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WO2018105400A1 - Système de génération de trajectoire - Google Patents

Système de génération de trajectoire Download PDF

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Publication number
WO2018105400A1
WO2018105400A1 PCT/JP2017/041981 JP2017041981W WO2018105400A1 WO 2018105400 A1 WO2018105400 A1 WO 2018105400A1 JP 2017041981 W JP2017041981 W JP 2017041981W WO 2018105400 A1 WO2018105400 A1 WO 2018105400A1
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WO
WIPO (PCT)
Prior art keywords
fuel
route
autonomous
fuel supply
start position
Prior art date
Application number
PCT/JP2017/041981
Other languages
English (en)
Japanese (ja)
Inventor
敏史 平松
Original Assignee
ヤンマー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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 WO2018105400A1 publication Critical patent/WO2018105400A1/fr

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Classifications

    • 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
    • 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

Definitions

  • the present invention relates to a route generation system. Specifically, the present invention relates to a route generation system that generates a route for autonomously traveling a vehicle body.
  • Patent Document 1 discloses this type of route generation system.
  • the automatic traveling machine (body portion) includes a controller (control unit), a GPS receiver (positioning system), and various sensors, and is autonomous. Has the ability to travel.
  • the automatic traveling machine is manually operated in the work target area (traveling area), and at the same time, positioning is performed using GPS, and the positioning data is taken into the storage medium.
  • This positioning data is processed by an off-line personal computer to create terrain data and obstacle data to obtain map data.
  • a travel route path (travel route) and operation data of the automatic traveling machine are created and supplied to the controller of the automatic traveling machine via a recording medium.
  • this configuration allows the automatic traveling machine to autonomously travel along a movement path path generated in advance.
  • the present invention has been made in view of the above circumstances, and an object thereof is to provide a route generation system capable of performing route generation in consideration of fuel supply.
  • the route generation system includes a route generation unit, an acquisition unit, a determination unit, and a fuel supply position setting unit.
  • the route generation unit can generate an autonomous traveling route in which autonomous traveling is performed by the vehicle body within a preset traveling region.
  • the acquisition unit acquires the amount of fuel held by the vehicle body.
  • the determination unit determines whether or not the autonomous traveling on the autonomous traveling route can be completed based on the amount of fuel held.
  • the fuel supply position setting unit sets a fuel supply position that is a fuel supply position in the travel region.
  • the route generation unit sets a fuel replenishment start position on the autonomous traveling route and moves from the fuel replenishment start position to the fuel replenishment position.
  • a refueling route can be generated.
  • the route generation unit may complete autonomous traveling from the fuel supply start position to the fuel supply position on the fuel supply route based on the amount of fuel held.
  • the fuel supply start position is set so that it can be performed.
  • the fuel supply start position which is the start position of the fuel supply route, is set in consideration of the fuel required for autonomous travel in the forward direction of the fuel supply route. There is no possibility of running out of fuel in the middle of the route, and it is possible to reliably travel autonomously to the refueling position.
  • the position on the autonomous travel route when the possessed amount is equal to or less than the reference amount is specified as the reachable position, and the fuel supply start position is set upstream of the autonomous travel route from the reachable position.
  • the route generation unit is configured to supply fuel necessary for traveling from the fuel supply start position to the fuel supply position when it is assumed that the fuel supply route has the maximum route length. It is preferable to calculate the maximum required fuel amount as the reference amount.
  • the acquisition unit acquires the possessed amount regularly or irregularly during autonomous traveling on the autonomous traveling route.
  • the reachable position specified based on the newly acquired possession amount is located on the upstream side or the downstream side of the autonomous travel route from the reachable position specified previously.
  • the fuel supply start position is corrected, and a corrected fuel supply path from the corrected fuel supply start position to the fuel supply position can be generated.
  • the route generation unit is capable of maintaining autonomous travel according to the possessed amount for the first distance from the fuel supply start position to the fuel supply position.
  • the fuel supply start position is set to be shorter than the distance 2 by a predetermined distance or more.
  • the acquisition unit acquires the possessed amount regularly or irregularly during autonomous traveling on the autonomous traveling route.
  • the route generation unit may be configured such that the difference between the first distance and the second distance is longer than a first threshold distance that is longer than the predetermined distance, or is shorter than a second threshold distance that is shorter than the predetermined distance.
  • the route generation system includes a work machine that is attached to the vehicle body and holds materials and performs autonomous work in the traveling area.
  • the said acquisition part can acquire the possession amount of the material which the said working machine holds.
  • the determination unit can determine whether or not autonomous work in the traveling area can be completed based on a holding amount of the material.
  • the route generation unit is determined by the determination unit to be unable to complete either autonomous running or autonomous work, and the material runs short of the fuel earlier than the fuel in the autonomous running route, Based on the holding amount of the material, autonomous running and autonomous work up to the refueling start position, and autonomous running from the refueling start position to the refueling position in the refueling route can be completed.
  • the fuel replenishment start position is set.
  • the route generation unit is determined by the determination unit to be unable to complete either autonomous traveling or autonomous work, and the previous fuel is insufficient in the autonomous traveling route.
  • the shortage of the material farthest from the fuel replenishment start position set in conjunction with the previous shortage of fuel It is preferable to set the next fuel supply start position at a position common to the set material supply start position.
  • the fuel replenishment start position and the material replenishment start position can be made a common position, and fuel replenishment and material replenishment can be performed efficiently.
  • the route generation system includes a route generation unit, an acquisition unit, a determination unit, and a replenishment position setting unit.
  • the route generation unit can generate an autonomous traveling route in which autonomous traveling is performed by the vehicle body within a preset traveling region.
  • the acquisition unit is attached to the vehicle body unit, and acquires the amount of material held by a work implement that performs autonomous work in the traveling area.
  • the determination unit determines whether or not autonomous work on the autonomous travel route can be completed based on the amount of the material.
  • the replenishment position setting unit sets a material replenishment position that is a material replenishment position in the travel region.
  • the route generation unit sets a material supply start position on the autonomous traveling route and moves from the material supply start position to the material supply position. It is possible to generate a material supply route to reach.
  • the route generation unit sets the material replenishment start position based on the amount of the material held.
  • FIG. 1 is a side view showing an overall configuration of a robot tractor that autonomously travels along a route generated by a route generation system according to an embodiment of the present invention.
