WO2018159262A1 - Route information transfer system - Google Patents

Route information transfer system Download PDF

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Publication number
WO2018159262A1
WO2018159262A1 PCT/JP2018/004597 JP2018004597W WO2018159262A1 WO 2018159262 A1 WO2018159262 A1 WO 2018159262A1 JP 2018004597 W JP2018004597 W JP 2018004597W WO 2018159262 A1 WO2018159262 A1 WO 2018159262A1
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WO
WIPO (PCT)
Prior art keywords
route
information
route information
work vehicle
wireless communication
Prior art date
Application number
PCT/JP2018/004597
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French (fr)
Japanese (ja)
Inventor
康平 小倉
Original Assignee
ヤンマー株式会社
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Filing date
Publication date
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Publication of WO2018159262A1 publication Critical patent/WO2018159262A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track

Definitions

  • the present invention relates to a route information transfer system capable of transferring route information relating to an autonomous traveling route along which a work vehicle autonomously travels from a wireless communication terminal to the work vehicle.
  • the route information transfer system as described above is used in an autonomous traveling system that autonomously travels a work vehicle (see, for example, Patent Document 1).
  • a wireless communication terminal such as a tablet terminal and a work vehicle capable of autonomous traveling are provided, and an autonomous traveling route is generated by the wireless communication terminal, and route information regarding the autonomous traveling route is obtained.
  • the work vehicle is allowed to autonomously travel along the autonomous travel route.
  • autonomous transfer of the work vehicle can be started by completing the transfer of route information from the wireless communication terminal to the work vehicle.
  • the amount of information transferred from the wireless communication terminal to the work vehicle becomes excessive, and it takes a lot of time to transfer the work vehicle. There is a possibility that it will be difficult to start.
  • a main problem of the present invention is a route information transfer system capable of efficiently transferring route information related to an autonomous travel route from a wireless communication terminal to a work vehicle and smoothly starting the autonomous travel of the work vehicle.
  • the 1st characteristic structure of this invention is equipped with the radio
  • the wireless communication terminal can generate, as the route information, route basic information including identification information of the autonomous traveling route and route individual information including detailed information of individual routes included in the autonomous traveling route,
  • the wireless communication terminal transmits, to the work vehicle, initial transfer information including the route basic information and having an information amount smaller than an entire information amount of the route information before autonomous traveling by the work vehicle is started. It is in the point characterized by.
  • the initial transfer information transmitted from the wireless communication terminal to the work vehicle before the autonomous traveling by the work vehicle is started, the information amount is smaller than the total information amount of the route information, the initial transfer information The time required for the transfer can be shortened.
  • the basic transfer information is included in the initial transfer information, it is possible to proceed with the process for starting autonomous traveling based on the basic route information. Thereby, it is possible to efficiently transfer the initial transfer information from the wireless communication terminal to the work vehicle, and it is possible to shorten the time until the autonomous running can be started.
  • the route individual information includes specific route information indicating a specific route specified based on a current position of the work vehicle before the work vehicle starts autonomous traveling
  • the wireless communication terminal transmits the initial transfer information before the autonomous traveling by the work vehicle is started, and after the communication check by transmission of the initial transfer information is performed and the communication condition is satisfied, the identification Route information is transmitted to the work vehicle.
  • a communication check can be performed using the initial transfer information, and whether or not the communication condition is satisfied by the communication check is confirmed. can do. Then, after the communication condition is satisfied, the wireless communication terminal transmits the specific route information that becomes a part of the route individual information to the work vehicle. Therefore, before the autonomous running is started, the specific route information is sent to the work vehicle. The data can be transferred properly, and the time required for the transfer is shortened. Therefore, in the work vehicle, for example, the start route for starting autonomous traveling from the specific route can be specified, and the process for starting autonomous traveling can be proceeded based on the specific route information, and the autonomous traveling can be started smoothly. be able to.
  • the individual route information includes start route information indicating a start route on which the work vehicle starts autonomous traveling
  • the wireless communication terminal receives the start route information before the autonomous running by the work vehicle is started and after the specific route information is transmitted and the autonomous running start condition is satisfied. Transmitting to the work vehicle, and after the autonomous running by the work vehicle is started, as the route individual information, traveling schedule route information indicating a planned route to be autonomously traveled by the work vehicle is transmitted to the work vehicle. It is in the feature point.
  • the wireless communication terminal does not transmit the start route information and the planned travel route information to the work vehicle at a time before the autonomous traveling is started, but starts before the autonomous traveling is started.
  • the route information is transmitted, and the planned traveling route information is transmitted after the autonomous traveling is started.
  • the time required for transferring information before starting autonomous traveling can be shortened, and autonomous traveling can be started smoothly.
  • the autonomous running can be appropriately started based on the starting route information transmitted before the autonomous traveling is started, but also the planned traveling route information transmitted after the autonomous traveling is started.
  • the autonomous running can be appropriately continued based on the above.
  • the specific route information includes start route information indicating a start route on which the work vehicle starts autonomous traveling
  • the wireless communication terminal is connected to the work vehicle before the autonomous running by the work vehicle is started and after the specific route information is transmitted and the autonomous running start condition is satisfied.
  • the start route information is not transmitted, and after the autonomous traveling by the work vehicle is started, the scheduled traveling route information indicating the planned route autonomously traveled by the work vehicle is transmitted to the work vehicle as the individual route information.
  • the specific route information including the starting route information is transmitted from the wireless communication terminal to the work vehicle before that, so the autonomous driving start condition is satisfied.
  • the start route information has already been transmitted to the work vehicle.
  • the wireless communication terminal does not newly transmit start route information, and performs autonomous driving while reducing the number of times of information transfer from the wireless communication terminal to the work vehicle.
  • Can start Moreover, in the work vehicle, not only can autonomous travel be appropriately started based on the start route information included in the specific route information, but also autonomous travel can be performed based on the planned travel route information transmitted after the autonomous travel is started. Can continue properly.
  • the wireless communication terminal indicates a plurality of scheduled travel routes indicating a plurality of planned routes autonomously traveled by the work vehicle as the individual route information after autonomous travel by the work vehicle is started. Information is divided into a plurality of times and transmitted to the work vehicle.
  • the wireless communication terminal since the wireless communication terminal transmits the planned travel route information to the work vehicle in multiple times even after the autonomous traveling is started, it is possible to suppress an increase in the amount of information transmitted at a time.
  • the scheduled travel route information can be transmitted from the wireless communication terminal to the work vehicle while preventing the occurrence of communication abnormality such as a communication error. Accordingly, it is possible to prevent the occurrence of inconveniences such as the autonomous traveling being stopped due to a communication abnormality or the like during the transmission of the planned traveling route information, and the autonomous traveling can be appropriately continued.
  • the planned travel route information includes first planned travel route information indicating a predetermined number of planned routes among the plurality of planned routes, and the predetermined number of the plurality of planned routes. Second scheduled travel route information indicating the planned route excluding The wireless communication terminal transmits the first planned travel route information to the work vehicle after the autonomous travel by the work vehicle is started, and after the first planned travel route information is transmitted. When the predetermined condition is satisfied, the second scheduled travel route information is transmitted.
  • the wireless communication terminal since the wireless communication terminal transmits the first travel planned route information and the second travel planned route information separately to the work vehicle, the amount of information transmitted at one time is suppressed. In addition, it is possible to transmit the planned travel route information from the wireless communication terminal to the work vehicle while preventing the occurrence of communication abnormality such as a communication error.
  • the wireless communication terminal can transmit the first planned travel route information to the work vehicle after starting autonomous travel. The work vehicle can appropriately perform autonomous traveling along a predetermined number of scheduled routes. The wireless communication terminal transmits the second scheduled travel route information to the work vehicle when the predetermined condition is satisfied after transmitting the first planned travel route information. For example, the first scheduled travel route information continues autonomous traveling.
  • the second scheduled travel route information can be transmitted at an appropriate timing such as a timing before the situation becomes impossible, and the work vehicle can appropriately continue autonomous traveling based on the second planned travel route information. .
  • the wireless communication terminal transmits the route information specified on the wireless communication terminal side to the work vehicle before the autonomous running by the work vehicle is started. After the autonomous traveling by the work vehicle is started, the route information requested from the work vehicle side is transmitted to the work vehicle.
  • the route information includes route information required before autonomous driving is started and route information required after autonomous driving is started. Therefore, according to this configuration, before the autonomous running is started, the necessary route information can be specified on the wireless communication terminal side, and the specified route information is transmitted from the wireless communication terminal to the work vehicle. is doing. As a result, it is possible to suppress transmission of unnecessary route information such as route information required after autonomous running is started before autonomous running is started. The time required for processing time and information can be shortened, and autonomous running can be started smoothly.
  • the work vehicle side can identify the route information necessary to continue autonomous traveling, and by requesting the identified route information, the wireless communication terminal Route information requested from the vehicle side is transmitted to the work vehicle. Thereby, after autonomous running is started, the wireless communication terminal can sequentially transmit route information necessary for continuing autonomous running in response to a request from the work vehicle side. Can continue to.
  • Diagram showing schematic configuration of autonomous running system Block diagram showing schematic configuration of autonomous running system Schematic diagram showing the exchange of information between the wireless communication terminal and the tractor A figure showing an example of an autonomous travel route
  • the autonomous traveling system includes a tractor 1 as a work vehicle that autonomously travels along an autonomous traveling route, and a wireless communication terminal 2 that can instruct various information to the tractor 1. It has been.
  • a reference station 4 for acquiring position information of the tractor 1 is provided.
  • a walk-type work vehicle can also be applied in addition to a riding work vehicle such as a rice transplanter, a combiner, a civil engineering / architecture work device, and a snowplow.
  • the tractor 1 includes a vehicle-side wireless communication unit 14, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, and the reference station 4 includes a reference station-side wireless communication unit 41. ing.
  • Various types of information can be transmitted and received between the tractor 1 and the wireless communication terminal 2 by wireless communication between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21, and the vehicle-side wireless communication unit 14 and the reference station
  • Various types of information can be transmitted and received between the tractor 1 and the reference station 4 by wireless communication with the side wireless communication unit 41.
  • the wireless communication terminal 2 and the reference station 4 are configured to transmit and receive various types of information via the tractor 1.
  • the wireless communication terminal 2 and the reference station 4 are configured to be capable of directly transmitting and receiving various types of information without going through the tractor 1 by wireless communication between the terminal-side wireless communication unit 21 and the reference station-side wireless communication unit 41. You can also.
  • the frequency band used for wireless communication between the wireless communication units may be a common frequency band or different frequency bands.
  • the tractor 1 includes a positioning antenna 11, a vehicle-side control unit 12, a position information acquisition unit 13, a vehicle-side wireless communication unit 14, a storage unit (not shown), and the like.
  • the vehicle-side control unit 12 is provided in the tractor 1 such as a governor device, a transmission device, a steering device, and the like (not shown) while acquiring the current position information (current position of the tractor 1) by the position information acquisition unit 13.
  • Various devices are controlled so that the tractor 1 can travel autonomously.
  • the tractor 1 is provided with an inertial measurement device (not shown) having a three-axis gyro, a three-direction accelerometer, and the like, and the vehicle-side control unit 12 is based on the measurement information of the inertial measurement device. It is configured to be able to detect the posture and the direction of travel.
  • the positioning antenna 11 is configured to receive, for example, a signal from a positioning satellite 3 constituting a satellite positioning system (GNSS).
  • GNSS satellite positioning system
  • the positioning antenna 11 is disposed, for example, on the upper surface of the cabin roof of the tractor 1.
  • a reference station 4 installed at a predetermined reference point is provided, and satellite positioning of the tractor 1 (mobile station) is performed by positioning correction information from the reference station 4.
  • a positioning method for correcting the information to obtain the current position of the tractor 1 can be applied.
  • various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied.
  • DGPS differential GPS positioning
  • RTK positioning real-time kinematic positioning
  • the reference station 4 is provided in addition to the positioning antenna 11 provided in the tractor 1 on the mobile station side. It has been.
  • the position information of the reference point that is the installation position of the reference station 4 is set and grasped in advance.
  • the reference station 4 is disposed at a position (reference point) that does not interfere with the traveling of the tractor 1, for example, around the field.
  • the reference station 4 includes a reference station side wireless communication unit 41 and a reference station positioning antenna 42.
  • the carrier phase (satellite positioning information) from the positioning satellite 3 is measured by both the reference station 4 installed at the reference point and the positioning antenna 11 of the tractor 1 on the mobile station side whose position information is to be obtained. is doing.
  • the reference station 4 generates positioning correction information including the measured satellite positioning information and the position information of the reference point every time the satellite positioning information is measured from the positioning satellite 3 or every time the set cycle elapses, and the reference station side radio
  • the positioning correction information is transmitted from the communication unit 41 to the vehicle-side wireless communication unit 14 of the tractor 1.
  • the position information acquisition unit 13 of the tractor 1 obtains the current position information of the tractor 1 by correcting the satellite positioning information measured by the positioning antenna 11 using the positioning correction information transmitted from the reference station 4.
  • the position information acquisition unit 13 obtains, for example, latitude information / longitude information as the current position information of the tractor 1.
  • the wireless communication terminal 2 is composed of, for example, a tablet-type personal computer having a touch panel, and can display various information on the touch panel. Various information can also be input by operating the touch panel.
  • the wireless communication terminal 2 can be used by being carried outside the tractor 1 by the user, and can also be used by being mounted on the side of the driver's seat of the tractor 1 or the like.
  • the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, a terminal-side control unit 22, a route generation unit 23, and the like.
  • the route generation unit 23 is configured to generate an autonomous traveling route on which the tractor 1 autonomously travels.
  • the wireless communication terminal 2 is provided with a storage unit (not shown), and various information such as information registered by the user is stored in the storage unit.
  • the route generation unit 23 of the wireless communication terminal 2 When performing autonomous traveling of the tractor 1, information that serves as a reference when the user operates the touch panel of the wireless communication terminal 2 to generate an autonomous traveling route such as information on the field area, the tractor 1, and the work implement is registered. By doing so, the route generation unit 23 of the wireless communication terminal 2 generates an autonomous traveling route on which the tractor 1 autonomously travels based on the registration information and the like. For example, as illustrated in FIG. 4, the route generation unit 23 performs, as an autonomous traveling route in the field H, a work route K1 that performs operations such as tillage while the tractor 1 is autonomously traveling, and the next operation from the work route K1. A turning route K2 for turning the tractor 1 along the route K1 is generated.
  • the autonomous traveling route shown in FIG. 4 is merely an example, and what kind of autonomous traveling route the route generating unit 23 generates can be appropriately changed.
