WO2022130945A1 - 自動走行システム、自動走行方法、及び自動走行プログラム - Google Patents
自動走行システム、自動走行方法、及び自動走行プログラム Download PDFInfo
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- WO2022130945A1 WO2022130945A1 PCT/JP2021/043533 JP2021043533W WO2022130945A1 WO 2022130945 A1 WO2022130945 A1 WO 2022130945A1 JP 2021043533 W JP2021043533 W JP 2021043533W WO 2022130945 A1 WO2022130945 A1 WO 2022130945A1
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- work vehicle
- avoidance
- obstacle
- traveling
- work
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- 238000000034 method Methods 0.000 title claims description 61
- 238000012545 processing Methods 0.000 claims abstract description 161
- 238000001514 detection method Methods 0.000 claims abstract description 68
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- 238000012937 correction Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
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- 238000009331 sowing Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- 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
- G05D1/60—Intended control result
- G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
- G05D1/622—Obstacle avoidance
- G05D1/628—Obstacle avoidance following the obstacle profile, e.g. a wall or undulated terrain
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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
- G05D1/60—Intended control result
- G05D1/648—Performing a task within a working area or space, e.g. cleaning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2107/00—Specific environments of the controlled vehicles
- G05D2107/20—Land use
- G05D2107/21—Farming, e.g. fields, pastures or barns
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
Definitions
- the present invention relates to an automatic driving system for automatically driving a work vehicle, an automatic driving method, and an automatic driving program.
- the work area and the headland area outside the work area are set separately.
- a traveling route for automatic traveling is generated only in the work area, and a traveling route is not generated in the headland area.
- the work efficiency is lowered because the operator needs to drive the work vehicle by himself / herself to perform the work. Therefore, in order to improve work efficiency, an automatic traveling system has been proposed that can generate a traveling route for a headland area and allow a working vehicle to automatically travel (see, for example, Patent Document 1).
- work efficiency may decrease when an obstacle exists in the headland area. For example, if a traveling route is generated in a state where an obstacle exists in the field, the traveling route cannot be automatically traveled around the obstacle, an unworked area is generated, and there arises a problem that the working efficiency is lowered. Further, when an obstacle is temporarily generated after the traveling route is generated in a state where there is no obstacle in the field, the work vehicle detects the obstacle during automatic traveling. In this case, since the work vehicle automatically runs and stops the work, there arises a problem that the work efficiency is lowered.
- An object of the present invention is to provide an automatic driving system, an automatic driving method, and an automatic driving program capable of preventing a decrease in work efficiency due to the influence of an obstacle in a specific area.
- the automatic traveling system is an automatic traveling system that automatically travels a work vehicle in a specific area.
- the automatic driving system includes a detection processing unit, an avoidance setting processing unit, and a traveling processing unit.
- the detection processing unit detects obstacles in the traveling direction of the work vehicle.
- the avoidance setting processing unit is an avoidance start position which is a start position of an avoidance route in which the work vehicle travels while avoiding the obstacle detected by the detection processing unit, and an avoidance end position which is an end position of the avoidance route. And set.
- the traveling processing unit causes the work vehicle to travel on the avoidance route.
- the automatic traveling method is an automatic traveling method for automatically traveling a work vehicle in a specific area, in which one or a plurality of processors detect an obstacle in the traveling direction of the work vehicle, and the work.
- the avoidance start position which is the start position of the avoidance route in which the vehicle travels while avoiding the obstacle
- the avoidance end position which is the end position of the avoidance route
- the automatic traveling program according to the present invention is an automatic traveling program for automatically traveling a work vehicle in a specific area, in which an obstacle in the traveling direction of the work vehicle is detected and the work vehicle avoids the obstacle.
- the avoidance start position which is the start position of the avoidance route
- the avoidance end position which is the end position of the avoidance route, are set, and when the obstacle is detected, the work vehicle is used as the avoidance route.
- an automatic driving system an automatic driving method, and an automatic driving program capable of preventing a decrease in work efficiency due to the influence of an obstacle in a specific area.
- FIG. 1 is a block diagram showing a configuration of an automated driving system according to an embodiment of the present invention.
- FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention.
- FIG. 3 is a diagram showing an example of a traveling path of a work vehicle according to an embodiment of the present invention.
- FIG. 4A is a diagram showing an example of a traveling method of a work vehicle according to an embodiment of the present invention.
- FIG. 4B is a diagram showing an example of a traveling method of a work vehicle according to an embodiment of the present invention.
- FIG. 4C is a diagram showing an example of a traveling method of a work vehicle according to an embodiment of the present invention.
- FIG. 1 is a block diagram showing a configuration of an automated driving system according to an embodiment of the present invention.
- FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention.
- FIG. 3 is a diagram showing an example of a traveling path of a work
- FIG. 4D is a diagram showing an example of a traveling method of a work vehicle according to an embodiment of the present invention.
- FIG. 4E is a diagram showing an example of a traveling method of a work vehicle according to an embodiment of the present invention.
- FIG. 4F is a diagram showing an example of a traveling method of a work vehicle according to an embodiment of the present invention.
- FIG. 5A is a diagram showing an example of a conventional traveling method of a work vehicle.
- FIG. 5B is a diagram showing an example of a conventional traveling method of a work vehicle.
- FIG. 6A is a diagram showing an example of avoidance running of a work vehicle according to an embodiment of the present invention.
- FIG. 6B is a diagram showing an example of avoidance running of a work vehicle according to an embodiment of the present invention.
- FIG. 7A is a diagram showing an example of a conventional traveling method of a work vehicle.
- FIG. 7B is a diagram showing an example of avoidance running of the work vehicle according to the embodiment of the present invention.
- FIG. 8 is a diagram for explaining conditions for selecting an avoidance route in the work vehicle according to the embodiment of the present invention.
- FIG. 9A is a diagram showing an example of avoidance running of a work vehicle according to an embodiment of the present invention.
- FIG. 9B is a diagram showing an example of avoidance running of the work vehicle according to the embodiment of the present invention.
- FIG. 10A is a diagram showing an example of a conventional traveling method of a work vehicle.
- FIG. 10B is a diagram showing an example of avoidance running of a work vehicle according to an embodiment of the present invention.
- FIG. 11 is a flowchart showing an example of a procedure of automatic driving processing executed by the automatic driving system according to the embodiment of the present invention.
- the automatic traveling system 1 includes a work vehicle 10 and an operation terminal 20.