  • the block diagram which shows the main electrical structures of a robot tractor and a radio
  • the schematic diagram which shows the example of the autonomous running route which a route generation system produces
  • route in 1st Embodiment. 12 is a flowchart showing the continuation of the process of FIG.
  • route length from a fuel supply start position to the fuel supply position becomes the longest is assumed.
  • route The flowchart which shows the continuation of the process of FIG. FIG.
  • FIG. 20 is a flowchart showing the continuation of the process of FIG. 19.
  • FIG. 22 is a diagram illustrating an example in which it is determined that the tractor cannot reach the fuel supply position at the temporary fuel supply start position in FIG. 21 and the temporary fuel supply start position is changed to the upstream side.
  • the figure explaining a mode that the fuel supply start position and fuel supply end position of a fuel supply path
  • the figure which shows the example of a display of the monitoring screen displayed on the display of a radio
  • the present invention provides a route for generating a travel route for traveling a work vehicle when one or a plurality of work vehicles are traveled in a predetermined field and all or part of the farm work is performed in the field. It relates to the generation system.
  • a tractor will be described as an example of a work vehicle.
  • a padded work machine such as a rice transplanter, a combiner, a civil engineering / construction work device, a snowplow, a walking work A machine is also included.
  • autonomous traveling means that the configuration related to traveling provided by the tractor is controlled by a control unit (ECU) provided in the tractor, and the tractor travels along a predetermined route.
  • ECU control unit
  • control unit included in the tractor controls the configuration related to the work included in the tractor, and the tractor performs the work along a predetermined route.
  • manual running / manual work means that each component provided in the tractor is operated by the user to run / work.
  • a tractor that autonomously travels and works autonomously may be referred to as an “unmanned tractor” or a “robot tractor”, and a tractor that travels manually and is manually operated is referred to as a “manned tractor”.
  • an unmanned tractor or a “robot tractor”
  • a tractor that travels manually and is manually operated is referred to as a “manned tractor”.
  • manned tractor Sometimes.
  • Performing farm work in a single farm with unmanned tractors and manned tractors may be referred to as cooperative work of farm work, follow-up work, accompanying work, and the like.
  • the difference between an unmanned tractor and a manned tractor is the presence or absence of an operation by a user, and each configuration is basically common.
  • the user can board (ride) and operate (that is, it can be used as a manned tractor), or even if it is a manned tractor, the user gets off and autonomously travels. It can be operated autonomously (that is, it can be used as an unmanned tractor).
  • cooperative work of farm work in addition to “execution of farm work in a single farm field with unmanned vehicles and manned vehicles”, “farm work in different farm fields such as adjacent farm fields can be performed at the same time. "Execution” may be included.
  • FIG. 1 is a side view showing an overall configuration of a robot tractor 1 that autonomously travels along a route generated by the route generation system 99 according to the first embodiment of the present invention.
  • FIG. 2 is a plan view of the robot tractor 1.
  • FIG. 3 is a diagram illustrating a wireless communication terminal 46 that is operated by a user and can wirelessly communicate with the robot tractor 1.
  • FIG. 4 is a block diagram showing main electrical configurations of the robot tractor 1 and the wireless communication terminal 46.
  • the route generation system 99 according to the first embodiment of the present invention generates an autonomous travel route that travels when the robot tractor 1 shown in FIG.
  • the main configuration of the route generation system 99 is provided in the wireless communication terminal 46 for wireless communication with the robot tractor 1.
  • tractor 1 a robot tractor (hereinafter sometimes simply referred to as “tractor”) 1 will be described with reference mainly to FIG. 1 and FIG.
  • the tractor 1 includes a traveling machine body 2 as a vehicle body that autonomously travels in a field area as a traveling area.
  • various working machines such as a tiller (management machine), a plow, a fertilizer machine, a mowing machine, and a sowing machine can be selected and mounted on the traveling machine body 2.
  • the working machine As shown in FIG.
  • the traveling machine body 2 is configured to be able to change the height and posture of the mounted work machine (fertilizer 3).
  • the traveling machine body 2 of the tractor 1 is supported at its front part by a pair of left and right front wheels 7 and 7 and at its rear part by a pair of left and right rear wheels 8 and 8.
  • a bonnet 9 is arranged at the front of the traveling machine body 2.
  • the bonnet 9 accommodates an engine 10 that is a drive source of the tractor 1, a fuel tank (not shown), and the like.
  • this engine 10 can be comprised, for example with a diesel engine, it is not restricted to this, For example, you may comprise with a gasoline engine.
  • an electric motor may be employed as a drive source in addition to or instead of the engine 10.
  • the fuel tank may be disposed outside the bonnet 9.
  • a cabin 11 for the user to board is arranged behind the hood 9. Inside the cabin 11, there are mainly provided a steering handle 12 for a user to steer, a seat 13 on which a user can be seated, and various operation devices for performing various operations.
  • the work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.
  • the monitor device 14 shown in FIG. 2 the throttle lever 15, the main transmission lever 27, the plurality of hydraulic operation levers 16, the PTO switch 17, the PTO transmission lever 18, the auxiliary transmission lever 19, and the work equipment lift switch 28 etc. can be mentioned as an example.
  • These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.
  • the monitor device 14 is configured to display various information of the tractor 1.
  • the throttle lever 15 is an operating tool for setting the output rotational speed of the engine 10.
  • the main transmission lever 27 is an operating tool for changing the traveling speed of the tractor 1 in a stepless manner.
  • the hydraulic operation lever 16 is an operation tool for switching and operating a hydraulic external take-off valve (not shown).
  • the PTO switch 17 is an operating tool for switching the transmission / cut-off of power to a PTO shaft (power transmission shaft) (not shown) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates.
  • the PTO speed change lever 18 is an operating tool for performing a speed change operation of the rotational speed of the PTO shaft.
  • the auxiliary transmission lever 19 is an operating tool for switching the gear ratio of the traveling auxiliary transmission gear mechanism in the transmission 22.
  • the work implement lifting switch 28 is an operating tool for raising and lowering the height of the work implement (fertilizer 3) mounted on the traveling machine body 2 within a predetermined range.
  • a chassis 20 of the tractor 1 is provided at the lower part of the traveling machine body 2.
  • the chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.
  • the fuselage frame 21 is a support member at the front portion of the tractor 1 and supports the engine 10 directly or via a vibration isolation member.
  • the transmission 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24.
  • the front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7.
  • the rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheel 8.