  • the route generation unit 23 When the route generation unit 23 generates the autonomous traveling routes K1 and K2, information on the field H such as the shape and position information of the field H is registered in advance.
  • a work area R1 for performing work such as tillage and a non-work area R2 (headland) where work is not performed are specified as areas for generating the autonomous traveling routes K1 and K2.
  • the route generation unit 23 generates a work route K1 for the work region R1, and generates a turning route K2 for the non-work region R2.
  • the work path K1 is a straight path that autonomously travels from one end side to the other end side in the work area R1 in the field H, and the straight path extends across the entire work area R1. It is generated so that a plurality are arranged adjacent to each other in the direction.
  • the turning route K2 is generated as a route for turning the tractor 1 by connecting the ends of the two working routes K1 arranged in the width direction of the field H.
  • the terminal-side control unit 12 of the wireless communication terminal 2 transfers the route information related to the autonomous travel route from the wireless communication terminal 2 to the tractor 1.
  • the vehicle-side controller 12 of the tractor 1 can acquire route information.
  • the vehicle-side control unit 12 autonomously travels the tractor 1 along the autonomous travel route while acquiring its current position information (current position of the tractor 1) by the position information acquisition unit 13 based on the acquired route information. Can be made.
  • the current position information of the tractor 1 acquired by the position information acquisition unit 13 is transmitted from the tractor 1 to the wireless communication terminal 2 in real time (for example, every several seconds), and after the tractor 1 starts autonomous traveling.
  • the wireless communication terminal 2 grasps the current position of the tractor 1 before starting the autonomous traveling of the tractor 1.
  • the route information transfer system is a system for transferring route information from the wireless communication terminal 2 to the tractor 1 when the tractor 1 autonomously travels. This route information will be described below with reference to FIGS. An information transfer system will be described.
  • the wireless communication terminal 2 does not transmit route information regarding all of the plurality of autonomous traveling routes K1 and K2 (see FIG. 4) to the tractor 1 at the same time, but before starting autonomous traveling, after starting autonomous traveling, etc. Only part of the route information is transmitted to the tractor 1 at the timing, and the route information is transmitted to the tractor 1 in a plurality of times.
  • the terminal-side control unit 22 of the wireless communication terminal 2 includes route basic information including identification information of the autonomous traveling routes K1 and K2 (see FIG. 4) and detailed information on the individual routes included in the autonomous traveling routes K1 and K2 as route information. It is possible to generate route individual information including
  • the basic route information includes, for example, identification information such as an ID for identifying each of the autonomous traveling routes K1 and K2, work information related to the tractor 1 such as the number of autonomous traveling routes K1 and K2, the model of the tractor 1 and the work width, Information including farm field information on the farm field H (see FIG. 4) is included.
  • the individual route information includes, for example, the start position information and end position information of each autonomous travel route K1, K2, the shape information of each autonomous travel route K1, K2, such as whether each autonomous travel route K1, K2 is linear or turning, Numbers assigned to the autonomous traveling routes K1 and K2 (for example, in FIG. 4, the numbers of the plurality of work routes K1 are listed in order from the one located on the left side in the drawing as shown in (1) to (10)). Etc.), the route identification information for identifying each autonomous traveling route K1, K2 is included.
  • the terminal-side control unit 22 includes, as individual route information, specific route information indicating a specific route specified based on the current position of the tractor 1 before the tractor 1 starts autonomous traveling, and the tractor 1 scheduled to autonomously travel. It is configured to be able to generate planned travel route information indicating the planned route.
  • the specific route is an autonomous traveling route K1 that is a candidate for a starting route from which the tractor 1 starts autonomous traveling among a plurality of autonomous traveling routes K1 (only the linear work route K1 shown in FIG. 4).
  • the terminal-side control unit 22 since the wireless communication terminal 2 knows the current position of the tractor 1 before the tractor 1 starts autonomous traveling, the terminal-side control unit 22, for example, includes the tractor among the plurality of work routes K ⁇ b> 1.
  • the work route K1 included in the predetermined area from the current position of 1 is specified as the specific route.
  • the work route K1 close to the current position of the tractor 1 can be specified as a specific route that is a candidate for the start route, and the terminal-side control unit 22 can identify the specific route in a state where the specific route can be identified.
  • the touch panel can be displayed.
  • the specification of the specific route by the terminal-side control unit 22 is not limited to this, and can be specified by other methods, and how the specific route is specified can be appropriately changed.
  • the planned routes are the autonomous traveling routes K1 and K2 on which the tractor 1 is actually traveling autonomously, and the start route and the autonomous traveling routes K1 and K2 that are not travel targets are excluded from the plurality of autonomous traveling routes K1 and K2.
  • the autonomous traveling routes K1 and K2 are scheduled routes.
  • the autonomous traveling routes K1 and K2 located on the opposite side of the work direction from the starting route in the field H are set as autonomous traveling routes that are not travel targets.
  • the direction from the left side to the right side in the drawing is the work direction, for example, when the third work route K1 from the left side in FIG. 4 becomes the start route K1a, it is located on the left side in the drawing.
  • the work route K1 and the turning route K2 become autonomous travel routes K1b and K2b that are not travel targets. Therefore, the other autonomous traveling routes K1 and K2 excluding the starting route K1a and the autonomous traveling routes K1b and K2b that are not travel targets are scheduled routes. Further, when the work route K1 located on the leftmost side in FIG. 4 becomes the start route, all the autonomous travel routes K1 and K2 other than the start route become scheduled routes.
  • the terminal-side control unit 22 can generate the basic route information and the individual route information as the route information. Further, for the individual route information, the specific route information G2 corresponding to the route before the autonomous running is started. (Refer to FIG. 3) and the scheduled traveling route information G3 and G4 (refer to FIG. 3) corresponding to the start of the autonomous traveling can be generated. And the terminal side control part 22 of the radio
  • the terminal-side control unit 22 of the wireless communication terminal 2 first transmits initial transfer information G1 to the tractor 1 as shown in FIG.
  • the initial transfer information G1 includes basic route information, and is information whose amount of information is smaller than the total amount of information in the route information.
  • the initial transfer information G1 may be generated from only the basic route information, or may be generated from the basic route information and a part of the individual route information (for example, individual route information corresponding to the set number). Further, additional information different from the route individual information can be added to the route basic information to generate initial transfer information.
  • the total amount of initial transfer information G1 transmitted from the wireless communication terminal 2 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14, and the terminal-side wireless communication unit 21 and the vehicle-side wireless communication A process (CRC check process) for checking whether or not the initial transfer information G1 matches depending on whether or not the total amount of the initial transfer information G1 acquired by the tractor 1 via the unit 14 matches can be applied.
  • CRC check process for checking whether the initial transfer information G1 matches depending on whether or not the individual ID information about the initial transfer information G1 is transferred and the ID information matches. It is also possible to check whether or not various communication checks can be applied.
  • the communication condition is satisfied when the initial transfer information G1 transmitted from the wireless communication terminal 2 matches the initial transfer information G1 acquired by the tractor 1 by performing a communication check in the terminal-side control unit 22 and the vehicle-side control unit 12. Will be. Therefore, as shown in FIG. 3, the terminal-side control unit 22 of the wireless communication terminal 2 sends the specific route information G2 to the tractor 1 after the communication check is performed by transmitting the initial transfer information G1 and the communication condition is satisfied. Sending.
  • the vehicle-side control unit 12 of the tractor 1 acquires the specific route information G2
  • the vehicle-side control unit 12 checks whether or not the autonomous driving start condition is satisfied.
  • the vehicle-side control unit 12 satisfies the autonomous driving start condition if the following four conditions (1), (2), (3), or (4), (5) are satisfied. Is determined, and a starting route for starting autonomous traveling is specified from among the specific routes.
  • the conditions of (1), (2), and (5) are conditions for specifying the start route from among the specific routes. Even if there are a plurality of specific routes, one specification is specified as the start route. The route will be specified.
  • the lateral deviation between the current position of the tractor 1 and the specific route is within a predetermined distance (for example, ⁇ 100 cm).
  • the azimuth deviation between the azimuth of the traveling direction of the tractor 1 and the azimuth of the specific route is within a predetermined angle (for example, ⁇ 15 deg).
  • the distance from the current position of the tractor 1 to the non-work area R2 is a predetermined distance (for example, 10 m) or more. .
  • the distance from the current position of the tractor 1 to the work area R1 is within a predetermined distance (for example, 5 m).
  • the state where the specific paths satisfying the above (1) and (2) are the same continues for a predetermined time (for example, 1 second).
  • the vehicle-side control unit 12 transmits to the wireless communication terminal 2 autonomous running permission information Q1 indicating which specific route is the starting route for starting autonomous running.
  • wireless communication terminal 2 it will be in the state which displays on a touch panel so that identification of which specific path
  • the vehicle-side control unit 12 acquires the specific route information G2 by transmission from the wireless communication terminal 2 before confirming whether or not the autonomous driving start condition is satisfied. Since the start route for starting autonomous traveling is specified from among the specific routes, the specific route information G2 includes start route information related to the start route for starting autonomous traveling. Therefore, the vehicle-side control unit 12 acquires the start route information by acquiring the specific route information G2. Thereby, after confirming whether or not the autonomous driving start condition is satisfied for the start route information, the vehicle-side control unit 12 of the tractor 1 starts without transmitting from the wireless communication terminal 2 to the tractor 1. Route information can be acquired.
  • the vehicle side control unit 12 acquires the start route information by transmitting the start route information from the terminal side control unit 22 of the wireless communication terminal 2 to the tractor 1. You can also In this case, since the wireless communication terminal 2 can specify which specific route is the starting route for starting autonomous traveling based on the autonomous traveling permission information Q1, the terminal-side control unit 22 of the wireless communication terminal 2 is used. Can transmit the start route information to the tractor 1, and the vehicle side control unit 12 can acquire the start route information by transmitting the start route information.
  • the wireless communication terminal 2 is in a state where it can instruct the start of autonomous travel by receiving the autonomous travel permission information Q1, so when the user operates the touch panel to instruct the start of autonomous travel,
  • the terminal-side control unit 22 transmits an autonomous traveling start instruction S to the tractor 1.
  • the position information acquisition unit 13 acquires its current position information (current position of the tractor 1) while starting the start route.
  • Autonomous traveling is started by causing the tractor 1 to autonomously travel along the start route based on the information.
  • the terminal-side control unit 22 of the wireless communication terminal 2 specifies the initial transfer information G1 and specific route information G2 (including start route information) to be transmitted to the tractor 1.
  • the specified initial transfer information G1 and specific route information G2 are transmitted from the wireless communication terminal 2 to the tractor 1.
  • the wireless communication terminal 2 transmits the scheduled traveling route information G3 and G4 to the tractor 1 in response to requests H1 and H2 from the tractor 1 side. ing.
  • the wireless communication terminal 2 transmits the planned travel route information G3 and G4 to the tractor 1 after starting the autonomous travel, the wireless communication terminal 2 does not transmit all the planned travel route information G3 and G4 at a time, but the planned travel route information. G3 and G4 are transmitted in multiple times.
  • the planned travel route information includes first planned travel route information G3 indicating a predetermined number (for example, 20) of first planned routes among a plurality of planned routes, and a predetermined number (for example, 20 among the plurality of planned routes).
  • Second travel planned route information G4 indicating the second planned route excluding (main).
  • the first planned route is a planned route for autonomously running following the start route, and is a predetermined number (for example, 20) of planned routes continuous to the start route.
  • the second planned route is a planned route for autonomously running following the first planned route, and is a planned route excluding the first planned route among all the planned routes. Therefore, the wireless communication terminal 2 transmits the first travel planned route information G3 and the second travel planned route information G4 to the tractor 1 in a plurality of times in this order based on a request from the tractor 1 side.
  • the vehicle-side control unit 12 of the tractor 1 transmits a first request H ⁇ b> 1 for requesting the first scheduled traveling route information to the wireless communication terminal 2.
  • the terminal-side control unit 22 of the wireless communication terminal 2 receives the first request H1
  • the first travel scheduled route information G3 is transmitted to the tractor 1.
  • the vehicle side control part 12 can acquire the 1st driving planned route information G3 regarding the predetermined number (for example, 20) of the 1st scheduled routes, and autonomously travels the tractor 1 along the first scheduled routes. Can be made.
  • the wireless communication terminal 2 when transmitting the first planned travel route information G3 from the wireless communication terminal 2 to the tractor 1, the wireless communication terminal 2 does not transmit the first planned travel route information G3 at a time, but rather the first planned travel route information.
  • the information G3 can be transmitted in a plurality of times (for example, four times).
  • the vehicle-side control unit 12 After acquiring the first planned travel route information G3, the vehicle-side control unit 12 checks whether or not a predetermined condition for requesting the planned travel route information is satisfied.
  • the vehicle-side control unit 12 identifies the first planned route that has already been autonomously traveled and the first planned route that is to be autonomously traveled by performing autonomous travel along the first planned route. Therefore, the vehicle side control part 12 grasps
  • the vehicle-side control unit 12 determines that a predetermined condition for requesting planned travel route information is satisfied.
  • the threshold value for example, 10
  • the threshold value is smaller than a predetermined number (for example, 20) of the first planned route included in the first planned travel route information G3.
  • the vehicle-side control unit 12 transmits a second request H2 for requesting the second scheduled traveling route information to the wireless communication terminal 2 when a predetermined condition for requesting the planned traveling route information is satisfied.
  • the terminal-side control unit 22 of the wireless communication terminal 2 receives the second request H2
  • the second scheduled traveling route information G4 is transmitted to the tractor 1.
  • the vehicle side control part 12 can acquire the 2nd planned route information G4 regarding a 2nd planned traveling route, and can make the tractor 1 autonomously travel along a 2nd planned route.
  • the second scheduled travel route information G4 may be information regarding a predetermined number (for example, one) of the plurality of second planned routes, rather than information regarding all of the second planned routes.
  • the vehicle-side control unit 12 repeatedly checks whether or not the predetermined condition for requesting the planned travel route information is satisfied during autonomous traveling, and whenever the predetermined condition for requesting the planned travel route information is satisfied, The second request H2 is transmitted to the wireless communication terminal 2. Therefore, the wireless communication terminal 2 repeatedly performs the operation of transmitting the second scheduled travel route information G4 to the tractor 1 every time the second request H2 is received from the tractor 1 during autonomous traveling.
  • the route information transmitted from the wireless communication terminal 2 to the tractor 1 is specified on the wireless communication terminal 2 side before the autonomous running is started.
  • the route information specified on the tractor 1 side is transmitted.