- the work vehicle 10 and the operation terminal 20 can communicate with each other via the communication network N1.
- the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN.
- the automatic traveling system 1 is a system for automatically traveling the work vehicle 10 in the field F.
- the work vehicle 10 is a tractor
- the work vehicle 10 may be a rice transplanter, a combine harvester, a construction machine, a snowplow, or the like.
- the work vehicle 10 is a so-called robot tractor having a configuration capable of automatically traveling (autonomous traveling) along the traveling paths R1 and R2 set in advance in the field F (see FIG. 3).
- the work vehicle 10 may automatically travel along the travel paths Ra and Rb generated in advance for the field F based on the position information of the current position Pa of the work vehicle 10 calculated by the positioning device 16. It is possible.
- the travel route Ra is a travel route of the work area Fa, which is an inner region of the field F
- the travel route Rb is a travel route of the headland region Fb, which is an region outside the field F (see FIG. 3). ).
- the work vehicle 10 reciprocates in parallel from the work start position S in the work area Fa, and spirals around the outer periphery toward the work end position G in the headland area Fb.
- the traveling routes Ra and Rb are not limited to the routes shown in FIG. 3, and are appropriately set according to the work content.
- the work vehicle 10 includes a vehicle control device 11, a detection processing device 12, a traveling device 13, a working machine 14, a communication unit 15, a positioning device 16, a camera 17, an obstacle sensor 18, and a storage. A unit 19 and the like are provided.
- the vehicle control device 11 is electrically connected to a traveling device 13, a working machine 14, a positioning device 16, and the like.
- the vehicle control device 11 and the positioning device 16 may be capable of wireless communication.
- the camera 17 and the obstacle sensor 18 are electrically connected to the detection processing device 12.
- the storage unit 19 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information.
- the storage unit 19 stores a control program such as an automatic driving program for causing the vehicle control device 11 and the detection processing device 12 to execute the automatic driving process (see FIG. 11) described later.
- the automatic traveling program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, is read by a predetermined reading device (not shown), and is stored in the storage unit 19.
- the automatic traveling program may be downloaded from the server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 19.
- the storage unit 19 stores data of travel paths Ra and Rb generated by the operation terminal 20, data of position information of the work vehicle 10 positioned by the positioning device 16, and the like. Further, work information may be stored in the storage unit 19.
- the traveling device 13 is a driving unit for traveling the work vehicle 10. As shown in FIG. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handle 137, and the like. The front wheels 132 and the rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. Further, the traveling device 13 is not limited to the wheel type provided with the front wheels 132 and the rear wheels 133, and may be a crawler type provided with crawlers provided on the left and right sides of the work vehicle 10.
- the engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven by using fuel supplied to a fuel tank (not shown).
- the traveling device 13 may include an electric motor as a drive source together with the engine 131 or in place of the engine 131.
- a generator (not shown) is connected to the engine 131, and electric power is supplied from the generator to electric parts such as a vehicle control device 11 provided on the work vehicle 10 and a battery.
- the battery is charged by the electric power supplied from the generator.
- the electric parts such as the vehicle control device 11 and the positioning device 16 provided in the work vehicle 10 can be driven by the electric power supplied from the battery even after the engine 131 is stopped.
- the driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and is transmitted to the rear wheels 133 via the transmission 134 and the rear axle 136. Further, the driving force of the engine 131 is also transmitted to the working machine 14 via the PTO shaft (not shown).
- the traveling device 13 performs the traveling operation according to the command of the vehicle control device 11.
- the working machine 14 is, for example, a tiller, a mower, a plow, a fertilizer applicator, a sowing machine, or the like, and can be attached to and detached from the working vehicle 10. As a result, the work vehicle 10 can perform various operations using each of the work machines 14.
- FIG. 2 shows a case where the working machine 14 is a tiller.
- the work machine 14 may be supported in the work vehicle 10 so as to be able to move up and down by an elevating mechanism (not shown).
- the vehicle control device 11 can control the elevating mechanism to elevate and lower the working machine 14. For example, the vehicle control device 11 lowers the work machine 14 when the work vehicle 10 moves forward in the work target area of the field F, and raises the work machine 14 when the work vehicle 10 moves backward. Further, when the vehicle control device 11 acquires the work stop instruction, the vehicle control device 11 outputs the work stop command to the work machine 14. For example, the vehicle control device 11 acquires the stop instruction from the operation terminal 20 when the operator performs the stop instruction operation on the operation terminal 20. When the vehicle control device 11 acquires the work stop instruction, the vehicle control device 11 stops the drive of the PTO axis and stops the work of the work machine 14.
- the steering wheel 137 is an operation unit operated by an operator or a vehicle control device 11.
- the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to the operation of the steering wheel 137 by the vehicle control device 11, and the traveling direction of the work vehicle 10 is changed.
- the traveling device 13 includes a shift lever (not shown), an accelerator, a brake, and the like operated by the vehicle control device 11. Then, in the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a back gear, or the like in response to the operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward or reverse. .. Further, the vehicle control device 11 operates the accelerator to control the rotation speed of the engine 131. Further, the vehicle control device 11 operates the brake and uses an electromagnetic brake to brake the rotation of the front wheels 132 and the rear wheels 133.
- the positioning device 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, a positioning antenna 164, and the like.
- the positioning device 16 is provided above the cabin 138 on which the operator is boarded. Further, the installation location of the positioning device 16 is not limited to the cabin 138. Further, the positioning control unit 161, the storage unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be dispersedly arranged at different positions in the work vehicle 10. As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. Further, as the positioning device 16, for example, a mobile phone terminal, a smartphone, a tablet terminal, or the like may be substituted.
- the positioning control unit 161 is a computer system including one or more processors and a storage memory such as a non-volatile memory and a RAM.
- the storage unit 162 is a program for causing the positioning control unit 161 to execute the positioning process, and a non-volatile memory for storing data such as positioning information and movement information.
- the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, is read by a predetermined reading device (not shown), and is stored in the storage unit 162.
- the program may be downloaded from the server (not shown) to the positioning device 16 via the communication network N1 and stored in the storage unit 162.
- the communication unit 163 connects the positioning device 16 to the communication network N1 by wire or wirelessly, and executes data communication according to a predetermined communication protocol with an external device such as a base station server via the communication network N1. Communication interface.
- the positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.