  • the fertilizer application device 3 includes a fertilizer tank 29 that can store a fertilizer (material), a feeding unit 25 that feeds the fertilizer supplied from the fertilizer tank 29, and a rotatable pressure reducing wheel 26 that suppresses soil.
  • the feeding unit 25 and the pressure-reducing wheel 26 are arranged in a plurality (four in this embodiment) in the width direction of the traveling machine body 2, and the fertilizer stored in the fertilizer tank 29 is distributed to the plurality of feeding units 25. Supplied.
  • each feeding portion 25 includes a rotatable roll-shaped member that is not shown, and a plurality of small concave portions that can accommodate granular fertilizer are formed side by side on the outer peripheral surface of the roll-shaped member. ing.
  • the roll member is connected to the pressure reducing wheel 26 by a chain or the like.
  • the tractor 1 includes an operation of the traveling machine body 2 (forward, reverse, stop, turn, etc.) and an operation of the work machine (fertilizer 3 in this embodiment) (elevation, drive, stop, etc.).
  • the control part 4 for controlling is provided.
  • the control unit 4 includes a CPU, a ROM, a RAM, an I / O, and the like (not shown), and the CPU can read various programs from the ROM and execute them.
  • the controller 4 is electrically connected to a controller for controlling each component (for example, the engine 10 and the like) included in the tractor 1 and a wireless communication unit 40 that can wirelessly communicate with other wireless communication devices. ing.
  • the tractor 1 includes at least an unillustrated engine controller, vehicle speed controller, steering controller, and elevator controller. Each controller can control each component of the tractor 1 in accordance with an electrical signal from the control unit 4.
  • the engine controller controls the rotational speed of the engine 10 and the like.
  • the engine 10 is provided with a governor device 41 including an unillustrated actuator that changes the rotational speed of the engine 10.
  • the engine controller can control the rotational speed of the engine 10 by controlling the governor device 41.
  • the engine 10 is provided with a fuel injection device that adjusts the injection timing and the injection amount of fuel to be injected (supplied) into the combustion chamber of the engine 10.
  • the engine controller can stop the supply of fuel to the engine 10 and stop the driving of the engine 10 by controlling the fuel injection device.
  • the vehicle speed controller controls the vehicle speed of the tractor 1.
  • the transmission 22 is provided with a transmission 42 which is, for example, a movable swash plate type hydraulic continuously variable transmission.
  • the vehicle speed controller can change the gear ratio of the transmission 22 and change to the desired vehicle speed by changing the angle of the swash plate of the transmission 42 with an actuator (not shown).
  • the steering controller controls the turning angle of the steering handle 12. Specifically, a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering handle 12.
  • the control unit 4 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. Then, a control signal is transmitted to the steering controller so that the obtained rotation angle is obtained.
  • the steering controller drives the steering actuator 43 based on the control signal input from the control unit 4 and controls the rotation angle of the steering handle 12.
  • the steering controller may adjust the steering angle of the front wheel 7 of the tractor 1 instead of adjusting the rotation angle of the steering handle 12. In that case, the steering handle 12 does not rotate even if the vehicle turns.
  • the elevating controller controls the elevating of the work machine (fertilizer 3).
  • the tractor 1 includes an elevating actuator 44 composed of a hydraulic cylinder or the like in the vicinity of a three-point link mechanism that connects the fertilizer application device 3 to the traveling machine body 2.
  • the elevating controller drives the elevating actuator 44 based on the control signal input from the control unit 4 to appropriately elevate the fertilizer application device 3, thereby allowing the fertilizer application device 3 to perform the agricultural work ( Fertilization work).
  • the fertilizer application device 3 can be supported at a desired height such as a retreat height (a height at which farm work is not performed) and a work height (a height at which farm work is performed).
  • the plurality of controllers (not shown) control each part of the engine 10 and the like based on a signal input from the control part 4, so that the control part 4 substantially controls each part. I can grasp it.
  • the tractor 1 including the control unit 4 as described above controls various parts of the tractor 1 (the traveling machine body 2, the fertilizer application 3 and the like) by the control unit 4 when the user gets into the cabin 11 and performs various operations.
  • the farm work can be performed while traveling in the field.
  • the tractor 1 of the present embodiment can be autonomously run and operated by various control signals output from the wireless communication terminal 46 without the user getting on the tractor 1.
  • the tractor 1 has various configurations for enabling autonomous running and autonomous work.
  • the tractor 1 includes a positioning antenna 6 and the like necessary for acquiring position information of itself (the traveling machine body 2) based on the positioning system.
  • the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel on the field (within the travel region).
  • the tractor 1 of the present embodiment includes a positioning antenna 6, a wireless communication antenna 48, various sensors, a storage unit 55, and the like.
  • the tractor 1 is provided with an unillustrated inertial measurement unit (IMU) that can specify the posture (roll angle, pitch angle, yaw angle) of the traveling machine body 2.
  • IMU inertial measurement unit
  • the positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is attached to the upper surface of the roof 5 provided in the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information calculation unit 49 shown in FIG. The position information calculation unit 49 calculates the position information of the traveling machine body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as latitude / longitude information, for example. The position information calculated by the position information calculation unit 49 is stored in the storage unit 55, read out by the control unit 4 in a timely manner, and used for autonomous running.
  • GNSS satellite positioning system
  • a high-accuracy satellite positioning system using the GNSS-RTK method is used.
  • the present invention is not limited to this, and other positioning systems can be used as long as high-precision position coordinates can be obtained. May be.
  • DGPS relative positioning method
  • SBAS geostationary satellite type satellite navigation augmentation system
  • the wireless communication antenna 48 receives a signal from the wireless communication terminal 46 operated by the user or transmits a signal to the wireless communication terminal 46. As shown in FIG. 1, the radio communication antenna 48 is attached to the upper surface of the roof 5 provided in the cabin 11 of the tractor 1. A signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is subjected to signal processing by the wireless communication unit 40 shown in FIG. 4 and input to the control unit 4. A signal transmitted from the control unit 4 to the wireless communication terminal 46 is subjected to signal processing by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.
  • the fuel remaining amount sensor 51 detects the remaining amount of fuel in a fuel tank (not shown) mounted on the traveling machine body 2 and detects, for example, the level of the fuel level in the fuel tank.
  • the remaining fuel sensor 51 detects the remaining amount of fuel in the fuel tank regularly or irregularly after the tractor 1 starts autonomous traveling, and transmits the detection result to the wireless communication terminal 46.