  • the wireless communication terminal 2 transmits the initial transfer information G1 and the specific route information G2 separately to the tractor 1, and even after starting autonomous traveling, the wireless communication terminal 2 transmits to the tractor 1 by dividing it into the first scheduled traveling route information G3 and the second scheduled traveling route information G4.
  • the route information transmitted from the wireless communication terminal 2 to the tractor 1 can be divided into small portions, and the amount of information transmitted at a time can be minimized.
  • the capacity of the storage unit for storing the information transmitted from the wireless communication terminal 2 can be reduced, and the processing speed for the information transmitted from the wireless communication terminal 2 can be improved. Smooth processing can be realized not only when autonomous running is started but also during autonomous running.
  • the tractor 1 side does not acquire route information regarding all of the plurality of autonomous traveling routes K1 and K2 before and after starting autonomous traveling, but is necessary at each timing. Since only a part of the route information is acquired, it is possible to improve both the processing speed when starting autonomous driving and the processing speed during autonomous driving, and smoothing autonomous driving In addition to being able to start, autonomous running can be continued smoothly even during autonomous running.
  • the vehicle-side control unit 12 confirms whether or not the planned traveling route information related to the next planned autonomous traveling route can be acquired during autonomous traveling.
  • the vehicle-side control unit 12 stops the autonomous traveling of the tractor 1 if the traveling planned route information related to the next autonomous traveling route is not acquired at a predetermined timing before reaching the scheduled autonomous traveling route.
  • the predetermined timing can be, for example, the timing at which the tractor 1 arrives at a point a set distance away from the end position of the planned route that is currently autonomously traveling.
  • the vehicle-side control unit 12 autonomously travels the tractor 1 based on the time required for acquiring the planned travel route information related to the next planned travel route and the planned travel route information. It can be set in consideration of the time required to perform.
  • a fixed distance such as 10 m can be set as the set distance, or the set distance can be changed and set according to the situation of the tractor 1 such as the vehicle speed of the tractor 1.
  • the autonomous traveling routes K1 and K2 newly generated by the route generating unit 23 are newly autonomously traveled has been described.
  • the autonomous traveling route K1 that has autonomously traveled in the past is used as the start route.
  • Autonomous driving may be started.
  • the vehicle-side control unit 12 may have already acquired start route information (planned travel route information) regarding a start route for starting autonomous traveling.
  • a communication check is performed between the terminal-side control unit 22 of the wireless communication terminal 2 and the vehicle-side control unit 12 of the tractor 1 without transmitting the initial transfer information G1 from the wireless communication terminal 2.
  • the start route information (scheduled travel route information) already acquired by the vehicle side control unit 12 matches the planned travel route information (start route information) previously transmitted by the terminal side control unit 22. It is checked whether or not to do so. Whether the start route information already acquired from the vehicle side control unit 12 to the terminal side control unit 22 matches the planned travel route information (start route information) previously transmitted from the wireless communication terminal 2 to the tractor 1.
  • a communication check is performed by asking whether or not.
  • the communication check for example, whether or not the total amount of already acquired start route information matches the total amount of planned travel route information (start route information) previously transmitted from the wireless communication terminal 2 to the tractor 1 is determined. (CRC check processing) can be confirmed.
  • CRC check processing for example, whether or not the start route information matches depending on whether or not the individual ID information about the start route information matches and the ID information matches. It is also possible to check various communication checks.
  • the vehicle-side control unit 12 confirms that the start route information (scheduled travel route information) that has already been acquired matches the planned travel route information (start route information) previously transmitted by the terminal-side control unit 22 through the communication check. As shown in FIG. 3, it is confirmed whether or not the autonomous running start condition is satisfied. And the vehicle side control part 12 will transmit the 1st request
  • the predetermined condition for requesting the planned travel route information for example, when the load factor of communication data between the wireless communication terminal 2 and the tractor 1 is lower than a predetermined value, the planned travel route It can also be determined that a predetermined condition for requesting information is satisfied, and what kind of condition the predetermined condition is used can be appropriately changed.
  • the wireless communication terminal 2 receives route information requested from the tractor 1 side (first scheduled traveling route information G3 and second scheduled traveling route information). G4) is transmitted, but if the wireless communication terminal 2 determines that the predetermined timing is reached, the route information (first travel planned route information G3 and second planned travel route information G4) may be transmitted.
  • the predetermined timing for example, the first scheduled travel route information G3 can be a timing at which autonomous travel is started, and the second planned travel route information G4 is the first planned travel route information G3. It can be a timing at which a set time (for example, a time shorter than a time required for autonomously traveling a predetermined number of scheduled routes) has elapsed since the transmission.
  • the wireless communication terminal 2 transmits the first scheduled travel route information G3 and the second planned travel route information G4 separately as the planned travel route information.
  • the information G3 and the second scheduled travel route information G4 can be transmitted at a time.
  • the present invention can be applied to various route information transfer systems that can transfer route information related to an autonomous traveling route from a wireless communication terminal to a work vehicle.

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Abstract

The present invention efficiently transfers route information regarding an autonomous travel route from a wireless communication terminal to a work vehicle, thereby smoothly starting autonomous travel of a work vehicle. The present invention is characterized in that the wireless communication terminal is able to generate, as the route information, basic route information including identification information of the autonomous travel route and individual route information including detailed information of an individual route included in the autonomous travel route, and in that, prior to when the work vehicle starts autonomous travel, the wireless communication terminal transmits, to the work vehicle, initial transfer information G1 which includes the basic route information and which has a smaller amount of information than the total amount of information of the route information.

Description

経路情報転送システムRoute information transfer system
　本発明は、作業車両が自律走行する自律走行経路に関する経路情報を無線通信端末から作業車両に転送可能な経路情報転送システムに関する。 The present invention relates to a route information transfer system capable of transferring route information relating to an autonomous traveling route along which a work vehicle autonomously travels from a wireless communication terminal to the work vehicle.
　上記のような経路情報転送システムは、作業車両を自律走行させる自律走行システムにおいて用いられている（例えば、特許文献１参照。）。この特許文献１に記載のシステムでは、タブレット端末等の無線通信端末と、自律走行可能な作業車両とが備えられ、無線通信端末にて自律走行経路を生成し、その自律走行経路に関する経路情報を無線通信端末から作業車両に送信することで、作業車両を自律走行経路に沿って自律走行させるようにしている。 The route information transfer system as described above is used in an autonomous traveling system that autonomously travels a work vehicle (see, for example, Patent Document 1). In the system described in Patent Document 1, a wireless communication terminal such as a tablet terminal and a work vehicle capable of autonomous traveling are provided, and an autonomous traveling route is generated by the wireless communication terminal, and route information regarding the autonomous traveling route is obtained. By transmitting from the wireless communication terminal to the work vehicle, the work vehicle is allowed to autonomously travel along the autonomous travel route.
国際公開第２０１５／１１９２６３号International Publication No. 2015/119263
　上記特許文献１に記載のシステムでは、無線通信端末から作業車両への経路情報の転送が完了することで、作業車両の自律走行を開始することができる。しかしながら、複数の自律走行経路に関する経路情報の全てを転送すると、無線通信端末から作業車両に転送する情報量が過大となり、その転送に多大な時間を要することになって、作業車両の自律走行をなかなか開始できない状況に陥る可能性がある。 In the system described in Patent Document 1, autonomous transfer of the work vehicle can be started by completing the transfer of route information from the wireless communication terminal to the work vehicle. However, if all of the route information related to a plurality of autonomous travel routes is transferred, the amount of information transferred from the wireless communication terminal to the work vehicle becomes excessive, and it takes a lot of time to transfer the work vehicle. There is a possibility that it will be difficult to start.
　この実情に鑑み、本発明の主たる課題は、自律走行経路に関する経路情報の無線通信端末から作業車両への転送を効率よく行い、作業車両の自律走行をスムーズに開始することができる経路情報転送システムを提供する点にある。 In view of this situation, a main problem of the present invention is a route information transfer system capable of efficiently transferring route information related to an autonomous travel route from a wireless communication terminal to a work vehicle and smoothly starting the autonomous travel of the work vehicle. Is to provide
　本発明の第１特徴構成は、作業車両が自律走行する自律走行経路を生成可能な無線通信端末を備え、その無線通信端末から前記作業車両に前記自律走行経路に関する経路情報を転送可能な経路情報転送システムにおいて、
　前記無線通信端末は、前記経路情報として、前記自律走行経路の識別情報を含む経路基本情報と前記自律走行経路に含まれる個別経路の詳細情報を含む経路個別情報とを生成可能であり、
　前記無線通信端末は、前記作業車両による自律走行が開始される前に、前記経路基本情報を含み、前記経路情報の全体情報量よりも情報量が小さい初期転送情報を前記作業車両に送信することを特徴とする点にある。 1st characteristic structure of this invention is equipped with the radio | wireless communication terminal which can produce | generate the autonomous running path | route which a work vehicle autonomously travels, and the route information which can transfer the path | route information regarding the said autonomous running path | route from the wireless communication terminal to the said working vehicle In the transfer system,
The wireless communication terminal can generate, as the route information, route basic information including identification information of the autonomous traveling route and route individual information including detailed information of individual routes included in the autonomous traveling route,
The wireless communication terminal transmits, to the work vehicle, initial transfer information including the route basic information and having an information amount smaller than an entire information amount of the route information before autonomous traveling by the work vehicle is started. It is in the point characterized by.
　本構成によれば、作業車両による自律走行が開始される前に、無線通信端末から作業車両に送信される初期転送情報は、経路情報の全体情報量よりも情報量が小さいので、初期転送情報の転送に要する時間を短くすることができる。しかも、初期転送情報には、経路基本情報が含まれているので、その経路基本情報に基づいて、自律走行を開始するための処理を進めることができる。これにより、無線通信端末から作業車両への初期転送情報の転送を効率よく行うことができ、自律走行を開始できるまでの時間の短縮化を図ることができる。 According to this configuration, since the initial transfer information transmitted from the wireless communication terminal to the work vehicle before the autonomous traveling by the work vehicle is started, the information amount is smaller than the total information amount of the route information, the initial transfer information The time required for the transfer can be shortened. In addition, since the basic transfer information is included in the initial transfer information, it is possible to proceed with the process for starting autonomous traveling based on the basic route information. Thereby, it is possible to efficiently transfer the initial transfer information from the wireless communication terminal to the work vehicle, and it is possible to shorten the time until the autonomous running can be started.
　本発明の第２特徴構成は、前記経路個別情報は、前記作業車両が自律走行を開始する前の前記作業車両の現在位置に基づいて特定される特定経路を示す特定経路情報を含み、
　前記無線通信端末は、前記作業車両による自律走行が開始される前に、前記初期転送情報を送信し、その初期転送情報の送信による通信チェックが行われて通信条件が満たされた後に、前記特定経路情報を前記作業車両に送信することを特徴とする点にある。 In the second characteristic configuration of the present invention, the route individual information includes specific route information indicating a specific route specified based on a current position of the work vehicle before the work vehicle starts autonomous traveling,
The wireless communication terminal transmits the initial transfer information before the autonomous traveling by the work vehicle is started, and after the communication check by transmission of the initial transfer information is performed and the communication condition is satisfied, the identification Route information is transmitted to the work vehicle.
　本構成によれば、無線通信端末から作業車両に初期転送情報を送信することで、初期転送情報を用いて通信チェックを行うことができ、その通信チェックによって通信条件が満たされるか否かを確認することができる。そして、通信条件が満たされた後に、無線通信端末は、経路個別情報の一部となる特定経路情報を作業車両に送信するので、自律走行が開始される前に、特定経路情報を作業車両に適切に転送しておくことができ、その転送に要する時間も短くなる。よって、作業車両では、例えば、特定経路から自律走行を開始する開始経路を特定する等、特定経路情報に基づいて自律走行を開始するための処理を進めることができ、自律走行をスムーズに開始することができる。 According to this configuration, by transmitting initial transfer information from the wireless communication terminal to the work vehicle, a communication check can be performed using the initial transfer information, and whether or not the communication condition is satisfied by the communication check is confirmed. can do. Then, after the communication condition is satisfied, the wireless communication terminal transmits the specific route information that becomes a part of the route individual information to the work vehicle. Therefore, before the autonomous running is started, the specific route information is sent to the work vehicle. The data can be transferred properly, and the time required for the transfer is shortened. Therefore, in the work vehicle, for example, the start route for starting autonomous traveling from the specific route can be specified, and the process for starting autonomous traveling can be proceeded based on the specific route information, and the autonomous traveling can be started smoothly. be able to.
　本発明の第３特徴構成は、前記経路個別情報は、前記作業車両が自律走行を開始する開始経路を示す開始経路情報を含み、
　前記無線通信端末は、前記作業車両による自律走行が開始される前であって、且つ、前記特定経路情報が送信された後であって自律走行開始条件が成立した場合に、前記開始経路情報を前記作業車両に送信し、前記作業車両による自律走行が開始された後に、前記経路個別情報として、前記作業車両により自律走行される予定経路を示す走行予定経路情報を前記作業車両に送信することを特徴とする点にある。 In the third feature configuration of the present invention, the individual route information includes start route information indicating a start route on which the work vehicle starts autonomous traveling,
The wireless communication terminal receives the start route information before the autonomous running by the work vehicle is started and after the specific route information is transmitted and the autonomous running start condition is satisfied. Transmitting to the work vehicle, and after the autonomous running by the work vehicle is started, as the route individual information, traveling schedule route information indicating a planned route to be autonomously traveled by the work vehicle is transmitted to the work vehicle. It is in the feature point.
　本構成によれば、無線通信端末は、自律走行が開始される前に、開始経路情報と走行予定経路情報とを一度に作業車両に送信するのではなく、自律走行が開始される前に開始経路情報を送信し、自律走行が開始された後に走行予定経路情報を送信している。これにより、自律走行を開始する前における情報の転送に要する時間の短縮化を図ることができ、自律走行をスムーズに開始させることができる。しかも、作業車両では、自律走行が開始される前に送信される開始経路情報に基づいて自律走行を適切に開始させることができるだけでなく、自律走行が開始された後に送信される走行予定経路情報に基づいて自律走行を適切に継続することができる。 According to this configuration, the wireless communication terminal does not transmit the start route information and the planned travel route information to the work vehicle at a time before the autonomous traveling is started, but starts before the autonomous traveling is started. The route information is transmitted, and the planned traveling route information is transmitted after the autonomous traveling is started. As a result, the time required for transferring information before starting autonomous traveling can be shortened, and autonomous traveling can be started smoothly. Moreover, in the work vehicle, not only can the autonomous running be appropriately started based on the starting route information transmitted before the autonomous traveling is started, but also the planned traveling route information transmitted after the autonomous traveling is started. The autonomous running can be appropriately continued based on the above.