- GNSS signals radio waves
- the positioning control unit 161 calculates the position (current position Pa) of the work vehicle 10 based on the GNSS signal received from the satellite by the positioning antenna 164. For example, when the work vehicle 10 automatically travels in the field F and the positioning antenna 164 receives radio waves (transmission time, orbit information, etc.) transmitted from each of the plurality of satellites, the positioning control unit 161 performs positioning. The distance between the antenna 164 and each satellite is calculated, and the current position Pa (latitude and longitude) of the work vehicle 10 is calculated based on the calculated distance.
- the positioning control unit 161 calculates the current position Pa of the work vehicle 10 by using the correction information corresponding to the base station (reference station) close to the work vehicle 10, and the real-time kinematic method (RTK-GPS positioning method (RTK)). Positioning by method)) may be performed. In this way, the work vehicle 10 automatically travels by using the positioning information by the RTK method.
- RTK real-time kinematic method
- the obstacle sensor 18 is a sensor that detects an obstacle in a predetermined detection area by using infrared rays, ultrasonic waves, or the like.
- the obstacle sensor 18 may be a rider sensor (distance sensor) capable of measuring the distance to the object to be measured (obstacle) in three dimensions using a laser, or the object to be measured using ultrasonic waves. It may be a sonar sensor having a plurality of sonars capable of measuring the distance to.
- the obstacle sensor 18 is installed at the front of the machine body of the work vehicle 10 (see FIG. 2), and detects an obstacle in front of the work vehicle 10.
- the obstacle sensor 18 is configured to be able to detect an obstacle in a detection area of, for example, about 10 m in front of the work vehicle 10 and about 4 m in width.
- the obstacles are, for example, ridges near the boundary of the field F, intake ports installed near the corners of the field F, fixed objects such as utility poles, materials temporarily placed in the work area Fa and the headland area Fb, and the like. ..
- the obstacle sensor 18 transmits measurement information (measurement distance) to the detection processing device 12.
- the obstacle sensor 18 may be installed only in front of the work vehicle 10, or may be installed in a plurality of places other than the front and the front of the work vehicle 10 (rear, side, etc.).
- the detection processing device 12 can communicate with the obstacle sensor 18 by electrically connecting the obstacle sensor 18 to the work vehicle 10. When the detection processing device 12 becomes able to communicate with the obstacle sensor 18, the detection processing device 12 acquires the number of obstacle sensors 18 and the identification information (device information) of each obstacle sensor 18.
- the camera 17 is a digital camera that captures an image of a subject and outputs it as digital image data.
- the camera 17 continuously captures a subject at a predetermined frame rate, generates a frame image having a predetermined resolution, and sequentially transmits the frame image to the detection processing device 12.
- Each of the vehicle control device 11 and the detection processing device 12 has control devices such as a CPU, ROM, and RAM.
- the CPU is a processor that executes various arithmetic processes.
- the ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance.
- the RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the vehicle control device 11 and the detection processing device 12 control the work vehicle 10 by executing various control programs stored in advance in the ROM or the storage unit 19 on the CPU.
- the detection processing device 12 acquires measurement information from the obstacle sensor 18 and determines whether or not an obstacle is included in the detection area based on the measurement information.
- the detection processing device 12 includes various processing units such as an acquisition processing unit 121 and a detection processing unit 122.
- the detection processing device 12 functions as the various processing units by executing various processing according to the automatic traveling program on the CPU. Further, a part or all of the processing unit may be composed of an electronic circuit.
- the automatic traveling program may be a program for making a plurality of processors function as the processing unit.
- the acquisition processing unit 121 acquires measurement information from one or more obstacle sensors 18. Specifically, the acquisition processing unit 121 acquires the measurement information of the detection area from the obstacle sensor 18 installed in front of the work vehicle 10. For example, when an obstacle enters the detection area, the acquisition processing unit 121 acquires the measurement distance (distance from the obstacle sensor 18 to the obstacle) measured by the obstacle sensor 18.
- the acquisition processing unit 121 acquires captured images from one or more cameras 17.
- the acquisition processing unit 121 stores the acquired image in the storage unit 19 together with the acquisition time. Further, the acquisition processing unit 121 outputs the acquired image data of the captured image to the operation terminal 20.
- the detection processing unit 122 detects an obstacle in the traveling direction of the work vehicle 10 based on the measurement information acquired by the acquisition processing unit 121. Specifically, the detection processing unit 122 determines whether or not an obstacle is included in the detection area based on the measurement information. Further, the detection processing unit 122 specifies the position and size of the obstacle. The detection processing unit 122 may detect an obstacle based on the captured image acquired from the camera 17.
- the vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. Further, the vehicle control device 11 executes automatic traveling processing of the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning device 16 and the travel paths Ra and Rb generated in advance. Further, the vehicle control device 11 causes the work vehicle 10 to avoid traveling so as not to come into contact with the obstacle when an obstacle is detected.
- the vehicle control device 11 includes various processing units such as a position acquisition processing unit 111, a traveling processing unit 112, and an avoidance setting processing unit 113.
- the vehicle control device 11 functions as the various processing units by executing various processes according to the automatic traveling program on the CPU. Further, a part or all of the processing unit may be composed of an electronic circuit.
- the automatic traveling program may be a program for making a plurality of processors function as the processing unit.
- the position acquisition processing unit 111 acquires the position information of the work vehicle 10. Specifically, the position acquisition processing unit 111 acquires the current position Pa of the work vehicle 10 based on the positioning information positioned by the positioning device 16. When the position acquisition processing unit 111 acquires the current position Pa, it registers it in the storage unit 19.
- the travel processing unit 112 controls the travel of the work vehicle 10. Specifically, the travel processing unit 112 starts the automatic travel of the work vehicle 10 when the work start instruction is acquired from the operation terminal 20. For example, when the operator presses the work start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the work start instruction is acquired from the operation terminal 20, the travel processing unit 112 starts the automatic travel of the work vehicle 10 based on the current position Pa. As a result, the work vehicle 10 starts automatic traveling according to the travel paths Ra and Rb, and starts the work by the work machine 14. The travel paths Ra and Rb on which the work vehicle 10 travels are generated by, for example, the operation terminal 20. The work vehicle 10 acquires data on the travel paths Ra and Rb from the operation terminal 20 and automatically travels in the field F according to the travel routes Ra and Rb (see FIG. 3).