  • the vehicle speed sensor 52 detects the vehicle speed of the tractor 1 and is provided on the axle between the front wheels 7 and 7, for example.
  • the rotational speed sensor 53 detects the rotational speed of the engine 10 (engine rotational speed), and is provided, for example, on the crankshaft of the engine 10.
  • the load sensor 54 detects the load of the engine 10 (engine load).
  • the load sensor 54 of this embodiment estimates and detects the load by detecting the accelerator opening of the engine 10.
  • the fertilizer remaining amount sensor 30 can detect the remaining amount of fertilizer stored in the fertilizer tank 29, in other words, the amount of fertilizer that can be used by the tractor 1 when performing work using the fertilizer application device 3.
  • This fertilizer residual amount sensor 30 can be configured as a weight sensor, for example.
  • Detection results obtained by various sensors such as the remaining fuel sensor 51, the vehicle speed sensor 52, the rotation speed sensor 53, the load sensor 54, and the fertilizer remaining amount sensor 30 are subjected to signal processing by the wireless communication unit 40, and then wireless communication is performed. Is transmitted from the antenna 48 to the wireless communication terminal 46.
  • the wireless communication terminal 46 can display the received detection result on the display 37. Further, the wireless communication terminal 46 can generate a route (autonomous travel route) on which the tractor 1 travels in consideration of the received detection result (information such as the remaining amount of fuel).
  • the storage unit 55 stores a route for causing the tractor 1 to autonomously travel, stores a transition (traveling locus) of the position of the tractor 1 (strictly speaking, the positioning antenna 6) during autonomous traveling, and detection results of various sensors. Or a memory for storing In addition, the storage unit 55 stores various information necessary for the tractor 1 to autonomously travel and work.
  • the wireless communication terminal 46 is configured as a tablet personal computer as shown in FIG.
  • the user can confirm by referring to information (for example, information from various sensors attached to the tractor 1) displayed on the display 37 of the wireless communication terminal 46 outside the tractor 1, for example. Further, the user operates the hardware key 38 disposed in the vicinity of the display 37 and the touch panel 39 disposed so as to cover the display 37 to control the tractor 1 with the control unit 4 of the tractor 1.
  • the control signal can be transmitted.
  • the control signal output from the wireless communication terminal 46 to the control unit 4 includes a signal related to the route of autonomous running / autonomous work, a start signal of autonomous running / autonomous work, a stop signal, an end signal, an emergency stop signal, and a temporary stop. A signal, a restart signal after a temporary stop, and the like are conceivable, but not limited thereto.
  • the wireless communication terminal 46 is not limited to a tablet-type personal computer, but can be configured by, for example, a notebook-type personal computer.
  • the monitor device 14 mounted on the manned tractor can be a wireless communication terminal.
  • the tractor 1 configured as described above is based on an instruction from a user using the wireless communication terminal 46, while the traveling machine body 2 autonomously travels along a path on the field that has been created in advance, ) Fertilization work (agricultural work) according to 3 can be performed.
  • the user performs a straight or broken line-like autonomous work path (a linear path on which autonomous work is performed) P1 and the autonomous work path P1. It is possible to generate an autonomous traveling route P as a series of routes in which arc-shaped connecting paths (turning circuits in which turning and turning operations are performed) P2 connecting ends are alternately connected.
  • FIG. 5 is a schematic diagram illustrating an example of the autonomous traveling route P generated by the route generating system 99.
  • a headland and a non-cultivated land which are non-working areas in which work by the fertilizer application device 3 is not performed, are set in the farm field (running area).
  • the area excluding the non-work area becomes the work area.
  • a plurality of the autonomous work paths P1, P1,... Are arranged side by side in the work area, and the connection paths P2, P2,... Are generated so as to be arranged on a headland that is a non-work area.
  • a region combining the non-working region and the working region is referred to as a “traveling region”.
  • the control unit 4 controls the tractor 1 so that the tractor 1 is moved along the autonomous travel route P. While traveling autonomously, it is possible to perform farming work by the fertilizer application device 3 along the autonomous work path P1.
  • radio communication terminal 46 including the main components of the route generation system 99 according to the embodiment of the present invention will be described in more detail with reference mainly to FIG.
  • the wireless communication terminal 46 of the present embodiment includes a display control unit 31, a field shape acquisition unit 33 as main components, in addition to the display 37, the hardware key 38, and the touch panel 39.
  • the display control unit 31 creates display data to be displayed on the display 37, and performs control to switch the display screen appropriately.
  • the display control unit 31 can generate an input selection screen 60 as an initial screen (menu screen) shown in FIG. 6 and display it on the display 37.
  • the display control unit 31 when a predetermined operation is performed on the input selection screen 60, the display control unit 31 generates each input screen 70, 80, 90 (see FIGS. 7 to 9) described later, and displays the display screen on the display 37. Can be switched to the input screens 70, 80, 90.
  • the field shape acquisition unit 33 shown in FIG. 4 acquires the shape of the field by, for example, rotating the tractor 1 once along the outer periphery of the field and recording the transition of the position of the positioning antenna 6 at that time. It is.
  • the field shape acquired by the field shape acquisition unit 33 is stored in the storage unit 32.
  • the method of acquiring the shape of the field is not limited to this. For example, instead of this, the position information of the corners of the field is recorded, and a line graph connecting the recorded points does not intersect with a so-called closed graph.
  • the identified polygon may be acquired as the shape of the field.
  • the route generation unit 35 generates a route to be input (transmitted) to the tractor 1.
  • the route generation unit 35 of the present embodiment generates an autonomous travel route P that causes the tractor 1 to travel autonomously.
  • the route generation unit 35 inputs work vehicle information, farm field information, and work information, which will be described later, and automatically generates an autonomous travel route P when a predetermined operation is performed.
  • the route generation unit 35 generates (calculates) a fuel supply route Q according to the determination result of the determination unit 58 when necessary.
  • the generated autonomous traveling route P and refueling route Q are stored in the storage unit 32.
  • the work vehicle information setting unit 36 receives work vehicle information (information on the traveling machine body 2 and the fertilizer application device 3) input on a work vehicle information input screen described later.
  • the work vehicle information set by the work vehicle information setting unit 36 is stored in the storage unit 32.
  • the farm field information setting unit 45 receives farm field information (information about farm fields) input on a farm field information input screen 80 described later.
  • the field information set by the field information setting unit 45 is stored in the storage unit 32.
  • the work information setting unit 47 receives work information (information related to work modes and the like) input on a work information input screen 90 described later.