　本発明の第４特徴構成は、前記特定経路情報は、前記作業車両が自律走行を開始する開始経路を示す開始経路情報を含み、
　前記無線通信端末は、前記作業車両による自律走行が開始される前であって、且つ、前記特定経路情報が送信された後であって自律走行開始条件が成立した場合に、前記作業車両に前記開始経路情報の送信は行わず、前記作業車両による自律走行が開始された後に、前記経路個別情報として、前記作業車両により自律走行される予定経路を示す走行予定経路情報を前記作業車両に送信することを特徴とする点にある。 In a fourth feature configuration of the present invention, the specific route information includes start route information indicating a start route on which the work vehicle starts autonomous traveling,
The wireless communication terminal is connected to the work vehicle before the autonomous running by the work vehicle is started and after the specific route information is transmitted and the autonomous running start condition is satisfied. The start route information is not transmitted, and after the autonomous traveling by the work vehicle is started, the scheduled traveling route information indicating the planned route autonomously traveled by the work vehicle is transmitted to the work vehicle as the individual route information. This is a feature.
　本構成によれば、自律走行開始条件が成立した場合に、それよりも以前に、開始経路情報を含む特定経路情報が無線通信端末から作業車両に送信されているので、自律走行開始条件が成立した時点では、開始経路情報が既に作業車両に送信されていることになる。これにより、無線通信端末は、自律走行開始条件が成立した場合に、新たに開始経路情報を送信することがなく、無線通信端末から作業車両への情報の転送回数を低減しながら、自律走行を開始することができる。しかも、作業車両では、特定経路情報に含まれる開始経路情報に基づいて自律走行を適切に開始させることができるだけでなく、自律走行が開始された後に送信される走行予定経路情報に基づいて自律走行を適切に継続することができる。 According to this configuration, when the autonomous driving start condition is satisfied, the specific route information including the starting route information is transmitted from the wireless communication terminal to the work vehicle before that, so the autonomous driving start condition is satisfied. At this point, the start route information has already been transmitted to the work vehicle. As a result, when the autonomous driving start condition is satisfied, the wireless communication terminal does not newly transmit start route information, and performs autonomous driving while reducing the number of times of information transfer from the wireless communication terminal to the work vehicle. Can start. Moreover, in the work vehicle, not only can autonomous travel be appropriately started based on the start route information included in the specific route information, but also autonomous travel can be performed based on the planned travel route information transmitted after the autonomous travel is started. Can continue properly.
　本発明の第５特徴構成は、前記無線通信端末は、前記作業車両による自律走行が開始された後に、前記経路個別情報として、前記作業車両により自律走行される複数の予定経路を示す走行予定経路情報を複数回に分けて前記作業車両に送信することを特徴とする点にある。 According to a fifth characteristic configuration of the present invention, the wireless communication terminal indicates a plurality of scheduled travel routes indicating a plurality of planned routes autonomously traveled by the work vehicle as the individual route information after autonomous travel by the work vehicle is started. Information is divided into a plurality of times and transmitted to the work vehicle.
　本構成によれば、無線通信端末は、自律走行が開始された後にも、走行予定経路情報を複数回に分けて作業車両に送信するので、一度に送信される情報量が大きくなるのを抑制して、通信エラー等、通信異常の発生を防止しながら、走行予定経路情報を無線通信端末から作業車両に送信することができる。これにより、走行予定経路情報の送信途中にて、通信異常等により自律走行が停止される等の不都合の発生を防止することができ、自律走行を適切に継続させることができる。 According to this configuration, since the wireless communication terminal transmits the planned travel route information to the work vehicle in multiple times even after the autonomous traveling is started, it is possible to suppress an increase in the amount of information transmitted at a time. Thus, the scheduled travel route information can be transmitted from the wireless communication terminal to the work vehicle while preventing the occurrence of communication abnormality such as a communication error. Accordingly, it is possible to prevent the occurrence of inconveniences such as the autonomous traveling being stopped due to a communication abnormality or the like during the transmission of the planned traveling route information, and the autonomous traveling can be appropriately continued.
　本発明の第６特徴構成は、前記走行予定経路情報は、前記複数の予定経路の内、所定数の予定経路を示す第１走行予定経路情報と、前記複数の予定経路の内、前記所定数を除く予定経路を示す第２走行予定経路情報とを含み、
　前記無線通信端末は、前記作業車両に対して、前記作業車両による自律走行が開始された後、前記第１走行予定経路情報を送信し、前記第１走行予定経路情報が送信された後であって所定条件が成立した場合に前記第２走行予定経路情報を送信することを特徴とする点にある。 In a sixth characteristic configuration of the present invention, the planned travel route information includes first planned travel route information indicating a predetermined number of planned routes among the plurality of planned routes, and the predetermined number of the plurality of planned routes. Second scheduled travel route information indicating the planned route excluding
The wireless communication terminal transmits the first planned travel route information to the work vehicle after the autonomous travel by the work vehicle is started, and after the first planned travel route information is transmitted. When the predetermined condition is satisfied, the second scheduled travel route information is transmitted.
　本構成によれば、無線通信端末は、第１走行予定経路情報と第２走行予定経路情報とに分けて作業車両に送信するので、一度に送信される情報量が大きくなるのを抑制して、通信エラー等、通信異常の発生を防止しながら、走行予定経路情報を無線通信端末から作業車両に送信することができる。しかも、第１走行予定経路情報は、所定数の予定経路を示すものであるので、無線通信端末は、自律走行を開始した後に、第１走行予定経路情報を作業車両に送信しておけば、作業車両では、所定数の予定経路に沿った自律走行を適切に行うことができる。無線通信端末は、第１走行予定経路情報を送信した後に所定条件が成立した場合に、第２走行予定経路情報を作業車両に送信するので、例えば、第１走行予定経路情報では自律走行を継続できない状況となる手前のタイミング等、適切なタイミングにて第２走行予定経路情報を送信することができ、作業車両では、第２走行予定経路情報に基づいて自律走行を適切に継続することができる。 According to this configuration, since the wireless communication terminal transmits the first travel planned route information and the second travel planned route information separately to the work vehicle, the amount of information transmitted at one time is suppressed. In addition, it is possible to transmit the planned travel route information from the wireless communication terminal to the work vehicle while preventing the occurrence of communication abnormality such as a communication error. Moreover, since the first planned travel route information indicates a predetermined number of planned routes, the wireless communication terminal can transmit the first planned travel route information to the work vehicle after starting autonomous travel. The work vehicle can appropriately perform autonomous traveling along a predetermined number of scheduled routes. The wireless communication terminal transmits the second scheduled travel route information to the work vehicle when the predetermined condition is satisfied after transmitting the first planned travel route information. For example, the first scheduled travel route information continues autonomous traveling. The second scheduled travel route information can be transmitted at an appropriate timing such as a timing before the situation becomes impossible, and the work vehicle can appropriately continue autonomous traveling based on the second planned travel route information. .
　本発明の第７特徴構成は、前記無線通信端末は、前記作業車両による自律走行が開始される前には、前記無線通信端末側にて特定される前記経路情報を前記作業車両に送信し、　前記作業車両による自律走行が開始された後には、前記作業車両側から要求される前記経路情報を前記作業車両に送信することを特徴とする点にある。 According to a seventh characteristic configuration of the present invention, the wireless communication terminal transmits the route information specified on the wireless communication terminal side to the work vehicle before the autonomous running by the work vehicle is started. After the autonomous traveling by the work vehicle is started, the route information requested from the work vehicle side is transmitted to the work vehicle.
　経路情報には、自律走行が開始される前に必要となる経路情報と自律走行が開始された後に必要となる経路情報とが含まれている。そこで、本構成によれば、自律走行が開始される前には、無線通信端末側にて必要な経路情報を特定することができ、その特定された経路情報を無線通信端末から作業車両に送信している。これにより、自律走行が開始される前には、自律走行が開始された後に必要となる経路情報等、不必要な経路情報が送信されるのを抑制することができるので、情報の転送に要する時間や情報の処理に要する時間の短縮化を図ることができ、自律走行をスムーズに開始させることができる。 The route information includes route information required before autonomous driving is started and route information required after autonomous driving is started. Therefore, according to this configuration, before the autonomous running is started, the necessary route information can be specified on the wireless communication terminal side, and the specified route information is transmitted from the wireless communication terminal to the work vehicle. is doing. As a result, it is possible to suppress transmission of unnecessary route information such as route information required after autonomous running is started before autonomous running is started. The time required for processing time and information can be shortened, and autonomous running can be started smoothly.
　自律走行が開始された後には、作業車両側にて自律走行を継続するために必要となる経路情報を特定することができ、その特定された経路情報を要求することで、無線通信端末は作業車両側から要求される経路情報を作業車両に送信している。これにより、自律走行が開始された後には、無線通信端末は、自律走行を継続するのに必要な経路情報を、作業車両側からの要求に応じて逐次送信することができ、自律走行を適切に継続することができる。 After autonomous driving is started, the work vehicle side can identify the route information necessary to continue autonomous traveling, and by requesting the identified route information, the wireless communication terminal Route information requested from the vehicle side is transmitted to the work vehicle. Thereby, after autonomous running is started, the wireless communication terminal can sequentially transmit route information necessary for continuing autonomous running in response to a request from the work vehicle side. Can continue to.
自律走行システムの概略構成を示す図Diagram showing schematic configuration of autonomous running system 自律走行システムの概略構成を示すブロック図Block diagram showing schematic configuration of autonomous running system 無線通信端末とトラクタとの間での情報の授受を示す模式図Schematic diagram showing the exchange of information between the wireless communication terminal and the tractor 自律走行経路の一例を示す図A figure showing an example of an autonomous travel route
　本発明に係る経路情報転送システムを用いた自律走行システムの実施形態を図面に基づいて説明する。
　この自律走行システムは、図１に示すように、自律走行経路に沿って自律走行する作業車両としてのトラクタ１と、そのトラクタ１に対して各種の情報を指示可能な無線通信端末２とが備えられている。そして、この実施形態では、トラクタ１の位置情報を取得するための基準局４が備えられている。 An embodiment of an autonomous traveling system using a route information transfer system according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, the autonomous traveling system includes a tractor 1 as a work vehicle that autonomously travels along an autonomous traveling route, and a wireless communication terminal 2 that can instruct various information to the tractor 1. It has been. In this embodiment, a reference station 4 for acquiring position information of the tractor 1 is provided.
　図１では、作業車両としてトラクタ１を例示したが、トラクタの他、田植機、コンバイン、土木・建築作業装置、除雪車等、乗用型作業車両に加え、歩行型作業車両も適用可能である。 1 exemplifies the tractor 1 as a work vehicle, but in addition to a tractor, a walk-type work vehicle can also be applied in addition to a riding work vehicle such as a rice transplanter, a combiner, a civil engineering / architecture work device, and a snowplow.
　図２に示すように、トラクタ１には車両側無線通信部１４が備えられ、無線通信端末２には端末側無線通信部２１が備えられ、基準局４には基準局側無線通信部４１が備えられている。車両側無線通信部１４と端末側無線通信部２１との間での無線通信によりトラクタ１と無線通信端末２との間で各種の情報を送受信可能とするとともに、車両側無線通信部１４と基準局側無線通信部４１との間での無線通信によりトラクタ１と基準局４との間で各種の情報を送受信可能に構成されている。そして、無線通信端末２と基準局４とは、トラクタ１を介して各種の情報を送受信可能に構成されている。また、端末側無線通信部２１と基準局側無線通信部４１との間での無線通信により無線通信端末２と基準局４とが、トラクタ１を介さずに直接各種の情報を送受信可能に構成することもできる。各無線通信部同士での無線通信に用いられる周波数帯域は、共通の周波数帯域であってもよいし、互いに異なる周波数帯域であってもよい。 As shown in FIG. 2, the tractor 1 includes a vehicle-side wireless communication unit 14, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, and the reference station 4 includes a reference station-side wireless communication unit 41. ing. Various types of information can be transmitted and received between the tractor 1 and the wireless communication terminal 2 by wireless communication between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21, and the vehicle-side wireless communication unit 14 and the reference station Various types of information can be transmitted and received between the tractor 1 and the reference station 4 by wireless communication with the side wireless communication unit 41. The wireless communication terminal 2 and the reference station 4 are configured to transmit and receive various types of information via the tractor 1. Further, the wireless communication terminal 2 and the reference station 4 are configured to be capable of directly transmitting and receiving various types of information without going through the tractor 1 by wireless communication between the terminal-side wireless communication unit 21 and the reference station-side wireless communication unit 41. You can also. The frequency band used for wireless communication between the wireless communication units may be a common frequency band or different frequency bands.
　トラクタ１には、図２に示すように、測位用アンテナ１１、車両側制御部１２、位置情報取得部１３、車両側無線通信部１４、記憶部（図示省略）等が備えられている。車両側制御部１２は、位置情報取得部１３にて自己の現在位置情報（トラクタ１の現在位置）を取得しながら、ガバナ装置、変速装置及び操舵装置等（図示省略）のトラクタ１に備えられる各種の装置を制御して、トラクタ１を自律走行可能に構成されている。また、トラクタ１には、３軸のジャイロと３方向の加速度計等を有する慣性計測装置（図示省略）が備えられ、車両側制御部１２が、慣性計測装置の計測情報に基づいて、トラクタ１の姿勢や進行方向の方位等を検知可能に構成されている。 As shown in FIG. 2, the tractor 1 includes a positioning antenna 11, a vehicle-side control unit 12, a position information acquisition unit 13, a vehicle-side wireless communication unit 14, a storage unit (not shown), and the like. The vehicle-side control unit 12 is provided in the tractor 1 such as a governor device, a transmission device, a steering device, and the like (not shown) while acquiring the current position information (current position of the tractor 1) by the position information acquisition unit 13. Various devices are controlled so that the tractor 1 can travel autonomously. Further, the tractor 1 is provided with an inertial measurement device (not shown) having a three-axis gyro, a three-direction accelerometer, and the like, and the vehicle-side control unit 12 is based on the measurement information of the inertial measurement device. It is configured to be able to detect the posture and the direction of travel.
　測位用アンテナ１１は、図１に示すように、例えば、衛星測位システム（ＧＮＳＳ）を構成する測位衛星３からの信号を受信するように構成されている。測位用アンテナ１１は、例えば、トラクタ１のキャビンのルーフの上面に配置されている。 As shown in FIG. 1, the positioning antenna 11 is configured to receive, for example, a signal from a positioning satellite 3 constituting a satellite positioning system (GNSS). The positioning antenna 11 is disposed, for example, on the upper surface of the cabin roof of the tractor 1.