- the traveling processing unit 112 stops the automatic traveling of the work vehicle 10 when the traveling stop instruction is acquired from the operation terminal 20. For example, when the operator presses the travel stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a travel stop instruction to the work vehicle 10.
- the traveling processing unit 112 executes a traveling restriction that restricts the automatic traveling of the work vehicle 10 when the detection processing unit 122 detects an obstacle in the work area Fa. For example, when the detection processing unit 122 detects an obstacle in the work area Fa, the travel processing unit 112 decelerates the work vehicle 10. Further, when the detection processing unit 122 detects an obstacle in the work area Fa, the travel processing unit 112 may stop the work vehicle 10. Further, when the detection processing unit 122 detects an obstacle in the work area Fa, the travel processing unit 112 may not execute the travel restriction, and the detection processing unit 12 may notify the alarm to the outside.
- a traveling restriction that restricts the automatic traveling of the work vehicle 10 when the detection processing unit 122 detects an obstacle in the work area Fa. For example, when the detection processing unit 122 detects an obstacle in the work area Fa, the travel processing unit 112 decelerates the work vehicle 10. Further, when the detection processing unit 122 detects an obstacle in the work area Fa, the travel processing unit 112 may stop the work vehicle 10. Further, when the
- the automatic traveling system 1 can prevent a decrease in work efficiency due to the influence of obstacles in the field F, as shown below.
- the work vehicle 10 works while traveling forward along the travel path R1 of the headland region Fb along the boundary (ridge or the like) of the field F.
- the reference numeral Pa represents the current position (turning center) of the work vehicle 10
- the reference numeral A1 represents the work area by the work machine 14.
- the turning start position P11 and the turning end position P21 are set in the operation terminal 20 in the process of generating the traveling paths Ra and Rb.
- the turning start position P11 and the turning end position P21 are set based on the turning radius r1 of the work vehicle 10.
- the turning radius r1 is set according to the type, size (width), and the like of the work vehicle 10 and the work machine 14. As shown in FIGS. 4C and 4D, when the work vehicle 10 travels in the headland region Fb, the work vehicle 10 swivels and travels on the turning path Rc1 at the corner of the field F to switch the traveling direction.
- the avoidance setting processing unit 113 when the detection processing unit 122 detects the obstacle B1, the avoidance setting processing unit 113 causes the work vehicle 10 to travel while avoiding the obstacle B1.
- the avoidance start position Ps which is the start position of Rse
- the avoidance end position Pe which is the end position of the avoidance path Rse
- the avoidance setting processing unit 113 sets the avoidance start position Ps and the avoidance end position Pe based on the turning radius r1 of the work vehicle 10.
- the avoidance setting processing unit 113 determines the avoidance start position when the detection processing unit 122 detects an obstacle B1 existing on the travel path while the work vehicle 10 is traveling on a preset travel path.
- the avoidance start position Ps and the avoidance end position Pe are set based on the distance from Ps to the obstacle B1 and the turning radius r1.
- the avoidance setting processing unit 113 determines.
- Information such as the position and size of the obstacle B1 is acquired from the detection processing device 12, and the avoidance start position Ps is set on the traveling path R1 on the front side of the turning start position P11 in the traveling direction.
- the traveling processing unit 112 automatically drives the work vehicle 10 based on the avoidance start position Ps and the avoidance end position Pe.
- the work vehicle 10 travels forward on the travel path R1 to reach the end of the field F, and then travels backward on the travel path R1 to the avoidance start position Ps (see FIG. 6A). Then, the work vehicle 10 turns and travels on the avoidance path Rse from the avoidance start position Ps to the avoidance end position Pe (see FIG. 6B). When the work vehicle 10 reaches the avoidance end position Pe, the work vehicle turns around from the avoidance end position Pe to the travel path R2 and travels straight on the travel path R2. According to this configuration, the work vehicle 10 can avoid the obstacle B1 and continue traveling and working without detecting the obstacle B1 and stopping.
- the traveling processing unit 112 connects the work vehicle 10 to the avoidance start position Ps and the avoidance end position Pe set by the avoidance setting processing unit 113.
- the avoidance route Rse is driven.
- the avoidance path Rse shown in FIGS. 6A and 6B is a turning path having a turning radius r1 and is an example of the avoiding path of the present invention.
- the avoidance route of the present invention is not limited to the avoidance route Rse shown in FIGS. 6A and 6B.
- the traveling processing unit 112 When the traveling processing unit 112 travels the work vehicle 10 on the avoidance route Rse (see FIG. 6A) when the obstacle B1 is detected by the detection processing unit 122, the traveling processing unit 112 does not detect the obstacle B1.
- the work vehicle 10 may be driven on the turning path Rc1 (see FIG. 4C). That is, the work vehicle 10 stores the turning path Rc1 including the turning start position P11 and the turning end position P21 and the avoidance path Rse including the avoidance start position Ps and the avoidance end position Pe, and responds to the detection result of the obstacle B1.
- the configuration may be such that one of the routes is selected.
- FIG. 7A shows an example of a traveling route.
- the work vehicle 10 detects an obstacle B1 in front of the vehicle while traveling forward along the travel path R1 along the boundary of the field F, the work vehicle 10 travels on the avoidance route Rse to avoid the obstacle B1.
- the work vehicle 10 passes by the side of the obstacle B1, it turns toward the travel path R1.
- the work vehicle 10 reaches the corner of the field F in a state of being slanted with respect to the traveling direction, as shown in FIG. 7A. It ends up.
- the work vehicle 10 has to repeat the reverse traveling and the turning traveling in order to move to the next traveling route R2, and the working efficiency is lowered.
- the travel processing unit 112 sets the work vehicle 10 on the travel path R1 after the work vehicle 10 avoids the obstacle B1.
- the parallel path Rse1 parallel to the traveling path R1 (straight path) is driven straight without turning toward.
- the avoidance setting processing unit 113 sets the avoidance end position Pe to the parallel path Rse1. Set above (see Figure 7B).
- the travel processing unit 112 causes the work vehicle 10 to travel straight on the parallel path Rse1 to the avoidance end position Pe after passing through the obstacle B1.
- the travel processing unit 112 travels on the work vehicle 10 after the work vehicle 10 avoids the obstacle B1.
- the vehicle is turned toward the route R1 and travels on the travel route R1 so as to face the traveling direction.
- the avoidance setting processing unit 113 sets the avoidance end position Pe on the travel path R1.