  • the work information set by the work information setting unit 47 is stored in the storage unit 32.
  • the replenishment position setting unit 56 receives information on a fuel replenishment position input to a replenishment position setting window 91 described later.
  • the fuel replenishment position is a position where fuel is replenished, and is a position where a tank or the like (container) containing fuel for replenishment for preventing fuel exhaustion is disposed in advance.
  • the refueling position is normally set at a position near the road or the like at the end of the field. As a result, the tank containing the fuel can be easily carried to the vicinity of the field by, for example, a truck and can be installed at the fuel supply position.
  • the acquisition unit 57 acquires the remaining amount of fuel in the fuel tank, in other words, the amount of fuel held by the traveling machine body 2 based on the detection value received from the fuel remaining amount sensor 51.
  • the determination unit 58 determines whether or not the traveling machine body 2 can complete the autonomous traveling on the autonomous traveling route P based on the fuel holding amount acquired by the acquiring unit 57. As will be described in detail later, according to the determination result of the determination unit 58, the route generation unit 35 generates a fuel supply route Q when necessary.
  • the storage unit 32 includes a non-volatile memory (for example, a flash ROM).
  • the work information set by the information setting unit 47, the fuel supply position information set by the supply position setting unit 56, and the like can be stored.
  • the storage unit 32 can store information on the autonomous traveling route P and the fuel supply route Q generated by the route generating unit 35 and the like.
  • FIG. 6 is a diagram illustrating a display example of the input selection screen 60 on the display 37 of the wireless communication terminal 46.
  • FIG. 7 is a diagram illustrating a display example of the work vehicle information input screen 70 on the display 37 of the wireless communication terminal 46.
  • FIG. 8 is a diagram illustrating a display example of the field information input screen 80 on the display 37 of the wireless communication terminal 46.
  • FIG. 9 is a diagram illustrating a display example of the work information input screen 90 on the display 37 of the wireless communication terminal 46.
  • FIG. 10 is a diagram showing a display example of a replenishment position setting window 91 for setting a fuel replenishment position displayed on the display 37 of the wireless communication terminal 46.
  • the input selection screen 60 includes a work vehicle information input operation unit 61, a field information input operation unit 62, a work information input operation unit 63, a travel route generation / transfer operation unit 64, and a farm work start operation unit 65. Mainly displayed.
  • buttons are all virtual buttons displayed on the display 37 and can be operated by the user touching the position of the touch panel 39 corresponding to the display area of the buttons with a finger or the like. Means things.
  • the user operates the work vehicle information input operation unit 61 on the input selection screen 60 in order to input work vehicle information.
  • the display screen is switched to a work vehicle information input screen 70 shown in FIG.
  • work vehicle information related to the traveling machine body 2 and the work machine (fertilizer application device 3) attached to the traveling machine body 2 can be input.
  • Distance from the rear end of the three-point link mechanism (rear end of the lower link) to the rear end of the fertilizer application device 3 fertilizer feed amount per unit length (fertilizer use amount) in the fertilizer application device, during work in the forward path Vehicle speed, vehicle speed on the return road, vehicle speed on the headland (when turning), engine speed on the outward path, engine speed on the return path, engine on the headland (when turning)
  • a column for designating the number of rotations is arranged.
  • the farm field information input screen 80 it is possible to input information related to the travel area (field) in which the traveling machine body 2 travels. Specifically, on the farm field information input screen 80, a plane display unit 81 that displays the shape of the farm field as a graphic (graphically) is arranged. In the field information input screen 80, “record start” and “redo” buttons are arranged in the “position / shape of outer periphery of field” field. In the field information input screen 80, “set” and “redo” buttons are arranged in the respective columns of “work start position”, “work end position”, “work direction”, and “fuel supply position”. Has been.
  • the wireless communication terminal 46 switches to the field shape recording mode.
  • this field shape recording mode for example, when the tractor 1 is rotated once around the outer periphery of the field, the position transition of the positioning antenna 6 at that time is recorded by the field shape acquisition unit 33, and the field shape acquisition unit At 33, the shape of the field is acquired (calculated). Thereby, the position and shape of the field can be designated.
  • the position and shape of the outer periphery of the field thus calculated (designated) are graphically displayed on the plane display unit 81. Further, by operating the “redo” button, the position (designation) of the outer periphery of the field can be recorded again.
  • the “set” button of “work start position” When the “set” button of “work start position” is operated, the shape of the field acquired as described above is displayed on the plane display unit 81 of the field information input screen 80 so as to be superimposed on the map data. In this state, when the user selects an arbitrary point near the contour of the field, position information near the selected point can be set as a work start position.
  • the “work end position” can also be set in the same manner as the “work start position”.
  • the “setting” button of “work direction” When the “setting” button of “work direction” is operated, the shape of the field, the work start position, and the work end position acquired as described above are superimposed on the map data on the plane display unit 81 of the field information input screen 80. Displayed. In this state, for example, when the user selects two arbitrary points on the contour of the field, the direction of the straight line connecting the two points can be set as the work direction.
  • a “Register” button is displayed.
  • the content designated by the user is confirmed on the flat display unit 81 or the like and the “register” button is operated, the content of the set field information is stored in the storage unit 32, and the setting of the field information is completed.
  • the column of “work content” on the work information input screen 90 is a column for selecting which of the work such as fertilization while plowing, leveling, fertilization, sowing, chemical spraying, herbicide spraying, and fertilization while plowing is performed. It is. By performing a pull-down operation in this field, it is possible to set the autonomous work that the user wants the tractor 1 to perform.
  • the column of “cooperative work mode” on the work information input screen 90 can be operated only when “cooperative work is present” is set in the “presence / absence of cooperative work of multiple units” field.
  • This column whether a plurality of tractors travel on different autonomous work paths P1 to perform cooperative work (accompaniment), or a plurality of tractors travel on the same autonomous work path P1 to perform cooperative work (follow-up), It is a column for selecting etc. By performing a pull-down operation in this field, any collaborative work mode can be set.
  • the column of “overlap width” on the work information input screen 90 is a column for setting a width (overlap amount) for overlapping the width that the work machine (fertilizer 3) passes through in the adjacent autonomous work paths P1 and P1. is there.
  • the overlap amount can be set by performing a pull-down operation in this field or by directly inputting a numerical value.
