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WO2018159262A1 - Système de transfert d'informations d'itinéraire - Google Patents

Système de transfert d'informations d'itinéraire 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
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Application number
PCT/JP2018/004597
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English (en)
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
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Publication of WO2018159262A1 publication Critical patent/WO2018159262A1/fr

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219Control 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
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00Steering 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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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention transfère efficacement des informations d'itinéraire concernant un itinéraire de déplacement autonome d'un terminal de communication sans fil vers un véhicule de travail, ce qui permet de démarrer sans à-coups le déplacement autonome d'un véhicule de travail. La présente invention est caractérisée en ce que le terminal de communication sans fil est apte à générer, en tant qu'informations d'itinéraire, des informations d'itinéraire de base comprenant des informations d'identification de l'itinéraire de déplacement autonome et des informations d'itinéraire individuel comprenant des informations détaillées d'un itinéraire individuel compris dans l'itinéraire de déplacement autonome, et en ce que, avant que le véhicule de travail commence son déplacement autonome, le terminal de communication sans fil transmet, au véhicule de travail, des informations de transfert initiales G1 qui comprennent les informations d'itinéraire de base et qui présentent une plus petite quantité d'informations que la quantité totale d'informations des informations d'itinéraire.
PCT/JP2018/004597 2017-03-03 2018-02-09 Système de transfert d'informations d'itinéraire WO2018159262A1 (fr)

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JP2017-040431 2017-03-03
JP2017040431A JP6964417B2 (ja) 2017-03-03 2017-03-03 経路情報転送システム

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JP7527242B2 (ja) * 2021-04-12 2024-08-02 株式会社クボタ 自動走行可能な作業機

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JPH09120313A (ja) * 1995-10-24 1997-05-06 Kubota Corp 作業車の誘導制御装置
JP2003057058A (ja) * 2001-05-09 2003-02-26 Robert Bosch Gmbh 車両用ナビゲーションシステムの作動方法及びナビゲーションシステム
WO2015119263A1 (fr) * 2014-02-06 2015-08-13 ヤンマー株式会社 Procédé de définition de trajet de déplacement de véhicule de travail à déplacement autonome
JP2016156769A (ja) * 2015-02-26 2016-09-01 アイシン・エィ・ダブリュ株式会社 経路探索システム、方法およびプログラム
JP2017046270A (ja) * 2015-08-28 2017-03-02 株式会社Ihi 中継サーバ、中継方法、および中継プログラム

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DE19629618A1 (de) * 1996-07-23 1998-01-29 Claas Ohg Routenplanungssystem für landwirtschaftliche Arbeitsfahrzeuge
US9824596B2 (en) * 2013-08-30 2017-11-21 Insitu, Inc. Unmanned vehicle searches

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Publication number Priority date Publication date Assignee Title
JPH09120313A (ja) * 1995-10-24 1997-05-06 Kubota Corp 作業車の誘導制御装置
JP2003057058A (ja) * 2001-05-09 2003-02-26 Robert Bosch Gmbh 車両用ナビゲーションシステムの作動方法及びナビゲーションシステム
WO2015119263A1 (fr) * 2014-02-06 2015-08-13 ヤンマー株式会社 Procédé de définition de trajet de déplacement de véhicule de travail à déplacement autonome
JP2016156769A (ja) * 2015-02-26 2016-09-01 アイシン・エィ・ダブリュ株式会社 経路探索システム、方法およびプログラム
JP2017046270A (ja) * 2015-08-28 2017-03-02 株式会社Ihi 中継サーバ、中継方法、および中継プログラム

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