　衛星測位システムを用いた測位方法として、図１に示すように、予め定められた基準点に設置された基準局４を備え、その基準局４からの測位補正情報によりトラクタ１（移動局）の衛星測位情報を補正して、トラクタ１の現在位置を求める測位方法を適用可能としている。例えば、ＤＧＰＳ（ディファレンシャルＧＰＳ測位）、ＲＴＫ測位（リアルタイムキネマティック測位）等の各種の測位方法を適用することができる。ちなみに、測位方法については、基準局４を備えずに単独測位を用いることもできる。 As a positioning method using the satellite positioning system, as shown in FIG. 1, a reference station 4 installed at a predetermined reference point is provided, and satellite positioning of the tractor 1 (mobile station) is performed by positioning correction information from the reference station 4. A positioning method for correcting the information to obtain the current position of the tractor 1 can be applied. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. Incidentally, as for the positioning method, independent positioning can be used without providing the reference station 4.
　この実施形態では、例えば、ＲＴＫ測位を適用していることから、図１及び図２に示すように、移動局側となるトラクタ１に測位用アンテナ１１を備えるのに加えて、基準局４が備えられている。基準局４の設置位置となる基準点の位置情報は予め設定されて把握されている。基準局４は、例えば、圃場の周囲等、トラクタ１の走行の邪魔にならない位置（基準点）に配置されている。基準局４には、基準局側無線通信部４１と基準局測位アンテナ４２とが備えられている。 In this embodiment, for example, since RTK positioning is applied, as shown in FIGS. 1 and 2, the reference station 4 is provided in addition to the positioning antenna 11 provided in the tractor 1 on the mobile station side. It has been. The position information of the reference point that is the installation position of the reference station 4 is set and grasped in advance. The reference station 4 is disposed at a position (reference point) that does not interfere with the traveling of the tractor 1, for example, around the field. The reference station 4 includes a reference station side wireless communication unit 41 and a reference station positioning antenna 42.
　ＲＴＫ測位では、基準点に設置された基準局４と、位置情報を求める対象の移動局側となるトラクタ１の測位用アンテナ１１との両方で測位衛星３からの搬送波位相（衛星測位情報）を測定している。基準局４では、測位衛星３から衛星測位情報を測定する毎に又は設定周期が経過する毎に、測定した衛星測位情報と基準点の位置情報等を含む測位補正情報を生成して、基準局側無線通信部４１からトラクタ１の車両側無線通信部１４に測位補正情報を送信している。トラクタ１の位置情報取得部１３は、測位用アンテナ１１にて測定した衛星測位情報を、基準局４から送信される測位補正情報を用いて補正して、トラクタ１の現在位置情報を求めている。位置情報取得部１３は、トラクタ１の現在位置情報として、例えば、緯度情報・経度情報を求めている。 In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 3 is measured by both the reference station 4 installed at the reference point and the positioning antenna 11 of the tractor 1 on the mobile station side whose position information is to be obtained. is doing. The reference station 4 generates positioning correction information including the measured satellite positioning information and the position information of the reference point every time the satellite positioning information is measured from the positioning satellite 3 or every time the set cycle elapses, and the reference station side radio The positioning correction information is transmitted from the communication unit 41 to the vehicle-side wireless communication unit 14 of the tractor 1. The position information acquisition unit 13 of the tractor 1 obtains the current position information of the tractor 1 by correcting the satellite positioning information measured by the positioning antenna 11 using the positioning correction information transmitted from the reference station 4. The position information acquisition unit 13 obtains, for example, latitude information / longitude information as the current position information of the tractor 1.
　無線通信端末２は、例えば、タッチパネルを有するタブレット型のパーソナルコンピュータ等から構成され、各種情報をタッチパネルに表示可能であり、タッチパネルを操作することで、各種の情報も入力可能となっている。無線通信端末２については、ユーザがトラクタ１の外部にて携帯して使用することが可能であるとともに、トラクタ１の運転席の側脇等に装着して使用することもできる。 The wireless communication terminal 2 is composed of, for example, a tablet-type personal computer having a touch panel, and can display various information on the touch panel. Various information can also be input by operating the touch panel. The wireless communication terminal 2 can be used by being carried outside the tractor 1 by the user, and can also be used by being mounted on the side of the driver's seat of the tractor 1 or the like.
　無線通信端末２には、図２に示すように、端末側無線通信部２１、端末側制御部２２、経路生成部２３等が備えられている。経路生成部２３は、トラクタ１が自律走行する自律走行経路を生成するように構成されている。また、無線通信端末２には、記憶部（図示省略）が備えられており、この記憶部には、ユーザにより登録された情報等、各種の情報が記憶されている。 As shown in FIG. 2, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, a terminal-side control unit 22, a route generation unit 23, and the like. The route generation unit 23 is configured to generate an autonomous traveling route on which the tractor 1 autonomously travels. Further, the wireless communication terminal 2 is provided with a storage unit (not shown), and various information such as information registered by the user is stored in the storage unit.
　トラクタ１の自律走行を行う場合には、ユーザが無線通信端末２のタッチパネル等を操作して圃場領域、トラクタ１や作業機に関する情報等の自律走行経路を生成する際の基準となる情報を登録することで、無線通信端末２の経路生成部２３が、登録情報等に基づいて、トラクタ１が自律走行する自律走行経路を生成している。例えば、図４に示すように、経路生成部２３は、圃場Ｈ内において、自律走行経路として、トラクタ１を自律走行させながら耕耘等の作業を行う作業経路Ｋ１と、作業経路Ｋ１から次の作業経路Ｋ１にトラクタ１を旋回させる旋回経路Ｋ２とを生成している。図４に示す自律走行経路は、あくまで一例であり、経路生成部２３が、どのような自律走行経路を生成するかは適宜変更が可能である。 When performing autonomous traveling of the tractor 1, information that serves as a reference when the user operates the touch panel of the wireless communication terminal 2 to generate an autonomous traveling route such as information on the field area, the tractor 1, and the work implement is registered. By doing so, the route generation unit 23 of the wireless communication terminal 2 generates an autonomous traveling route on which the tractor 1 autonomously travels based on the registration information and the like. For example, as illustrated in FIG. 4, the route generation unit 23 performs, as an autonomous traveling route in the field H, a work route K1 that performs operations such as tillage while the tractor 1 is autonomously traveling, and the next operation from the work route K1. A turning route K2 for turning the tractor 1 along the route K1 is generated. The autonomous traveling route shown in FIG. 4 is merely an example, and what kind of autonomous traveling route the route generating unit 23 generates can be appropriately changed.
　経路生成部２３が自律走行経路Ｋ１、Ｋ２を生成するに当たり、圃場Ｈの形状や位置情報等、圃場Ｈに関する情報が先に登録されている。そして、圃場Ｈ内において、自律走行経路Ｋ１、Ｋ２を生成するための領域として、耕耘等の作業を行う作業領域Ｒ１と作業を行わない非作業領域Ｒ２（枕地）とが特定されている。経路生成部２３は、作業領域Ｒ１に対して作業経路Ｋ１を生成し、非作業領域Ｒ２に旋回経路Ｋ２を生成している。作業経路Ｋ１は、圃場Ｈ内の作業領域Ｒ１において一端側から他端側に向けて自律走行させる直線状の経路であり、この直線状の経路が作業領域Ｒ１の全体に亘って圃場Ｈの幅方向に隣接して複数並ぶように生成されている。旋回経路Ｋ２は、圃場Ｈの幅方向に並ぶ２つの作業経路Ｋ１においてその端部同士を接続してトラクタ１を旋回させるための経路として生成されている。 When the route generation unit 23 generates the autonomous traveling routes K1 and K2, information on the field H such as the shape and position information of the field H is registered in advance. In the field H, a work area R1 for performing work such as tillage and a non-work area R2 (headland) where work is not performed are specified as areas for generating the autonomous traveling routes K1 and K2. The route generation unit 23 generates a work route K1 for the work region R1, and generates a turning route K2 for the non-work region R2. The work path K1 is a straight path that autonomously travels from one end side to the other end side in the work area R1 in the field H, and the straight path extends across the entire work area R1. It is generated so that a plurality are arranged adjacent to each other in the direction. The turning route K2 is generated as a route for turning the tractor 1 by connecting the ends of the two working routes K1 arranged in the width direction of the field H.
　このようにして、経路生成部２３が自律走行経路Ｋ１、Ｋ２を生成すると、無線通信端末２の端末側制御部１２が、無線通信端末２からトラクタ１に自律走行経路に関する経路情報を転送することで、トラクタ１の車両側制御部１２が、経路情報を取得することができる。車両側制御部１２は、取得した経路情報に基づいて、位置情報取得部１３にて自己の現在位置情報（トラクタ１の現在位置）を取得しながら、自律走行経路に沿ってトラクタ１を自律走行させることができる。 Thus, when the route generation unit 23 generates the autonomous travel routes K1 and K2, the terminal-side control unit 12 of the wireless communication terminal 2 transfers the route information related to the autonomous travel route from the wireless communication terminal 2 to the tractor 1. Thus, the vehicle-side controller 12 of the tractor 1 can acquire route information. The vehicle-side control unit 12 autonomously travels the tractor 1 along the autonomous travel route while acquiring its current position information (current position of the tractor 1) by the position information acquisition unit 13 based on the acquired route information. Can be made.
　また、位置情報取得部１３にて取得するトラクタ１の現在位置情報については、リアルタイム（例えば、数秒周期）でトラクタ１から無線通信端末２に送信されており、トラクタ１の自律走行を開始した後だけでなく、トラクタ１の自律走行を開始する前においても、無線通信端末２にてトラクタ１の現在位置を把握するようにしている。 Further, the current position information of the tractor 1 acquired by the position information acquisition unit 13 is transmitted from the tractor 1 to the wireless communication terminal 2 in real time (for example, every several seconds), and after the tractor 1 starts autonomous traveling. In addition, the wireless communication terminal 2 grasps the current position of the tractor 1 before starting the autonomous traveling of the tractor 1.
　本発明に係る経路情報転送システムは、トラクタ１の自律走行を行う場合に、無線通信端末２からトラクタ１に経路情報を転送するシステムであり、以下、図２及び図３に基づいて、この経路情報転送システムについて説明する。 The route information transfer system according to the present invention is a system for transferring route information from the wireless communication terminal 2 to the tractor 1 when the tractor 1 autonomously travels. This route information will be described below with reference to FIGS. An information transfer system will be described.
　無線通信端末２は、複数の自律走行経路Ｋ１、Ｋ２（図４参照）の全てに関する経路情報を一度にトラクタ１に送信するのではなく、自律走行の開始前や自律走行の開始後等、各タイミングにて経路情報の一部のみをトラクタ１に送信しており、経路情報を複数回に分けてトラクタ１に送信している。 The wireless communication terminal 2 does not transmit route information regarding all of the plurality of autonomous traveling routes K1 and K2 (see FIG. 4) to the tractor 1 at the same time, but before starting autonomous traveling, after starting autonomous traveling, etc. Only part of the route information is transmitted to the tractor 1 at the timing, and the route information is transmitted to the tractor 1 in a plurality of times.
　無線通信端末２の端末側制御部２２は、経路情報として、自律走行経路Ｋ１、Ｋ２（図４参照）の識別情報を含む経路基本情報と自律走行経路Ｋ１、Ｋ２に含まれる個別経路の詳細情報を含む経路個別情報とを生成可能に構成されている。経路基本情報は、例えば、自律走行経路Ｋ１、Ｋ２の夫々を識別するためのＩＤ等の識別情報、自律走行経路Ｋ１、Ｋ２の本数、トラクタ１の機種や作業幅等のトラクタ１に関する作業情報、圃場Ｈ（図４参照）に関する圃場情報等が含まれる情報としている。経路個別情報は、例えば、各自律走行経路Ｋ１、Ｋ２の始端位置情報及び終端位置情報、各自律走行経路Ｋ１、Ｋ２が直線状か旋回状か等、各自律走行経路Ｋ１、Ｋ２の形状情報、各自律走行経路Ｋ１、Ｋ２に付された番号（例えば、図４では、複数の作業経路Ｋ１について、（１）～（１０）にて示すように、図中左側に位置するものから順番に番号が付されている）等、各自律走行経路Ｋ１、Ｋ２を特定するための経路特定情報等が含まれる情報としている。 The terminal-side control unit 22 of the wireless communication terminal 2 includes route basic information including identification information of the autonomous traveling routes K1 and K2 (see FIG. 4) and detailed information on the individual routes included in the autonomous traveling routes K1 and K2 as route information. It is possible to generate route individual information including The basic route information includes, for example, identification information such as an ID for identifying each of the autonomous traveling routes K1 and K2, work information related to the tractor 1 such as the number of autonomous traveling routes K1 and K2, the model of the tractor 1 and the work width, Information including farm field information on the farm field H (see FIG. 4) is included. The individual route information includes, for example, the start position information and end position information of each autonomous travel route K1, K2, the shape information of each autonomous travel route K1, K2, such as whether each autonomous travel route K1, K2 is linear or turning, Numbers assigned to the autonomous traveling routes K1 and K2 (for example, in FIG. 4, the numbers of the plurality of work routes K1 are listed in order from the one located on the left side in the drawing as shown in (1) to (10)). Etc.), the route identification information for identifying each autonomous traveling route K1, K2 is included.
　端末側制御部２２は、経路個別情報として、トラクタ１が自律走行を開始する前のトラクタ１の現在位置に基づいて特定される特定経路を示す特定経路情報と、トラクタ１が自律走行する予定の予定経路を示す走行予定経路情報とを生成可能に構成されている。 The terminal-side control unit 22 includes, as individual route information, specific route information indicating a specific route specified based on the current position of the tractor 1 before the tractor 1 starts autonomous traveling, and the tractor 1 scheduled to autonomously travel. It is configured to be able to generate planned travel route information indicating the planned route.