  • the column “number of skips” on the work information input screen 90 includes an arbitrary autonomous work path P1 of the autonomous traveling path P on which the tractor 1 travels, and an autonomous work path P1 on which the tractor travels next to the arbitrary autonomous work path P1. And a column for selecting the number of autonomous work paths (the number of rows skipped).
  • the number of skips can be set by performing a pull-down operation in this field.
  • the column of “headland width” on the work information input screen 90 is a column for setting the width of an area where the tractor 1 turns and turns back (that is, the headland). Initially, the recommended width is displayed in this field, but by performing a pull-down operation, for example, a value that is an integral multiple of the work width can be selected and set as the headland width. However, the present invention is not limited to this, and the user can directly input a numerical value of a desired width as the headland width.
  • the column of “non-cultivated land width” in the work information input screen 90 is a non-work area (that is, non-cultivated land, also referred to as a side margin) arranged at both ends of the traveling area in the direction in which the autonomous work paths P1 of the tractors 1 are arranged. ) Is a field for setting the width. Initially, a recommended width is set in this field, but by performing a pull-down operation, for example, a value that is an integral multiple of the work width can be set as the non-cultivated land width.
  • the present invention is not limited to this, and the user can directly input a numerical value of a desired width as a non-cultivated land width.
  • the replenishment position setting window 91 is superimposed on the work information input screen 90 as shown in FIG. Is displayed.
  • a plane display unit 92 graphically represented by a graphic is displayed. The user touches the position specified as the fuel supply position with the finger on the flat display unit 92 and displays an appropriate mark (supply position mark 93) at the position, and displays “Register” at the bottom of the supply position setting window 91. "Button. Thereby, the setting of the fuel supply position is received by the supply position setting unit 56.
  • the fuel supply position can be set only within the travel area and outside the work area.
  • the autonomous travel route P of the tractor 1 is automatically generated.
  • P is stored in the storage unit 32.
  • a “path simulation” button is displayed on the display screen of the display 37 so as to be selectable. By operating this “path simulation” button, an image representing the generated autonomous traveling route P with an arrow or a line is displayed. An animation display in which the tractor icon moves along the autonomous traveling route P may be performed.
  • a “transfer data” button and a “return to input selection screen” button are displayed in a selectable manner.
  • transfer data an instruction for transmitting information on the autonomous traveling route P to the tractor 1 can be given.
  • the “Return to input selection screen” button is selected, the display screen is switched to the input selection screen 60.
  • information on the autonomous traveling route P generated on the wireless communication terminal 46 side can be transmitted to the control unit 4 of the tractor 1.
  • the control unit 4 stores the information on the autonomous traveling route P received from the wireless communication terminal 46 in the storage unit 55 electrically connected to the control unit 4.
  • the user steers the tractor 1 to move it to the work start position S, and starts the farm work start operation on the input selection screen 60.
  • the tractor 1 starts autonomous traveling along the autonomous traveling route P. While the tractor 1 is traveling autonomously, a monitor screen 100 shown in FIG. 27 is displayed on the display 37 of the wireless communication terminal 46. The user continues to monitor the tractor 1 during autonomous traveling while referring to the monitoring screen 100 and transmitting a control signal to the tractor 1 as necessary.
  • FIG. 11 is a flowchart illustrating processing performed by the route generation unit 35 and the like when the fuel supply route Q is generated in the first embodiment.
  • FIG. 12 is a flowchart showing the continuation of the process of FIG.
  • FIG. 13 is a flowchart showing the continuation of the process of FIG.
  • the processing shown in FIGS. 11 to 13 of the present embodiment is performed each time the amount of fuel held by the traveling machine body 2 is acquired by the acquisition unit 57 after the autonomous traveling of the tractor 1 is started. Done.
  • the acquisition unit 57 acquires the amount of fuel held by the traveling machine body 2 based on the detection result of the remaining fuel sensor 51 (step S101).
  • the determination unit 58 determines the expected amount of fuel (scheduled necessary amount) required for the tractor 1 to complete autonomous travel. Is calculated (step S102).
  • the planned required amount is calculated from the autonomous travel route P from the current position of the tractor 1 to the work end position E, and the fuel consumption per unit length obtained based on the vehicle speed and the like is calculated for the route. It can be obtained by multiplying the length.
  • the determination unit 58 determines whether or not the fuel runs short while the tractor 1 is traveling along the autonomous travel route P from the current position to the work end position E. Judging. In other words, the determination unit 58 determines whether or not the autonomous traveling along the autonomous traveling route P can be completed based on the current fuel holding amount of the traveling machine body 2 (step S103). This determination can be made by comparing the fuel holding amount acquired in step S101 with the planned required amount of fuel acquired in step S102. However, this comparison is preferably performed with sufficient consideration for margins.
  • step S103 If the result of the determination in step S103 is that the current fuel holding amount is sufficient to complete the autonomous driving (Yes in step S103), it is not necessary to supply fuel in the middle, so the fuel supply route Q is generated. There is no need to do. Thus, the process ends.
  • the route generation unit 35 generates a fuel supply route Q that temporarily shifts from the autonomous travel route P and replenishes fuel in the middle of the autonomous travel route P, and transmits the fuel supply route Q to the tractor 1. I do.
  • FIG. 14 shows an example in which the fuel supply position F1 is set at an appropriate position on one side of the headland.
  • Each end of the plurality of autonomous work paths P1 included in the autonomous traveling path P is located at the boundary between the work area and the headland, but smoothly shifts from autonomous work to fuel supply, and simplifies the fuel supply path.
  • a plurality of positions that are candidates for departure points that shift from the autonomous travel route P to the fuel supply route (fuel supply route Q) can be considered as indicated by square marks in FIG.
  • the determination unit 58 calculates the path length to the fuel supply position F1 for each position, and selects the position where the path length is the longest. In the case of FIG. 14, the position where the path length to the fuel supply position F1 is the longest is C0. Next, the determination unit 58 calculates the amount of fuel (maximum required fuel amount at the time of refueling) N required to reach from the selected position C0 to the fuel replenishment position F1 (step S104).
  • the maximum required fuel amount N at the time of refueling is calculated as the fuel necessary for traveling on the broken line route from the selected position C0 to the refueling position F1.
  • this broken line route can be regarded as the forward portion of the fuel supply route, which is a route that returns from the position C0 to the autonomous traveling route P at an appropriate point via the fuel supply position F1. If the maximum required fuel amount N at the time of refueling is calculated in this way, even if the tractor 1 deviates from the autonomous traveling path P at any of the positions of the square marks in FIG. If it is greater than or equal to the maximum required fuel amount N during replenishment, the fuel replenishment position F1 can be reached without a problem from the deviated position.