- the travel processing unit 112 makes the work vehicle 10 turn and travel to the avoidance end position Pe after passing through the obstacle B1.
- the avoidance setting processing unit 113 sets the avoidance end position Pe on the travel path R1 based on the distance L1 from the obstacle B1 to the end of the field F on the traveling direction side and the turning radius r1 of the work vehicle 10.
- the avoidance setting processing unit 113 performs the parallel path Rse1 when the total value of the total value of the distance L1, the turning radius r1 and the half length (L3 / 2) of the width of the working machine is equal to or less than the threshold value Lth.
- the avoidance end position Pe is set above, and when the total value exceeds the threshold value Lth, the avoidance end position Pe is set on the traveling path R1 (straight path).
- the avoidance route Rse is parallel to the straight route at the position where the work vehicle 10 passes by the side of the obstacle B1. Includes parallel path Rse1. As a result, it is possible to reduce the unworked area around the obstacle B1 while avoiding the obstacle B1 and continuing the automatic driving.
- FIG. 10A shows an example of a traveling route.
- the work vehicle 10 detects an obstacle B1 in front of the vehicle while traveling forward along the travel path R1 along the boundary of the field F, the work vehicle 10 travels on the avoidance route Rse to avoid the obstacle B1.
- the work vehicle 10 is in a state of being slanted with respect to the traveling direction after passing by the side of the obstacle B1. Will reach the end of the field F.
- the work vehicle 10 has to repeat the reverse traveling and the turning traveling in order to move to the next traveling route R2, and the working efficiency is lowered.
- the traveling processing unit 112 turns the work vehicle 10 early to travel the avoidance route Rse.
- the parallel path Rse1 parallel to the traveling path R1 (straight path) is driven straight.
- the avoidance setting processing unit 113 sets the avoidance start position Ps so that the distance Lb from the turning start position P11 to the obstacle B1 becomes long.
- the avoidance setting processing unit 113 calculates the turning radius required for the work vehicle 10 to avoid the obstacle B1 based on the position and size (width) of the obstacle B1, and the turning radius and the obstacle B1
- the distance Lb and the avoidance start position Ps are calculated based on the distance from the front end of the field F to the end of the field F.
- the avoidance setting processing unit 113 sets the avoidance end position Pe on the parallel path Rse1.
- the traveling processing unit 112 makes the work vehicle 10 turn in front of the obstacle B1 and then travels straight on the parallel path Rse1 on the side of the obstacle B1 to the avoidance end position Pe (see FIG. 10B). ..
- the traveling direction of the work vehicle 10 can be appropriately switched to the direction of the travel path R2. can.
- the traveling processing unit 112 sets the work vehicle 10 at the boundary of the field F after the work vehicle 10 reaches the end of the field F in an oblique direction.
- the avoidance route Rse may be driven backward until it becomes parallel to.
- the travel processing unit 112 causes the work vehicle 10 to travel backward by a predetermined distance on the travel route R1 and then turns toward the travel route R2.
- the traveling direction of the work vehicle 10 can be appropriately switched to the direction of the traveling path R2.
- the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, and the like.
- the operation terminal 20 may be composed of a mobile terminal such as a tablet terminal or a smartphone.
- the communication unit 24 connects the operation terminal 20 to the communication network N1 by wire or wirelessly, and data communication according to a predetermined communication protocol with one or more external devices such as a work vehicle 10 via the communication network N1. Is a communication interface for executing.
- the operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations.
- a display unit such as a liquid crystal display or an organic EL display that displays various information
- an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations.
- the operator can operate the operation unit to register various information (work vehicle information, field information, work information, etc., which will be described later). Further, the operator can operate the operation unit to give an automatic traveling instruction to the work vehicle 10. Further, the operator can grasp the traveling state of the working vehicle 10 that automatically travels in the field F according to the traveling routes Ra and Rb by the traveling locus displayed on the operation terminal 20 at a place away from the working vehicle 10. Is.
- the storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information.
- the storage unit 22 stores a control program for causing the operation control unit 21 to execute a predetermined control process.
- the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown) provided in the operation terminal 20, and stored in the storage unit 22. Will be done.
- the control program may be downloaded from the server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22. Further, the storage unit 22 may store the work information transmitted from the work vehicle 10.
- a dedicated application for automatically running the work vehicle 10 is installed in the storage unit 22.
- the operation control unit 21 activates the dedicated application to set various information about the work vehicle 10, generate a travel route of the work vehicle 10, and give an automatic travel instruction to the work vehicle 10.
- the operation control unit 21 has control devices such as a CPU, ROM, and RAM.
- the CPU is a processor that executes various arithmetic processes.
- the ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance.
- the RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the operation control unit 21 controls the operation terminal 20 by executing various control programs stored in advance in the ROM or the storage unit 22 on the CPU.
- various operation control units 21 include a vehicle setting processing unit 211, a field setting processing unit 212, a work setting processing unit 213, a route generation processing unit 214, an output processing unit 215, and a reception processing unit 216. Includes the processing unit of.
- the operation control unit 21 functions as the various processing units by executing various processes according to the control program on the CPU. Further, a part or all of the processing unit may be composed of an electronic circuit.
- the control program may be a program for causing a plurality of processors to function as the processing unit.
- the vehicle setting processing unit 211 sets information about the work vehicle 10 (hereinafter referred to as work vehicle information).
- the vehicle setting processing unit 211 refers to the model of the work vehicle 10, the position where the positioning antenna 164 is attached in the work vehicle 10, the type of the work machine 14, the size and shape of the work machine 14, and the work vehicle 10 of the work machine 14.
- Information such as the position, the working vehicle speed and engine rotation speed of the work vehicle 10, the turning vehicle speed and engine rotation speed of the work vehicle 10 is set by the operator performing an operation registered in the operation terminal 20. ..
- the field setting processing unit 212 sets information about the field F (hereinafter referred to as field information).
- the field setting processing unit 212 performs an operation of registering information such as the position and shape of the field F, the work start position S for starting the work, the work end position G for ending the work, and the work direction on the operation terminal 20. Set the relevant information.
- the work direction means a direction in which the work vehicle 10 is driven while working with the work machine 14 in the work area which is the area excluding the non-work area such as the headland and the non-cultivated land from the field F.