　特定経路は、複数の自律走行経路Ｋ１（図４にて示す直線状の作業経路Ｋ１のみ）の内、トラクタ１が自律走行を開始する開始経路の候補となる自律走行経路Ｋ１である。上述の如く、トラクタ１が自律走行を開始する前に、無線通信端末２ではトラクタ１の現在位置を把握しているので、端末側制御部２２は、例えば、複数の作業経路Ｋ１の内、トラクタ１の現在位置から所定領域に含まれる作業経路Ｋ１を特定経路として特定している。これにより、トラクタ１の現在位置に近い作業経路Ｋ１を、開始経路の候補である特定経路として特定することができ、端末側制御部２２は、特定経路を識別可能な状態で無線通信端末２のタッチパネルに表示可能に構成されている。ちなみに、端末側制御部２２による特定経路の特定は、これに限らず、他の方法によっても特定することができ、特定経路をどのように特定するかは適宜変更が可能である。 The specific route is an autonomous traveling route K1 that is a candidate for a starting route from which the tractor 1 starts autonomous traveling among a plurality of autonomous traveling routes K1 (only the linear work route K1 shown in FIG. 4). As described above, since the wireless communication terminal 2 knows the current position of the tractor 1 before the tractor 1 starts autonomous traveling, the terminal-side control unit 22, for example, includes the tractor among the plurality of work routes K <b> 1. The work route K1 included in the predetermined area from the current position of 1 is specified as the specific route. As a result, the work route K1 close to the current position of the tractor 1 can be specified as a specific route that is a candidate for the start route, and the terminal-side control unit 22 can identify the specific route in a state where the specific route can be identified. The touch panel can be displayed. Incidentally, the specification of the specific route by the terminal-side control unit 22 is not limited to this, and can be specified by other methods, and how the specific route is specified can be appropriately changed.
　予定経路は、トラクタ１が実際に自律走行する予定の自律走行経路Ｋ１、Ｋ２であり、複数の自律走行経路Ｋ１、Ｋ２の内、開始経路及び走行対象外の自律走行経路Ｋ１、Ｋ２を除いた自律走行経路Ｋ１、Ｋ２が予定経路となっている。例えば、圃場Ｈにおいて開始経路とは作業方向の反対側に位置する自律走行経路Ｋ１、Ｋ２を、走行対象外の自律走行経路としている。図４では、図中左側から右側に向かう方向が作業方向となっているので、例えば、図４中左側から３番目の作業経路Ｋ１が開始経路Ｋ１ａとなると、これよりも図中左側に位置する作業経路Ｋ１及び旋回経路Ｋ２が走行対象外の自律走行経路Ｋ１ｂ、Ｋ２ｂとなる。よって、開始経路Ｋ１ａ及び走行対象外の自律走行経路Ｋ１ｂ、Ｋ２ｂを除く、他の自律走行経路Ｋ１、Ｋ２が予定経路となる。また、図４中一番左側に位置する作業経路Ｋ１が開始経路となると、この開始経路以外の全ての自律走行経路Ｋ１、Ｋ２が予定経路となる。 The planned routes are the autonomous traveling routes K1 and K2 on which the tractor 1 is actually traveling autonomously, and the start route and the autonomous traveling routes K1 and K2 that are not travel targets are excluded from the plurality of autonomous traveling routes K1 and K2. The autonomous traveling routes K1 and K2 are scheduled routes. For example, the autonomous traveling routes K1 and K2 located on the opposite side of the work direction from the starting route in the field H are set as autonomous traveling routes that are not travel targets. In FIG. 4, since the direction from the left side to the right side in the drawing is the work direction, for example, when the third work route K1 from the left side in FIG. 4 becomes the start route K1a, it is located on the left side in the drawing. The work route K1 and the turning route K2 become autonomous travel routes K1b and K2b that are not travel targets. Therefore, the other autonomous traveling routes K1 and K2 excluding the starting route K1a and the autonomous traveling routes K1b and K2b that are not travel targets are scheduled routes. Further, when the work route K1 located on the leftmost side in FIG. 4 becomes the start route, all the autonomous travel routes K1 and K2 other than the start route become scheduled routes.
　このように、端末側制御部２２は、経路情報として、経路基本情報と経路個別情報とを生成可能としており、更に、経路個別情報については、自律走行を開始する前に対応する特定経路情報Ｇ２（図３参照）と、自律走行を開始後に対応する走行予定経路情報Ｇ３、Ｇ４（図３参照）とを生成可能に構成されている。そして、無線通信端末２の端末側制御部２２は、端末側無線通信部２１と車両側無線通信部１４との間での無線通信を介して、生成する各種の情報をトラクタ１の車両側制御部１２に所定タイミングにて順次送信している。 As described above, the terminal-side control unit 22 can generate the basic route information and the individual route information as the route information. Further, for the individual route information, the specific route information G2 corresponding to the route before the autonomous running is started. (Refer to FIG. 3) and the scheduled traveling route information G3 and G4 (refer to FIG. 3) corresponding to the start of the autonomous traveling can be generated. And the terminal side control part 22 of the radio | wireless communication terminal 2 transmits various information to produce | generate the vehicle side control of the tractor 1 via the radio | wireless communication between the terminal side radio | wireless communication part 21 and the vehicle side radio | wireless communication part 14. The data are sequentially transmitted to the unit 12 at a predetermined timing.
　トラクタ１を自律走行させる場合には、図３に示すように、無線通信端末２の端末側制御部２２が、まず、初期転送情報Ｇ１をトラクタ１に送信している。この初期転送情報Ｇ１は、経路基本情報を含むものであり、経路情報における全体情報量よりも情報量が小さい情報となっている。初期転送情報Ｇ１は、例えば、経路基本情報だけで生成してもよく、経路基本情報と経路個別情報の一部（例えば、設定本数分の経路個別情報）とから生成することもできる。また、経路個別情報とは異なる付加情報を経路基本情報に付加して初期転送情報を生成することもできる。 When the tractor 1 is autonomously traveling, the terminal-side control unit 22 of the wireless communication terminal 2 first transmits initial transfer information G1 to the tractor 1 as shown in FIG. The initial transfer information G1 includes basic route information, and is information whose amount of information is smaller than the total amount of information in the route information. For example, the initial transfer information G1 may be generated from only the basic route information, or may be generated from the basic route information and a part of the individual route information (for example, individual route information corresponding to the set number). Further, additional information different from the route individual information can be added to the route basic information to generate initial transfer information.
　図３に示すように、無線通信端末２からトラクタ１に初期転送情報Ｇ１が転送されると、無線通信端末２の端末側制御部２２とトラクタ１の車両側制御部１２とは、端末側無線通信部２１及び車両側無線通信部１４を介して無線通信端末２から送信した初期転送情報Ｇ１と、端末側無線通信部２１及び車両側無線通信部１４を介してトラクタ１が取得した初期転送情報Ｇ１とが一致するか否かをチェックする通信チェックを行う。 As shown in FIG. 3, when the initial transfer information G1 is transferred from the wireless communication terminal 2 to the tractor 1, the terminal-side control unit 22 of the wireless communication terminal 2 and the vehicle-side control unit 12 of the tractor 1 Initial transfer information G1 transmitted from the wireless communication terminal 2 via the communication unit 21 and the vehicle-side wireless communication unit 14, and initial transfer information acquired by the tractor 1 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 A communication check is performed to check whether or not G1 matches.
　この通信チェックとしては、例えば、端末側無線通信部２１及び車両側無線通信部１４を介して無線通信端末２から送信した初期転送情報Ｇ１の総量と、端末側無線通信部２１及び車両側無線通信部１４を介してトラクタ１が取得した初期転送情報Ｇ１の総量とが一致するか否かによって、初期転送情報Ｇ１が一致するか否かをチェックする処理（ＣＲＣチェック処理）を適用することができる。また、通信チェックとしては、ＣＲＣチェック処理に代えて、例えば、初期転送情報Ｇ１についての個別のＩＤ情報を転送して、そのＩＤ情報が一致するか否かによって、初期転送情報Ｇ１が一致するか否かをチェックすることもでき、各種の通信チェックを適用することができる。 As this communication check, for example, the total amount of initial transfer information G1 transmitted from the wireless communication terminal 2 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14, and the terminal-side wireless communication unit 21 and the vehicle-side wireless communication A process (CRC check process) for checking whether or not the initial transfer information G1 matches depending on whether or not the total amount of the initial transfer information G1 acquired by the tractor 1 via the unit 14 matches can be applied. . As a communication check, instead of the CRC check process, for example, whether the initial transfer information G1 matches depending on whether or not the individual ID information about the initial transfer information G1 is transferred and the ID information matches. It is also possible to check whether or not various communication checks can be applied.
　端末側制御部２２及び車両側制御部１２にて通信チェックを行うことで、無線通信端末２から送信した初期転送情報Ｇ１とトラクタ１が取得した初期転送情報Ｇ１とが一致すると、通信条件が満たされることになる。そこで、図３に示すように、無線通信端末２の端末側制御部２２は、初期転送情報Ｇ１の送信による通信チェックが行われて通信条件が満たされた後に、特定経路情報Ｇ２をトラクタ１に送信している。 The communication condition is satisfied when the initial transfer information G1 transmitted from the wireless communication terminal 2 matches the initial transfer information G1 acquired by the tractor 1 by performing a communication check in the terminal-side control unit 22 and the vehicle-side control unit 12. Will be. Therefore, as shown in FIG. 3, the terminal-side control unit 22 of the wireless communication terminal 2 sends the specific route information G2 to the tractor 1 after the communication check is performed by transmitting the initial transfer information G1 and the communication condition is satisfied. Sending.
　トラクタ１の車両側制御部１２は、特定経路情報Ｇ２を取得すると、自律走行開始条件を満たすか否かの確認を行う。車両側制御部１２は、下記の（１）～（５）の内、（１）、（２）、（３）又は（４）、（５）の４つの条件を満たすと、自律走行開始条件が満たされていると判定するとともに、特定経路の中から自律走行を開始する開始経路を特定している。ちなみに、（１）、（２）、（５）の条件は、特定経路の中から開始経路を特定するための条件となっており、複数の特定経路があっても、開始経路として１つの特定経路が特定されることになる。 When the vehicle-side control unit 12 of the tractor 1 acquires the specific route information G2, the vehicle-side control unit 12 checks whether or not the autonomous driving start condition is satisfied. The vehicle-side control unit 12 satisfies the autonomous driving start condition if the following four conditions (1), (2), (3), or (4), (5) are satisfied. Is determined, and a starting route for starting autonomous traveling is specified from among the specific routes. Incidentally, the conditions of (1), (2), and (5) are conditions for specifying the start route from among the specific routes. Even if there are a plurality of specific routes, one specification is specified as the start route. The route will be specified.
（１）トラクタ１の現在位置と特定経路との横方向での偏差が所定距離（例えば、±１００ｃｍ）以内である。
（２）トラクタ１の進行方向の方位と特定経路の方位との方位偏差が所定角度（例えば、±１５ｄｅｇ）以内である。
（３）トラクタ１の現在位置が作業領域Ｒ１（図４参照）である場合、トラクタ１の現在位置から非作業領域Ｒ２（図４参照）までの距離が所定距離（例えば、１０ｍ）以上である。
（４）トラクタ１の現在位置が非作業領域Ｒ２（図４参照）である場合、トラクタ１の現在位置から作業領域Ｒ１（図４参照）までの距離が所定距離（例えば、５ｍ）以内である。
（５）上記の（１）及び（２）を満たす特定経路が同一である状態が所定時間（例えば、１秒）継続している。 (1) The lateral deviation between the current position of the tractor 1 and the specific route is within a predetermined distance (for example, ± 100 cm).
(2) The azimuth deviation between the azimuth of the traveling direction of the tractor 1 and the azimuth of the specific route is within a predetermined angle (for example, ± 15 deg).
(3) When the current position of the tractor 1 is the work area R1 (see FIG. 4), the distance from the current position of the tractor 1 to the non-work area R2 (see FIG. 4) is a predetermined distance (for example, 10 m) or more. .
(4) When the current position of the tractor 1 is the non-work area R2 (see FIG. 4), the distance from the current position of the tractor 1 to the work area R1 (see FIG. 4) is within a predetermined distance (for example, 5 m). .
(5) The state where the specific paths satisfying the above (1) and (2) are the same continues for a predetermined time (for example, 1 second).
　車両側制御部１２は、自律走行開始条件が満たされると、自律走行を開始する開始経路がどの特定経路であるかを示す自律走行許可情報Ｑ１を無線通信端末２に送信する。これにより、無線通信端末２では、特定経路の内、開始経路がどの特定経路であるかを識別可能にタッチパネルに表示し、自律走行の開始を指示できる状態となる。 When the autonomous running start condition is satisfied, the vehicle-side control unit 12 transmits to the wireless communication terminal 2 autonomous running permission information Q1 indicating which specific route is the starting route for starting autonomous running. Thereby, in the radio | wireless communication terminal 2, it will be in the state which displays on a touch panel so that identification of which specific path | route is a start path | route among specific paths can be performed, and can start the autonomous running.
　ここで、自律走行を開始するためには、トラクタ１の車両側制御部１２が、自律走行を開始する開始経路を示す開始経路情報を取得しておくことが必要となるので、この開始経路情報の取得について説明する。 Here, in order to start autonomous traveling, it is necessary for the vehicle-side control unit 12 of the tractor 1 to acquire start route information indicating a starting route for starting autonomous traveling. Acquisition of will be described.
　車両側制御部１２は、自律走行開始条件を満たすか否かの確認を行う前に、無線通信端末２からの送信により特定経路情報Ｇ２を取得している。自律走行を開始する開始経路は、特定経路の中から特定されているので、特定経路情報Ｇ２には、自律走行を開始する開始経路に関する開始経路情報が含まれている。よって、車両側制御部１２は、特定経路情報Ｇ２を取得することで、開始経路情報を取得していることになる。これにより、開始経路情報について、自律走行開始条件を満たすか否かの確認を行った後において、無線通信端末２からトラクタ１への送信を行わずに、トラクタ１の車両側制御部１２が開始経路情報を取得することができる。 The vehicle-side control unit 12 acquires the specific route information G2 by transmission from the wireless communication terminal 2 before confirming whether or not the autonomous driving start condition is satisfied. Since the start route for starting autonomous traveling is specified from among the specific routes, the specific route information G2 includes start route information related to the start route for starting autonomous traveling. Therefore, the vehicle-side control unit 12 acquires the start route information by acquiring the specific route information G2. Thereby, after confirming whether or not the autonomous driving start condition is satisfied for the start route information, the vehicle-side control unit 12 of the tractor 1 starts without transmitting from the wireless communication terminal 2 to the tractor 1. Route information can be acquired.
　また、車両側制御部１２による開始経路情報の取得については、無線通信端末２の端末側制御部２２から開始経路情報をトラクタ１に送信することで、車両側制御部１２が開始経路情報を取得することもできる。この場合、無線通信端末２では、自律走行許可情報Ｑ１に基づいて、自律走行を開始する開始経路がどの特定経路であるかを特定することができるので、無線通信端末２の端末側制御部２２は、開始経路情報をトラクタ１に送信することができ、この開始経路情報の送信によって、車両側制御部１２が開始経路情報を取得することができる。 As for the acquisition of the start route information by the vehicle side control unit 12, the vehicle side control unit 12 acquires the start route information by transmitting the start route information from the terminal side control unit 22 of the wireless communication terminal 2 to the tractor 1. You can also In this case, since the wireless communication terminal 2 can specify which specific route is the starting route for starting autonomous traveling based on the autonomous traveling permission information Q1, the terminal-side control unit 22 of the wireless communication terminal 2 is used. Can transmit the start route information to the tractor 1, and the vehicle side control unit 12 can acquire the start route information by transmitting the start route information.