  • the maximum required fuel amount N at the time of refueling is set as a “reference amount”.
  • the determination unit 58 takes into account the vehicle speed, the engine speed, the route length of the autonomous travel route P set when the autonomous travel route P is generated, the current fuel remaining amount, and the like.
  • FIG. 14 shows an example of the fuel shortage position H calculated when the tractor 1 is at the point in the figure.
  • the autonomous traveling route P is upstream of the fuel shortage position H, and What is necessary is just to select the one located most downstream (position C1) and generate the fuel supply route so as to deviate from the autonomous traveling route P from the position C1. Therefore, in this case, a fuel supply route Q is generated as shown in FIG.
  • the fuel shortage position H is a position estimated based on the remaining amount of fuel at that time. Therefore, as the tractor 1 actually performs autonomous traveling and autonomous work while consuming fuel. There may be some fluctuation, and as a result, the previously calculated fuel supply route Q may not be appropriate. In the present embodiment, in consideration of this, the processing from FIG. 11 to FIG. 13 is repeatedly performed to monitor the change in the fuel shortage position H, and the fuel supply route Q is corrected from the past as necessary. ing.
  • the determination unit 58 determines whether or not the fuel shortage position H has been calculated in the previous process by reading the information stored in the storage unit 32 (step S106). .
  • a recommended fuel replenishment start position C1 that is a recommended position at a point that deviates from the autonomous traveling route P for refueling is obtained (step S107).
  • the recommended refueling start position C1 is autonomously driven from the fuel shortage position H calculated this time among the end points of the autonomous work path P1 arranged on the headland near the refueling position F1.
  • the route generation unit 35 determines whether or not the recommended fuel supply start position C1 has been calculated for the first time this time (step S108). In other words, it is determined whether or not the recommended fuel supply start position has been set before.
  • step S108 if the recommended fuel replenishment start position has been calculated before (step S108, No), the path generation unit 35 determines that the recommended fuel replenishment start position C1 obtained this time is the previous process. It is determined whether or not it is the same as the refueling start position that has been set (step S109). If the current recommended fuel supply start position C1 is the same as before (step S109, Yes), the fuel supply path generated in the previous process may be used as it is, and the process is terminated.
  • step S108 When the recommended fuel replenishment start position C1 is calculated for the first time in the determination of step S108 (step S108, Yes), or when the recommended fuel replenishment start position C1 is different from the previous determination in step S109 (step S109, No).
  • the display control unit 31 creates display data for inquiring the user whether or not to set the current recommended refueling start position C1 as the refueling start position, and displays it on the display 37 of the wireless communication terminal 46. Wait for user operation (step S110).
  • the route generation unit 35 determines the recommended fuel supply start position C1. Is set as a recommended fuel supply end position D1 as shown in FIG. 15 (step S111). Next, the path generation unit 35 connects the recommended fuel supply start position C1 and the recommended fuel supply end position D1 via the fuel supply position F1 in the non-working area (headland, non-cultivated land). Is generated as a fuel supply route Q as shown in FIG. 15 (step S112).
  • the fuel supply route Q reaches the fuel supply position F1 from the recommended fuel supply start position C1, which is the starting point, through the headland or the non-cultivated area, and from the fuel supply position F1 to the headland or the non-cultivated area. This is obtained by calculating a route group that reaches the recommended fuel replenishment end position D1 that is the end point while passing through and selecting the shortest route.
  • the route generation unit 35 generates a modified autonomous traveling route obtained by correcting the autonomous traveling route P based on the fuel supply route Q, and transmits it to the tractor 1 at an appropriate timing (step S113). This correction is performed by replacing the connection path P2 connecting the recommended fuel supply start position C1 and the recommended fuel supply end position D1 in the autonomous traveling path P with the fuel supply path Q. Thereafter, the process ends.
  • the display control unit 31 Creates display data for inquiring whether or not the user consents to stop at the headland upstream of the position where fuel is depleted (position where fuel is exhausted), and the display 37 of the wireless communication terminal 46 And waits for the user's operation (step S114).
  • step S114 when the user consents to stop at the headland upstream from the position where the fuel is exhausted, or when a predetermined time has passed without any operation since the inquiry (step S114, Yes), the path generation unit 35 controls the tractor 1 to stop at the headland before the fuel is depleted (step S115). For example, the path generation unit 35 sets a temporary stop position in the headland upstream of the position where the fuel is depleted, and transmits information on the temporary stop position to the tractor 1. As a result, the control unit 4 temporarily stops the tractor 1 at the temporary stop position. Thereafter, the process ends.
  • step S114 when the user refuses to stop at the headland upstream of the position where fuel is depleted (step S114, No), the display control unit 31 causes the tractor 1 to perform autonomous work. Display data for informing the user that the vehicle will stop due to fuel exhaustion in the middle of the road P1 is created and displayed on the display 37 of the wireless communication terminal 46. Thereafter, the process ends.
  • step S106 If the fuel shortage position has been previously calculated in the determination in step S106 shown in FIG. 12 (step S106, Yes), the determination unit 58 determines that the fuel shortage position calculated this time is the previously calculated fuel shortage position. It is determined whether or not they are on different autonomous work paths P1 (step S116).
  • FIG. 16 shows a state in which the tractor 1 has advanced to some extent from FIG. Then, it is assumed that the fuel shortage position calculated this time is J1 based on the fuel holding amount detected at the time of FIG. In this case, since the current fuel shortage position J1 and the previous fuel shortage position H are on the same autonomous work path P1 (No in step S116), there is no possibility that the recommended fuel supply start position C1 changes from the previous time. Means that. Therefore, the process is terminated as it is.
  • the current fuel shortage position J2 and the previous fuel shortage position H are on different autonomous work paths P1.
  • the fuel shortage position moves to another autonomous work path P1 (step S116, Yes)
  • the processes after step S107 are performed.
  • FIG. 17 shows the fuel supply route Q after being corrected based on the fuel shortage position J2 calculated this time.
  • the recommended fuel replenishment start position C1 based on the fuel shortage position J3 does not change from the previous time. In some cases, the route Q is not corrected.
  • the information on the modified autonomous traveling route is obtained by adding the information on the fuel supply route Q to the information on the autonomous traveling route P. Is input to the control unit 4.