- the operator gets on the work vehicle 10 and operates so as to make one round around the outer circumference of the field F, and records the transition of the position information of the positioning antenna 164 at that time. By doing so, it can be acquired automatically. Further, the position and shape of the field F are based on a polygon obtained by the operator operating the operation terminal 20 and designating a plurality of points on the map while the map is displayed on the operation terminal 20. You can also get it.
- the region specified by the acquired position and shape of the field F is a region (traveling region) in which the work vehicle 10 can travel.
- the work setting processing unit 213 sets information (hereinafter referred to as work information) regarding how the work is concretely performed. As work information, the work setting processing unit 213 skips, which is the presence or absence of cooperative work between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, and the number of work routes to be skipped when the work vehicle 10 turns on the headland. The number, the width of the headland, the width of the non-cultivated land, etc. can be set.
- the route generation processing unit 214 generates travel routes Ra and Rb, which are routes for automatically traveling the work vehicle 10, based on the setting information.
- the travel route Ra is a work route of the work area Fa inside the field F
- the travel route Rb is a work route of the headland area Fb outside the work area Fa (see FIG. 3).
- the travel route Ra shown in FIG. 3 is a route for the work vehicle 10 to reciprocate in parallel in the work area Fa
- the travel route Rb shown in FIG. 3 is a route in which the work vehicle 10 is directed from the outside to the inside in the headland area Fb. It is a path that runs in a spiral shape.
- the work vehicle 10 cultivates the entire area in the field F.
- the route generation processing unit 214 generates and stores the travel routes Ra and Rb of the work vehicle 10 based on the setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213. can do.
- the route generation processing unit 214 generates travel routes Ra and Rb (see FIG. 3) based on the work start position S and the work end position G registered in the field setting.
- the travel routes Ra and Rb are not limited to the routes shown in FIG.
- the data of the travel paths Ra and Rb generated in the operation terminal 20 are transferred to the work vehicle 10 and stored in the storage unit 19, and the current position Pa of the work vehicle 10 is detected by the positioning antenna 164.
- the positioning antenna 164 it is configured to be able to travel autonomously along the traveling routes Ra and Rb.
- the current position Pa of the work vehicle 10 usually coincides with the position of the positioning antenna 164.
- the work vehicle 10 travels in a substantially rectangular field F as shown in FIG.
- the work vehicle 10 is configured to be able to automatically travel when the current position Pa is located inside the field F, and automatically travels when the current position Pa is located outside the field F (public road, etc.). It is configured so that it cannot be done. Further, the work vehicle 10 is configured to be able to automatically travel, for example, when the current position Pa coincides with the work start position S.
- the work vehicle 10 When the current position Pa coincides with the work start position S, the work vehicle 10 is instructed by the vehicle control device 11 to "start work" when the work start button is pressed on the operation screen by the operator.
- the work by the working machine 14 (see FIG. 2) is started. That is, the operation control unit 21 permits the automatic traveling of the work vehicle 10 on the condition that the current position Pa coincides with the work start position S.
- the conditions for permitting the automatic traveling of the work vehicle 10 are not limited to the above conditions.
- the output processing unit 215 outputs the information of the traveling routes Ra and Rb generated by the route generation processing unit 214 to the work vehicle 10. Further, the output processing unit 215 can instruct the work vehicle 10 to start and stop automatic traveling by transmitting a control signal to the work vehicle 10 via the communication unit 24. This makes it possible to automatically drive the work vehicle 10.
- the vehicle control device 11 automatically drives the work vehicle 10 from the work start position S to the work end position G based on the travel paths Ra and Rb acquired from the operation terminal 20. Further, the vehicle control device 11 may automatically travel from the work end position G to the entrance of the field F when the work vehicle 10 finishes the work.
- the operation control unit 21 can receive the state (position, traveling speed, etc.) of the work vehicle 10 from the work vehicle 10 and display it on the operation display unit 23.
- the reception processing unit 216 receives from the operator an instruction operation for starting work, an instruction operation for stopping the work of the automatically traveling work vehicle 10, and the like (stop instruction operation).
- stop instruction operation When the reception processing unit 216 receives the stop instruction operation, the output processing unit 215 outputs the stop instruction to the work vehicle 10.
- the vehicle control device 11 of the work vehicle 10 acquires the stop instruction from the operation terminal 20.
- the vehicle control device 11 stops the work and running of the work vehicle 10.
- the operation terminal 20 causes the operation terminal 20 to display the captured image captured by the camera 17 at the detection position of the obstacle B1.
- the operator can confirm on the operation terminal 20 that the work vehicle 10 has detected the obstacle B1, that the work vehicle 10 has decelerated or stopped, the state of the obstacle B1 and the like.
- the reception processing unit 216 may accept from the operator a selection operation as to whether or not the work vehicle 10 is permitted to travel on the avoidance route Rse.
- the travel processing unit 112 automatically causes the work vehicle 10 to travel on the avoidance route Rse.
- the travel processing unit 112 stops the work vehicle 10. For example, the operator confirms the captured image of the obstacle B1 on the operation terminal 20 and permits the work vehicle 10 to travel on the avoidance route Rse.
- the operation terminal 20 may be able to access the website (agricultural support site) of the agricultural support service provided by the server (not shown) via the communication network N1.
- the operation terminal 20 can function as an operation terminal of the server by executing the browser program by the operation control unit 21.
- the server includes each of the above-mentioned processing units and executes each process.
- each function of the vehicle control device 11 and the detection processing device 12 described above may be included in the operation control unit 21 of the operation terminal 20. That is, for example, the operation control unit 21 performs a process of acquiring measurement information from each obstacle sensor 18 of the work vehicle 10 to detect an obstacle, and a process of setting the avoidance start position Ps and the avoidance end position Pe of the avoidance path Rse. You may do it.
- the present invention is an invention of an automatic driving method in which the vehicle control device 11 and the detection processing device 12 execute a part or all of the automatic driving process, or a part or all of the automatic driving method is used in the vehicle control device 11. And it may be regarded as an invention of an automatic traveling program for causing the detection processing device 12 to execute. Further, one or more processors may execute the automatic driving process.
- the vehicle control device 11 receives position information (current position Pa) of the work vehicle 10 from the positioning device 16, and the detection processing device 12 measures measurement information from the obstacle sensor 18. To get.
- the automatic traveling process will be described with reference to the examples shown in FIGS. 6A and 6B.