　図３に戻り、無線通信端末２では、自律走行許可情報Ｑ１を受けることで、自律走行の開始を指示できる状態となるので、ユーザがタッチパネルを操作して自律走行の開始が指示されると、端末側制御部２２は、自律走行の開始指示Ｓをトラクタ１に送信する。これにより、トラクタ１では、車両側制御部１２が、自律走行の開始指示Ｓを受けると、位置情報取得部１３にて自己の現在位置情報（トラクタ１の現在位置）を取得しながら、開始経路情報に基づいて開始経路に沿ってトラクタ１を自律走行させて、自律走行を開始している。 Returning to FIG. 3, the wireless communication terminal 2 is in a state where it can instruct the start of autonomous travel by receiving the autonomous travel permission information Q1, so when the user operates the touch panel to instruct the start of autonomous travel, The terminal-side control unit 22 transmits an autonomous traveling start instruction S to the tractor 1. Thus, in the tractor 1, when the vehicle-side control unit 12 receives the start instruction S for autonomous traveling, the position information acquisition unit 13 acquires its current position information (current position of the tractor 1) while starting the start route. Autonomous traveling is started by causing the tractor 1 to autonomously travel along the start route based on the information.
　このように、自律走行が開始される前には、無線通信端末２の端末側制御部２２にてトラクタ１に送信する初期転送情報Ｇ１及び特定経路情報Ｇ２（開始経路情報を含む）を特定しており、その特定された初期転送情報Ｇ１及び特定経路情報Ｇ２（開始経路情報を含む）が、無線通信端末２からトラクタ１に送信されている。一方、自律走行が開始された後には、図３に示すように、無線通信端末２は、トラクタ１側からの要求Ｈ１、Ｈ２に応じて、走行予定経路情報Ｇ３、Ｇ４をトラクタ１に送信している。 Thus, before the autonomous running is started, the terminal-side control unit 22 of the wireless communication terminal 2 specifies the initial transfer information G1 and specific route information G2 (including start route information) to be transmitted to the tractor 1. The specified initial transfer information G1 and specific route information G2 (including start route information) are transmitted from the wireless communication terminal 2 to the tractor 1. On the other hand, after the autonomous running is started, as shown in FIG. 3, the wireless communication terminal 2 transmits the scheduled traveling route information G3 and G4 to the tractor 1 in response to requests H1 and H2 from the tractor 1 side. ing.
　無線通信端末２は、自律走行を開始した後に、走行予定経路情報Ｇ３、Ｇ４をトラクタ１に送信するに当たり、走行予定経路情報Ｇ３、Ｇ４の全てを一度に送信するのではなく、走行予定経路情報Ｇ３、Ｇ４を複数回に分けて送信している。走行予定経路情報は、複数の予定経路の内、所定数（例えば、２０本）の第１予定経路を示す第１走行予定経路情報Ｇ３と、複数の予定経路の内、所定数（例えば、２０本）を除く第２予定経路を示す第２走行予定経路情報Ｇ４とを含んでいる。第１予定経路は、開始経路に引き続いて自律走行するための予定経路であり、開始経路に連続する所定数（例えば、２０本）の予定経路となっている。第２予定経路は、第１予定経路に引き続いて自律走行するための予定経路であり、全ての予定経路の内、第１予定経路を除いた予定経路となっている。そこで、無線通信端末２は、トラクタ１側からの要求に基づいて、第１走行予定経路情報Ｇ３、第２走行予定経路情報Ｇ４の順に複数回に分けてトラクタ１に送信している。 When the wireless communication terminal 2 transmits the planned travel route information G3 and G4 to the tractor 1 after starting the autonomous travel, the wireless communication terminal 2 does not transmit all the planned travel route information G3 and G4 at a time, but the planned travel route information. G3 and G4 are transmitted in multiple times. The planned travel route information includes first planned travel route information G3 indicating a predetermined number (for example, 20) of first planned routes among a plurality of planned routes, and a predetermined number (for example, 20 among the plurality of planned routes). Second travel planned route information G4 indicating the second planned route excluding (main). The first planned route is a planned route for autonomously running following the start route, and is a predetermined number (for example, 20) of planned routes continuous to the start route. The second planned route is a planned route for autonomously running following the first planned route, and is a planned route excluding the first planned route among all the planned routes. Therefore, the wireless communication terminal 2 transmits the first travel planned route information G3 and the second travel planned route information G4 to the tractor 1 in a plurality of times in this order based on a request from the tractor 1 side.
　図３に示すように、自律走行を開始した後に、トラクタ１の車両側制御部１２が、第１走行予定経路情報を要求するための第１要求Ｈ１を無線通信端末２に送信する。無線通信端末２の端末側制御部２２が、第１要求Ｈ１を受けると、第１走行予定経路情報Ｇ３をトラクタ１に送信する。これにより、車両側制御部１２は、所定数（例えば、２０本）の第１予定経路に関する第１走行予定経路情報Ｇ３を取得することができ、第１予定経路に沿ってトラクタ１を自律走行させることができる。 As shown in FIG. 3, after the autonomous running is started, the vehicle-side control unit 12 of the tractor 1 transmits a first request H <b> 1 for requesting the first scheduled traveling route information to the wireless communication terminal 2. When the terminal-side control unit 22 of the wireless communication terminal 2 receives the first request H1, the first travel scheduled route information G3 is transmitted to the tractor 1. Thereby, the vehicle side control part 12 can acquire the 1st driving planned route information G3 regarding the predetermined number (for example, 20) of the 1st scheduled routes, and autonomously travels the tractor 1 along the first scheduled routes. Can be made.
　ここで、無線通信端末２からトラクタ１に第１走行予定経路情報Ｇ３を送信するに当たり、無線通信端末２は、第１走行予定経路情報Ｇ３を一度に送信するのではなく、第１走行予定経路情報Ｇ３を複数回（例えば、４回）に分けて送信することができる。 Here, when transmitting the first planned travel route information G3 from the wireless communication terminal 2 to the tractor 1, the wireless communication terminal 2 does not transmit the first planned travel route information G3 at a time, but rather the first planned travel route information. The information G3 can be transmitted in a plurality of times (for example, four times).
　図３に示すように、車両側制御部１２は、第１走行予定経路情報Ｇ３を取得した後に、走行予定経路情報要求用の所定条件を満たしているか否かの確認を行う。車両側制御部１２は、第１予定経路に沿って自律走行を行うことで、既に自律走行を行った第１予定経路と、これから自律走行を行う第１予定経路とを識別している。よって、車両側制御部１２は、取得している第１走行予定経路情報Ｇ３の内、これから自律走行を行う残りの第１予定経路の本数を把握しており、その残りの第１予定経路の本数に基づいて、走行予定経路情報要求用の所定条件を満たしているか否かを判定している。車両側制御部１２は、残りの第１予定経路の本数が閾値（例えば、１０本）を下回ると、走行予定経路情報要求用の所定条件を満たしていると判定している。ちなみに、閾値（例えば、１０本）については、第１走行予定経路情報Ｇ３に含まれる第１予定経路の所定数（例えば、２０本）よりも小さい値となっている。 As shown in FIG. 3, after acquiring the first planned travel route information G3, the vehicle-side control unit 12 checks whether or not a predetermined condition for requesting the planned travel route information is satisfied. The vehicle-side control unit 12 identifies the first planned route that has already been autonomously traveled and the first planned route that is to be autonomously traveled by performing autonomous travel along the first planned route. Therefore, the vehicle side control part 12 grasps | ascertains the number of the remaining 1st planned route which will carry out autonomous driving | running | working now from among the acquired 1st planned traveling route information G3, Based on the number, it is determined whether or not a predetermined condition for requesting planned travel route information is satisfied. When the number of remaining first planned routes falls below a threshold value (for example, 10), the vehicle-side control unit 12 determines that a predetermined condition for requesting planned travel route information is satisfied. Incidentally, the threshold value (for example, 10) is smaller than a predetermined number (for example, 20) of the first planned route included in the first planned travel route information G3.
　車両側制御部１２は、走行予定経路情報要求用の所定条件が満たしている場合に、第２走行予定経路情報を要求するための第２要求Ｈ２を無線通信端末２に送信する。無線通信端末２の端末側制御部２２が、第２要求Ｈ２を受けると、第２走行予定経路情報Ｇ４をトラクタ１に送信する。これにより、車両側制御部１２は、第２走行予定経路に関する第２予定経路情報Ｇ４を取得することができ、第２予定経路に沿ってトラクタ１を自律走行させることができる。 The vehicle-side control unit 12 transmits a second request H2 for requesting the second scheduled traveling route information to the wireless communication terminal 2 when a predetermined condition for requesting the planned traveling route information is satisfied. When the terminal-side control unit 22 of the wireless communication terminal 2 receives the second request H2, the second scheduled traveling route information G4 is transmitted to the tractor 1. Thereby, the vehicle side control part 12 can acquire the 2nd planned route information G4 regarding a 2nd planned traveling route, and can make the tractor 1 autonomously travel along a 2nd planned route.
　第２走行予定経路情報Ｇ４は、第２予定経路の全てに関する情報とするのではなく、複数の第２予定経路の内、所定数（例えば、１本）に関する情報とすることができる。これにより、車両側制御部１２は、自律走行中に、走行予定経路情報要求用の所定条件を満たしているか否かの確認を繰り返し行い、走行予定経路情報要求用の所定条件を満たす度に、第２要求Ｈ２を無線通信端末２に送信する。よって、無線通信端末２は、自律走行中に、トラクタ１から第２要求Ｈ２を受ける度に、第２走行予定経路情報Ｇ４をトラクタ１に送信する動作を繰り返し行うことになる。 The second scheduled travel route information G4 may be information regarding a predetermined number (for example, one) of the plurality of second planned routes, rather than information regarding all of the second planned routes. Thus, the vehicle-side control unit 12 repeatedly checks whether or not the predetermined condition for requesting the planned travel route information is satisfied during autonomous traveling, and whenever the predetermined condition for requesting the planned travel route information is satisfied, The second request H2 is transmitted to the wireless communication terminal 2. Therefore, the wireless communication terminal 2 repeatedly performs the operation of transmitting the second scheduled travel route information G4 to the tractor 1 every time the second request H2 is received from the tractor 1 during autonomous traveling.
　以上の如く、この実施形態では、無線通信端末２からトラクタ１に送信する経路情報をどのような経路情報とするかの特定について、自律走行を開始する前には無線通信端末２側にて特定される経路情報を送信しており、逆に、自律走行を開始した後にはトラクタ１側にて特定される経路情報を送信している。そして、自律走行を開始する前には、無線通信端末２が、初期転送情報Ｇ１と特定経路情報Ｇ２とに分けてトラクタ１に送信しており、自律走行を開始した後においても、無線通信端末２が、第１走行予定経路情報Ｇ３と第２走行予定経路情報Ｇ４とに分けてトラクタ１に送信している。これにより、無線通信端末２からトラクタ１に送信される経路情報を小分けに分けて、一度に送信される情報量を極力小さくすることができる。よって、トラクタ１側では、無線通信端末２から送信される情報を記憶するための記憶部の容量を小さくできるとともに、無線通信端末２から送信される情報に対する処理速度の向上を図ることができ、自律走行を開始するときだけでなく、自律走行中においても、スムーズな処理を実現することができる。 As described above, in this embodiment, the route information transmitted from the wireless communication terminal 2 to the tractor 1 is specified on the wireless communication terminal 2 side before the autonomous running is started. On the contrary, after starting autonomous traveling, the route information specified on the tractor 1 side is transmitted. And before starting autonomous traveling, the wireless communication terminal 2 transmits the initial transfer information G1 and the specific route information G2 separately to the tractor 1, and even after starting autonomous traveling, the wireless communication terminal 2 transmits to the tractor 1 by dividing it into the first scheduled traveling route information G3 and the second scheduled traveling route information G4. Thereby, the route information transmitted from the wireless communication terminal 2 to the tractor 1 can be divided into small portions, and the amount of information transmitted at a time can be minimized. Therefore, on the tractor 1 side, the capacity of the storage unit for storing the information transmitted from the wireless communication terminal 2 can be reduced, and the processing speed for the information transmitted from the wireless communication terminal 2 can be improved. Smooth processing can be realized not only when autonomous running is started but also during autonomous running.
　また、トラクタ１側では、自律走行を開始する前も、自律走行を開始した後も、複数の自律走行経路Ｋ１、Ｋ２の全てに関する経路情報を取得しているのではなく、各タイミングにて必要となる経路情報の一部だけを取得しているので、自律走行を開始するときの処理速度、及び、自律走行中における処理速度の両処理速度の向上を図ることができ、自律走行をスムーズに開始できるとともに、自律走行中にもスムーズに自律走行を継続することができる。 Further, the tractor 1 side does not acquire route information regarding all of the plurality of autonomous traveling routes K1 and K2 before and after starting autonomous traveling, but is necessary at each timing. Since only a part of the route information is acquired, it is possible to improve both the processing speed when starting autonomous driving and the processing speed during autonomous driving, and smoothing autonomous driving In addition to being able to start, autonomous running can be continued smoothly even during autonomous running.
　ここで、車両側制御部１２は、自律走行中に、次に自律走行する予定経路に関する走行予定経路情報を取得できているか否かを確認している。車両側制御部１２は、次に自律走行する予定経路に到達する前の所定タイミングに、次に自律走行する予定経路に関する走行予定経路情報を取得できていなければ、トラクタ１の自律走行を停止させている。所定タイミングについては、例えば、現在自律走行中の予定経路の終端位置から設定距離だけ手前の地点にトラクタ１が到達したタイミングとすることができる。設定距離については、例えば、車両側制御部１２が、次に自律走行する予定経路に関する走行予定経路情報を取得するのに要する時間、及び、走行予定経路情報に基づいてトラクタ１を自律走行させる処理を行うのに要する時間を考慮して設定することができる。１０ｍ等の一定距離を設定距離に設定したり、トラクタ１の車速等のトラクタ１の状況等に応じて設定距離を変更設定することもできる。 Here, the vehicle-side control unit 12 confirms whether or not the planned traveling route information related to the next planned autonomous traveling route can be acquired during autonomous traveling. The vehicle-side control unit 12 stops the autonomous traveling of the tractor 1 if the traveling planned route information related to the next autonomous traveling route is not acquired at a predetermined timing before reaching the scheduled autonomous traveling route. ing. The predetermined timing can be, for example, the timing at which the tractor 1 arrives at a point a set distance away from the end position of the planned route that is currently autonomously traveling. Regarding the set distance, for example, the vehicle-side control unit 12 autonomously travels the tractor 1 based on the time required for acquiring the planned travel route information related to the next planned travel route and the planned travel route information. It can be set in consideration of the time required to perform. A fixed distance such as 10 m can be set as the set distance, or the set distance can be changed and set according to the situation of the tractor 1 such as the vehicle speed of the tractor 1.
