roads mode generate the driving path, that is, the folding Returning road is to pass through in the barrier outer region and using the terminal on first traveling road as starting point in the barrier It turns back front；Third traveling road and is configured to and first traveling road using the terminal on the road of turning back as starting point In parallel.

6. autonomous driving path according to claim 4 generates system, which is characterized in that

It must be moved towards the direction vertical with the driving direction in the working truck in order to avoid the barrier Distance that is, avoid in the case that distance is less than predetermined distance, the coordinates measurement portion is to include first traveling road, described The mode on detour road and second traveling road generates the driving path,

In the case where the avoidance distance is predetermined distance or more, the coordinates measurement portion can be to include first traveling Road, following turn back road and following third traveling roads mode generate the driving path, that is, the road of turning back be with The terminal on first traveling road is starting point, passes through in the barrier outer region and rolls in the front of the barrier It returns；Third traveling road and is configured to parallel with the first traveling road using the terminal on the road of turning back as starting point.

7. autonomous driving path according to claim 4 generates system, which is characterized in that

In the case that number of turns or angle of turn in the detour road are less than specified value, the coordinates measurement portion is to include The mode on first traveling road, the detour road and second traveling road generates the driving path,

In the case that the number of turns or the angle of turn in the detour road are specified value or more, the path is raw At portion can in a manner of including first traveling road, following turn back road and following third traveling roads it is described to generate Driving path, that is, the road of turning back is led in the barrier outer region using the terminal on first traveling road as starting point It crosses and turns back in front of the barrier；Third traveling road and is configured using the terminal on the road of turning back as starting point At parallel with the first traveling road.

8. the autonomous driving path according to any one in claim 4 to 7 generates system, which is characterized in that

In the case that the barrier is configured in island in the running region, the coordinates measurement portion is from described in arrival First traveling road until the driving path observation when since farther away side to the opposite side detour of the barrier Mode generates the detour road.