- step S1 the detection processing device 12 detects the obstacle B1 based on the measurement information acquired from the obstacle sensor 18. Specifically, the detection processing device 12 determines whether or not the obstacle B1 is included in the detection area based on the measurement distance included in the measurement information. When the detection processing device 12 detects the obstacle B1 (S1: Yes), the processing proceeds to step S2. On the other hand, when the detection processing device 12 does not detect the obstacle B1 (S1: No), the processing proceeds to step S7.
- the detection processing device 12 outputs the detection result to the operation terminal 20.
- the operation control unit 21 acquires the result of detecting the obstacle B1 from the work vehicle 10
- the operation terminal 20 displays the captured image of the obstacle B1.
- step S2 the vehicle control device 11 acquires obstacle information. Specifically, the vehicle control device 11 is based on the measurement information, the distance from the turning center of the work vehicle 10 to the obstacle B1, the position of the obstacle B1 with respect to the field F, and the size (width) of the obstacle B1. Get information such as.
- step S3 the vehicle control device 11 determines whether or not the work vehicle 10 can turn at the turning start position P11. Specifically, the vehicle control device 11 starts turning at the turning start position P11 (see FIG. 6A) on the preset traveling path R1 and travels on the turning path Rc1 when the work vehicle 10 travels on the obstacle B1. To determine whether or not to contact.
- the process proceeds to step S31. ..
- step S31 the vehicle control device 11 turns the work vehicle 10 on the preset turning path Rc1.
- step S6 the vehicle control device 11 causes the work vehicle 10 to travel straight on the preset travel path R2. In this way, when the work vehicle 10 does not come into contact with the obstacle B1, the vehicle control device 11 automatically travels the preset travel paths R1, Rc1, and R2 without avoiding the work vehicle 10.
- step S4 when the work vehicle 10 cannot turn at the turn start position P11, that is, when the work vehicle 10 comes into contact with the obstacle B1 when traveling on the turn path Rc1 (S3: No), the process proceeds to step S4. do.
- step S4 the vehicle control device 11 sets the avoidance start position Ps and the avoidance end position Pe for traveling while avoiding the obstacle B1.
- the vehicle control device 11 includes the distance from the turning center of the work vehicle 10 to the obstacle B1, the position of the obstacle B1 with respect to the field F, and the size (width) of the obstacle B1 included in the obstacle information. ),
- the avoidance start position Ps and the avoidance end position Pe are set based on the turning radius r1 of the work vehicle 10. Further, the vehicle control device 11 sets an avoidance path Rse connecting the avoidance start position Ps and the avoidance end position Pe.
- step S5 the vehicle control device 11 turns the work vehicle 10 on the avoidance route Rse. Specifically, the vehicle control device 11 travels forward on the travel path R1 to reach the end of the field F, and then causes the travel path R1 to travel backward to the avoidance start position Ps (see FIG. 6A). .. Then, the vehicle control device 11 turns the work vehicle 10 on the avoidance path Rse from the avoidance start position Ps to the avoidance end position Pe (see FIG. 6B). After that, in step S6, the vehicle control device 11 turns the work vehicle 10 from the avoidance end position Pe to the travel path R2 and makes the work vehicle travel straight on the travel path R2. As described above, when it is determined that the work vehicle 10 comes into contact with the obstacle B1, the vehicle control device 11 temporarily causes the work vehicle 10 to travel on the avoidance route Rse that deviates from the preset travel route.
- step S7 the vehicle control device 11 determines whether or not the work vehicle 10 has completed the work.
- the work vehicle 10 finishes the work (S7: Yes)
- the automatic traveling process ends.
- the process returns to step S1. In this way, the vehicle control device 11 and the detection processing device 12 continue traveling and working until the predetermined work is completed while avoiding the obstacle B1.
- the automatic traveling system 1 when the automatic traveling system 1 according to the present embodiment detects an obstacle B1 in the traveling direction of the working vehicle 10, the starting position of the avoidance route Rse in which the working vehicle 10 avoids the obstacle B1 and travels.
- the avoidance start position Ps and the avoidance end position Pe which is the end position of the avoidance path Rse, are set.
- the automatic traveling system 1 causes the work vehicle 10 to travel on the avoidance route Rse.
- the obstacle B1 temporarily occurs after the travel paths Ra and Rb are set in the work area Fa and the headland area Fb in a state where the obstacle B1 does not exist in the field F.
- the obstacle B1 can be avoided and the traveling can be continued without stopping the automatic traveling. Therefore, it is possible to prevent a decrease in work efficiency due to the influence of the obstacle B1 in the field F.
- the obstacle B1 is often arranged near the boundary of the field F such as the headland area Fb, but according to the configuration of the present embodiment, the work vehicle 10 and the obstacle B1 are avoided even in the headland area Fb. Since the traveling can be continued, the automatic traveling can be performed in the entire area of the field F. Therefore, the work efficiency can be improved as compared with the conventional system in which only the work area Fa is automatically traveled.
- the field F is an example of the specific area of the present invention.
- the headland region Fb is an example of the first region of the present invention
- the working region Fa is an example of the second region of the present invention.
- the specific area of the present invention is not limited to the field F, and may be any area as long as the work vehicle 10 can travel.
- the first region of the present invention is not limited to the headland region Fb
- the second region of the present invention is not limited to the working region Fa.
- the first region of the present invention is a region outside the specific region (near the boundary with the outside of the specific region), and the second region of the present invention is an inner region within the specific region. May be good.
- the traveling processing unit 112 causes the work vehicle 10 to travel on the avoidance route Rse when the detection processing unit 122 detects an obstacle in the headland region Fb of the field F, and the detection processing unit 122 travels on the field F.
- the work vehicle 10 may be decelerated or stopped.
- the vehicle control device 11 sets an avoidance route Rse (avoidance start position Ps and avoidance end position Pe) for avoiding the obstacle B1 when the work vehicle 10 detects the obstacle B1 during automatic traveling. is doing.
- the operation control unit 21 (route generation processing unit 214) sets the avoidance route Rse (avoidance start position Ps and avoidance end position Pe) in the process of generating a traveling route for automatic traveling. You may.
- the operation control unit 21 starts from the work vehicle 10.
- Information on the position and shape of the field F and measurement information on the obstacle B1 (position, size, etc. of the obstacle B1) are acquired.
- the operation control unit 21 generates the travel paths Ra and Rb of the work vehicle 10 based on the setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213, and also causes an obstacle.
- the avoidance route Rse of the work vehicle 10 is generated based on the measurement information of the object B1.