　これまでの説明では、経路生成部２３にて生成された自律走行経路Ｋ１、Ｋ２に対して新たに自律走行させる場合を説明したが、例えば、過去に自律走行した自律走行経路Ｋ１を開始経路として自律走行を開始させる場合もある。この場合には、車両側制御部１２が、自律走行を開始させる開始経路に関する開始経路情報（走行予定経路情報）を既に取得しているときがある。このときには、無線通信端末２から初期転送情報Ｇ１を送信することなく、無線通信端末２の端末側制御部２２とトラクタ１の車両側制御部１２との間で通信チェックが行われる。 In the description so far, the case where the autonomous traveling routes K1 and K2 newly generated by the route generating unit 23 are newly autonomously traveled has been described. For example, the autonomous traveling route K1 that has autonomously traveled in the past is used as the start route. Autonomous driving may be started. In this case, the vehicle-side control unit 12 may have already acquired start route information (planned travel route information) regarding a start route for starting autonomous traveling. At this time, a communication check is performed between the terminal-side control unit 22 of the wireless communication terminal 2 and the vehicle-side control unit 12 of the tractor 1 without transmitting the initial transfer information G1 from the wireless communication terminal 2.
　このときの通信チェックでは、車両側制御部１２が既に取得している開始経路情報（走行予定経路情報）と端末側制御部２２が以前に送信した走行予定経路情報（開始経路情報）とが一致するか否かがチェックされる。車両側制御部１２から端末側制御部２２に対して、既に取得している開始経路情報と以前に無線通信端末２からトラクタ１に送信した走行予定経路情報（開始経路情報）とが一致するか否かを問いかけることで通信チェックが行われている。そして、通信チェックとしては、例えば、既に取得している開始経路情報の総量と、以前に無線通信端末２からトラクタ１に送信した走行予定経路情報（開始経路情報）の総量とが一致するか否かを確認する（ＣＲＣチェック処理）を行うことができる。また、通信チェックとしては、ＣＲＣチェック処理に代えて、例えば、開始経路情報についての個別のＩＤ情報を転送して、そのＩＤ情報が一致するか否かによって、開始経路情報が一致するか否かをチェックすることもでき、各種の通信チェックを適用することができる。 In the communication check at this time, the start route information (scheduled travel route information) already acquired by the vehicle side control unit 12 matches the planned travel route information (start route information) previously transmitted by the terminal side control unit 22. It is checked whether or not to do so. Whether the start route information already acquired from the vehicle side control unit 12 to the terminal side control unit 22 matches the planned travel route information (start route information) previously transmitted from the wireless communication terminal 2 to the tractor 1. A communication check is performed by asking whether or not. As the communication check, for example, whether or not the total amount of already acquired start route information matches the total amount of planned travel route information (start route information) previously transmitted from the wireless communication terminal 2 to the tractor 1 is determined. (CRC check processing) can be confirmed. Also, as a communication check, instead of CRC check processing, for example, whether or not the start route information matches depending on whether or not the individual ID information about the start route information matches and the ID information matches. It is also possible to check various communication checks.
　車両側制御部１２は、通信チェックによって、既に取得している開始経路情報（走行予定経路情報）と端末側制御部２２が以前に送信した走行予定経路情報（開始経路情報）とが一致することを確認すると、図３に示すように、自律走行開始条件が満たされているか否かを確認する。そして、車両側制御部１２は、自律走行開始条件が満たされていると、上述と同様に、第１要求Ｈ１を無線通信端末２に送信する。その後の動作については、上述の動作と同様としているので、説明は省略する。 The vehicle-side control unit 12 confirms that the start route information (scheduled travel route information) that has already been acquired matches the planned travel route information (start route information) previously transmitted by the terminal-side control unit 22 through the communication check. As shown in FIG. 3, it is confirmed whether or not the autonomous running start condition is satisfied. And the vehicle side control part 12 will transmit the 1st request | requirement H1 to the radio | wireless communication terminal 2 similarly to the above, if the autonomous running start conditions are satisfy | filled. Since the subsequent operation is the same as the above-described operation, description thereof is omitted.
　〔別実施形態〕
（１）上記実施形態において、走行予定経路情報要求用の所定条件について、例えば、無線通信端末２とトラクタ１との間での通信データの負荷率が所定値よりも低い場合に、走行予定経路情報要求用の所定条件が満たされていると判定することもでき、所定条件をどのような条件とするかは適宜変更が可能である。 [Another embodiment]
(1) In the above embodiment, for the predetermined condition for requesting the planned travel route information, for example, when the load factor of communication data between the wireless communication terminal 2 and the tractor 1 is lower than a predetermined value, the planned travel route It can also be determined that a predetermined condition for requesting information is satisfied, and what kind of condition the predetermined condition is used can be appropriately changed.
（２）上記実施形態では、トラクタ１による自律走行が開始された後には、無線通信端末２が、トラクタ１側から要求される経路情報（第１走行予定経路情報Ｇ３及び第２走行予定経路情報Ｇ４）を送信しているが、無線通信端末２が、所定タイミングになると判定すると、経路情報（第１走行予定経路情報Ｇ３及び第２走行予定経路情報Ｇ４）を送信することもできる。ここで、所定タイミングとして、例えば、第１走行予定経路情報Ｇ３については、自律走行が開始されたタイミングとすることができ、第２走行予定経路情報Ｇ４については、第１走行予定経路情報Ｇ３を送信してから設定時間（例えば、所定数の予定経路を自律走行するのに要する時間よりも短い時間）が経過したタイミングとすることができる。 (2) In the above embodiment, after the autonomous traveling by the tractor 1 is started, the wireless communication terminal 2 receives route information requested from the tractor 1 side (first scheduled traveling route information G3 and second scheduled traveling route information). G4) is transmitted, but if the wireless communication terminal 2 determines that the predetermined timing is reached, the route information (first travel planned route information G3 and second planned travel route information G4) may be transmitted. Here, as the predetermined timing, for example, the first scheduled travel route information G3 can be a timing at which autonomous travel is started, and the second planned travel route information G4 is the first planned travel route information G3. It can be a timing at which a set time (for example, a time shorter than a time required for autonomously traveling a predetermined number of scheduled routes) has elapsed since the transmission.
（３）上記実施形態では、無線通信端末２が、走行予定経路情報として、第１走行予定経路情報Ｇ３と第２走行予定経路情報Ｇ４とに分けて送信しているが、第１走行予定経路情報Ｇ３と第２走行予定経路情報Ｇ４とを一度に送信することもできる。 (3) In the above-described embodiment, the wireless communication terminal 2 transmits the first scheduled travel route information G3 and the second planned travel route information G4 separately as the planned travel route information. The information G3 and the second scheduled travel route information G4 can be transmitted at a time.
　本発明は、自律走行経路に関する経路情報を無線通信端末から作業車両に転送可能な各種の経路情報転送システムに適用できる。 The present invention can be applied to various route information transfer systems that can transfer route information related to an autonomous traveling route from a wireless communication terminal to a work vehicle.
１　　　　　トラクタ（作業車両）
２　　　　　無線通信端末
Ｇ１　　　　初期転送情報
Ｇ２　　　　特定経路情報
Ｇ３　　　　第１走行予定経路情報
Ｇ４　　　　第２走行予定経路情報

  1 Tractor (work vehicle)
2 Wireless communication terminal G1 Initial transfer information G2 Specific route information G3 First travel planned route information G4 Second travel planned route information

Claims (7)

  1. 　作業車両が自律走行する自律走行経路を生成可能な無線通信端末を備え、その無線通信端末から前記作業車両に前記自律走行経路に関する経路情報を転送可能な経路情報転送システムにおいて、
    　前記無線通信端末は、前記経路情報として、前記自律走行経路の識別情報を含む経路基本情報と前記自律走行経路に含まれる個別経路の詳細情報を含む経路個別情報とを生成可能であり、
    　前記無線通信端末は、前記作業車両による自律走行が開始される前に、前記経路基本情報を含み、前記経路情報の全体情報量よりも情報量が小さい初期転送情報を前記作業車両に送信することを特徴とする経路情報転送システム。     In a route information transfer system comprising a wireless communication terminal capable of generating an autonomous traveling route on which a work vehicle autonomously travels, and capable of transferring route information related to the autonomous traveling route from the wireless communication terminal to the work vehicle,
    The wireless communication terminal can generate, as the route information, route basic information including identification information of the autonomous traveling route and route individual information including detailed information of individual routes included in the autonomous traveling route,
    The wireless communication terminal transmits, to the work vehicle, initial transfer information including the route basic information and having an information amount smaller than an entire information amount of the route information before autonomous traveling by the work vehicle is started. A route information transfer system characterized by this.
  2. 　前記経路個別情報は、前記作業車両が自律走行を開始する前の前記作業車両の現在位置に基づいて特定される特定経路を示す特定経路情報を含み、
    　前記無線通信端末は、前記作業車両による自律走行が開始される前に、前記初期転送情報を送信し、その初期転送情報の送信による通信チェックが行われて通信条件が満たされた後に、前記特定経路情報を前記作業車両に送信することを特徴とする請求項１に記載の経路情報転送システム。     The route individual information includes specific route information indicating a specific route specified based on a current position of the work vehicle before the work vehicle starts autonomous traveling,
    The wireless communication terminal transmits the initial transfer information before the autonomous traveling by the work vehicle is started, and after the communication check by transmission of the initial transfer information is performed and the communication condition is satisfied, the identification The route information transfer system according to claim 1, wherein route information is transmitted to the work vehicle.
  3. 　前記経路個別情報は、前記作業車両が自律走行を開始する開始経路を示す開始経路情報を含み、
    　前記無線通信端末は、前記作業車両による自律走行が開始される前であって、且つ、前記特定経路情報が送信された後であって自律走行開始条件が成立した場合に、前記開始経路情報を前記作業車両に送信し、前記作業車両による自律走行が開始された後に、前記経路個別情報として、前記作業車両により自律走行される予定経路を示す走行予定経路情報を前記作業車両に送信することを特徴とする請求項２に記載の経路情報転送システム。     The route individual information includes start route information indicating a start route with which the work vehicle starts autonomous traveling,
    The wireless communication terminal receives the start route information before the autonomous running by the work vehicle is started and after the specific route information is transmitted and the autonomous running start condition is satisfied. Transmitting to the work vehicle, and after the autonomous running by the work vehicle is started, as the route individual information, traveling schedule route information indicating a planned route to be autonomously traveled by the work vehicle is transmitted to the work vehicle. The route information transfer system according to claim 2, wherein:
  4. 　前記特定経路情報は、前記作業車両が自律走行を開始する開始経路を示す開始経路情報を含み、
    　前記無線通信端末は、前記作業車両による自律走行が開始される前であって、且つ、前記特定経路情報が送信された後であって自律走行開始条件が成立した場合に、前記作業車両に前記開始経路情報の送信は行わず、前記作業車両による自律走行が開始された後に、前記経路個別情報として、前記作業車両により自律走行される予定経路を示す走行予定経路情報を前記作業車両に送信することを特徴とする請求項２に記載の経路情報転送システム。     The specific route information includes start route information indicating a start route on which the work vehicle starts autonomous traveling,
    The wireless communication terminal is connected to the work vehicle before the autonomous running by the work vehicle is started and after the specific route information is transmitted and the autonomous running start condition is satisfied. The start route information is not transmitted, and after the autonomous traveling by the work vehicle is started, the scheduled traveling route information indicating the planned route autonomously traveled by the work vehicle is transmitted to the work vehicle as the individual route information. The route information transfer system according to claim 2, wherein:
  5. 　前記無線通信端末は、前記作業車両による自律走行が開始された後に、前記経路個別情報として、前記作業車両により自律走行される複数の予定経路を示す走行予定経路情報を複数回に分けて前記作業車両に送信することを特徴とする請求項１～４の何れか１項に記載の経路情報転送システム。 The wireless communication terminal divides the planned travel route information indicating a plurality of planned routes autonomously traveled by the work vehicle into multiple times as the route individual information after the autonomous travel by the work vehicle is started. 5. The route information transfer system according to claim 1, wherein the route information transfer system transmits to a vehicle.
  6. 　前記走行予定経路情報は、前記複数の予定経路の内、所定数の予定経路を示す第１走行予定経路情報と、前記複数の予定経路の内、前記所定数を除く予定経路を示す第２走行予定経路情報とを含み、
    　前記無線通信端末は、前記作業車両に対して、前記作業車両による自律走行が開始された後、前記第１走行予定経路情報を送信し、前記第１走行予定経路情報が送信された後であって所定条件が成立した場合に前記第２走行予定経路情報を送信することを特徴とする請求項１～５の何れか１項に記載の経路情報転送システム。     The planned travel route information includes first planned travel route information indicating a predetermined number of planned routes among the plurality of planned routes, and second travel indicating a planned route excluding the predetermined number of the plurality of planned routes. Including planned route information,
    The wireless communication terminal transmits the first planned travel route information to the work vehicle after the autonomous travel by the work vehicle is started, and after the first planned travel route information is transmitted. 6. The route information transfer system according to claim 1, wherein the second scheduled traveling route information is transmitted when a predetermined condition is satisfied.
  7. 　前記無線通信端末は、前記作業車両による自律走行が開始される前には、前記無線通信端末側にて特定される前記経路情報を前記作業車両に送信し、
    　前記作業車両による自律走行が開始された後には、前記作業車両側から要求される前記経路情報を前記作業車両に送信することを特徴とする請求項１～６の何れか１項に記載の経路情報転送システム。

          The wireless communication terminal transmits the route information specified on the wireless communication terminal side to the work vehicle before autonomous traveling by the work vehicle is started,
    The route according to any one of claims 1 to 6, wherein after the autonomous running by the work vehicle is started, the route information requested from the work vehicle side is transmitted to the work vehicle. Information transfer system.

PCT/JP2018/004597 2017-03-03 2018-02-09 Route information transfer system WO2018159262A1 (en)

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