- the operation control unit 21 transfers the data of the traveling route Ra, Rb and the avoidance route Rse to the work vehicle 10.
- the work vehicle 10 autonomously travels in the field F along the travel paths Ra, Rb and the avoidance route Rse acquired from the operation terminal 20.
- the work vehicle 10 is configured to automatically travel along the travel path Rb generated for the headland region Fb, but as another embodiment, the work vehicle 10 is configured.
- the headland area Fb may be automatically traveled along the ridge at the boundary of the field F.
- the work vehicle 10 can automatically travel based on the position information of the ridges acquired from the obstacle sensor 18. Even in such a case, by applying the present invention, it is possible to reduce the unworked area in the headland area, so that it is possible to prevent a decrease in work efficiency.
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Abstract
Description
図1及び図2に示すように、作業車両10は、車両制御装置11、検出処理装置12、走行装置13、作業機14、通信部15、測位装置16、カメラ17、障害物センサ18、記憶部19などを備える。車両制御装置11は、走行装置13、作業機14、及び測位装置16などに電気的に接続されている。なお、車両制御装置11及び測位装置16は、無線通信可能であってもよい。また、カメラ17及び障害物センサ18は、検出処理装置12に電気的に接続されている。
Lth=r1+L2+L3/2
図1に示すように、操作端末20は、操作制御部21、記憶部22、操作表示部23、及び通信部24などを備える情報処理装置である。操作端末20は、タブレット端末、スマートフォンなどの携帯端末で構成されてもよい。
以下、図11を参照しつつ、車両制御装置11及び検出処理装置12によって実行される前記自動走行処理の一例について説明する。例えば、前記自動走行処理は、作業車両10が自動走行を開始した場合に車両制御装置11及び検出処理装置12によって開始される。
Claims (11)
- 特定領域内において作業車両を自動走行させる自動走行方法であって、
前記作業車両の進行方向の障害物を検出することと、
前記作業車両が前記障害物を回避して走行する回避経路の開始位置である回避開始位置と当該回避経路の終了位置である回避終了位置とを設定することと、
前記障害物が検出された場合に、前記作業車両を前記回避経路を走行させることと、
を実行する自動走行方法。 - 前記作業車両の旋回半径に基づいて前記回避開始位置及び前記回避終了位置を設定する、
請求項1に記載の自動走行方法。 - 前記作業車両が予め設定された走行経路を走行中に当該走行経路上に存在する前記障害物を検出した場合に、前記作業車両の旋回半径に基づいて前記回避開始位置及び前記回避終了位置を設定する、
請求項1に記載の自動走行方法。 - 前記走行経路に含まれる旋回経路上に前記障害物が存在する場合に、当該走行経路上における当該旋回経路に接続する旋回開始位置よりも進行方向手前側に前記回避開始位置を設定する、
請求項3に記載の自動走行方法。 - 前記障害物が検出された場合に前記作業車両を前記回避経路を走行させ、前記障害物が検出されない場合に前記作業車両を前記旋回経路を走行させる、
請求項4に記載の自動走行方法。 - 予め設定された走行経路に含まれる直進経路上に前記障害物が存在する場合に、前記回避経路は、前記作業車両が前記障害物の側方を通過する位置において前記直進経路に平行な平行経路を含む、
請求項1~3のいずれかに記載の自動走行方法。 - 前記障害物から進行方向側の前記特定領域の端部までの距離と、前記作業車両の旋回半径とに基づいて、前記回避終了位置を前記直進経路上又は前記平行経路上に設定する、
請求項6に記載の自動走行方法。 - 前記距離と前記旋回半径と作業機の幅の半分の長さとを合計した合計値が閾値以下の場合に、前記平行経路上に前記回避終了位置を設定し、前記合計値が前記閾値を超える場合に、前記直進経路上に前記回避終了位置を設定する、
請求項7に記載の自動走行方法。 - 前記特定領域内の第1領域において前記障害物を検出した場合に前記作業車両を前記回避経路を走行させ、前記特定領域内の第2領域において前記障害物を検出した場合に前記作業車両を減速又は停止させる、
請求項1~8のいずれかに記載の自動走行方法。 - 特定領域内において作業車両を自動走行させる自動走行システムであって、
前記作業車両の進行方向の障害物を検出する検出処理部と、
前記作業車両が前記検出処理部により検出される前記障害物を回避して走行する回避経路の開始位置である回避開始位置と当該回避経路の終了位置である回避終了位置とを設定する回避設定処理部と、
前記検出処理部により前記障害物が検出された場合に、前記作業車両を前記回避経路を走行させる走行処理部と、
を備える自動走行システム。 - 特定領域内において作業車両を自動走行させる自動走行プログラムであって、
前記作業車両の進行方向の障害物を検出することと、
前記作業車両が前記障害物を回避して走行する回避経路の開始位置である回避開始位置と当該回避経路の終了位置である回避終了位置とを設定することと、
前記障害物が検出された場合に、前記作業車両を前記回避経路を走行させることと、
を一又は複数のプロセッサーに実行させるための自動走行プログラム。
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JP2017204061A (ja) * | 2016-05-10 | 2017-11-16 | ヤンマー株式会社 | 自律走行経路生成システム |
JP2018147421A (ja) | 2017-03-09 | 2018-09-20 | ヤンマー株式会社 | 経路生成システム |
JP2019101931A (ja) * | 2017-12-06 | 2019-06-24 | ヤンマー株式会社 | 走行経路設定装置 |
CN112015176A (zh) * | 2020-08-14 | 2020-12-01 | 合肥工业大学 | 一种无人驾驶拖拉机田间作业路径规划方法和装置 |
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2020
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2021
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JPH0994006A (ja) * | 1995-09-29 | 1997-04-08 | Matsushita Electric Ind Co Ltd | 無人農作業装置 |
JP2017204061A (ja) * | 2016-05-10 | 2017-11-16 | ヤンマー株式会社 | 自律走行経路生成システム |
JP2018147421A (ja) | 2017-03-09 | 2018-09-20 | ヤンマー株式会社 | 経路生成システム |
JP2019101931A (ja) * | 2017-12-06 | 2019-06-24 | ヤンマー株式会社 | 走行経路設定装置 |
CN112015176A (zh) * | 2020-08-14 | 2020-12-01 | 合肥工业大学 | 一种无人驾驶拖拉机田间作业路径规划方法和装置 |
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