  • the tractor 1 can be temporarily transferred from the original autonomous traveling route P to the fuel supply route Q. .
  • the tractor 1 can be autonomously driven along the fuel supply route Q, stopped once at the fuel supply position F1 in the middle of the fuel supply route Q, and the traveling machine body 2 can be supplied with fuel. Thereafter, the tractor 1 returns to the original autonomous traveling route P. Thereby, without running out of fuel on the way, the tractor 1 can be run from the work start position S to the work end position E, and farm work can be performed on the autonomous work path P1.
  • the route generation unit 35 of the present embodiment when generating the fuel supply route Q, the fuel required for autonomous traveling on the forward route when the forward route of the fuel supply route Q is the longest is taken into consideration.
  • the fuel replenishment start position C1 since the fuel replenishment start position C1 is set, there is no possibility of running out of fuel in the middle of the fuel replenishment route Q, and the tractor 1 can be made to autonomously travel to the fuel replenishment position F1.
  • the route generation system 99 of the present embodiment includes the route generation unit 35, the acquisition unit 57, the determination unit 58, and the replenishment position setting unit (fuel supply position setting unit) 56.
  • the route generation unit 35 can generate an autonomous traveling route P in which autonomous traveling is performed by the traveling machine body (body portion) 2 within a preset traveling region.
  • the acquisition unit 57 acquires the amount of fuel held by the traveling machine body 2.
  • the determination unit 58 determines whether or not autonomous traveling on the autonomous traveling route P can be completed based on the amount of fuel held.
  • the replenishment position setting unit 56 sets a fuel replenishment position (replenishment position) F1 for fuel in the travel region.
  • the route generation unit 35 sets the fuel supply start position C1 on the autonomous travel route P and starts from the fuel supply start position C1.
  • a fuel supply route Q that reaches F1 can be generated.
  • the route generation unit 35 may complete the autonomous traveling from the fuel replenishment start position C1 to the fuel replenishment position F1 in the fuel replenishment route Q based on the fuel holding amount.
  • the fuel supply start position C1 is set so that it can be performed (see FIG. 16).
  • the fuel supply start position C1 of the fuel supply route Q is set in consideration of the fuel required for the autonomous traveling in the forward direction of the fuel supply route Q. There is no possibility of running out of fuel in the middle of the route Q, and it is possible to reliably travel autonomously to the fuel supply position F1.
  • the route generation unit 35 assumes that the traveling aircraft 2 has continued to travel on the autonomous traveling route P without traveling on the fuel supply route Q, and the traveling aircraft 2
  • the position on the autonomous travel route P when the amount of fuel held by the vehicle is equal to or less than the reference amount (maximum required fuel amount N at the time of refueling) is specified as a fuel shortage position (reachable position) H, and this fuel shortage position
  • a fuel supply start position C1 is set on the upstream side of the autonomous traveling route P from H.
  • the fuel supply start position C1 can be set rationally.
  • the route generation unit 35 travels from the fuel supply start position C0 to the fuel supply position F1 when it is assumed that the fuel supply route Q has the maximum route length.
  • the amount of the maximum required fuel amount N at the time of necessary fuel supply is calculated as the reference amount.
  • the acquisition unit 57 acquires the fuel holding amount regularly or irregularly during autonomous traveling on the autonomous traveling route P.
  • the route generation unit 35 is configured such that the fuel shortage position (reachable position) J2 specified on the basis of the newly acquired possession amount is the autonomous position where the previously specified fuel shortage position (reachable position) H is arranged.
  • the fuel supply start position C1 is corrected, and the corrected fuel supply from the corrected fuel supply start position C1 to the fuel supply position F1 is performed.
  • the route Q can be generated.
  • FIG. 18 is a flowchart illustrating processing performed by the route generation unit or the like when the fuel supply route Q is generated in the second embodiment.
  • FIG. 19 is a flowchart showing the continuation of the process of FIG.
  • FIG. 20 is a flowchart showing the continuation of the process of FIG.
  • the same or similar members as those of the above-described embodiment may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.
  • step S201 to step S203 Since the processing from step S201 to step S203 is the same as the processing from step S101 to step S103 in the first embodiment, description thereof is omitted.
  • the determination unit 58 takes into consideration the vehicle speed, the engine speed, the route length of the autonomous travel route P set when the autonomous travel route P is generated, the current fuel remaining amount, and the like, and the traveling machine body 2 ( A position on the autonomous traveling route P where the amount of fuel held in the fuel tank) falls below a predetermined value (reference amount) B is specified by calculation as a fuel shortage position (reachable position) K (step S204).
  • the predetermined value B is set to a positive value in anticipation of a certain amount of fuel in the present embodiment, but may be zero.
  • FIG. 21 shows the calculated fuel shortage position K in an example in which the fuel supply position F2 is set at an appropriate position on one side of the headland.
  • step S205 and step S220 Since the processing of step S205 and step S220 is the same as that of step S106 and step S116 in the first embodiment, description thereof will be omitted.
  • step S205 When the calculation of the fuel shortage position K is the first time (step S205, No), the route generation unit 35 performs the autonomous travel route P for refueling based on the fuel shortage position K calculated in step S204.
  • the provisional fuel supply start position C2 that is the provisional position of the point that deviates from is obtained (step S206). Since the method for obtaining the provisional fuel supply start position C2 is exactly the same as the method for obtaining the recommended fuel supply start position C1 in step S107 in the first embodiment, the description thereof is omitted.
  • the route generation unit 35 generates a route from the temporary fuel supply start position C2 to the fuel supply position F2 within the non-working area (step S207).
  • This route is calculated so as to be the shortest route, as shown as a dashed route in FIG.
  • This broken line route is regarded as the forward portion of the fuel supply route (provisional fuel supply route), which is a route that returns from the temporary fuel supply start position C2 to the autonomous traveling route P at an appropriate point via the fuel supply position F2. Can do.
  • the route generation unit 35 calculates a replenishment required fuel amount G, which is a fuel necessary for traveling on the forward route (step S208).
  • the route generation unit 35 estimates the remaining fuel amount by calculation when the traveling machine body 2 reaches the provisional fuel supply start position C2, and the estimated value (expected fuel remaining amount) is equal to or greater than the required fuel amount G at the time of supply. It is determined whether or not (step S209).
  • step S209 when the estimated remaining fuel amount when reaching the provisional fuel supply start position C2 is less than the required fuel amount G during supply (No in step S209), the tractor 1 sets the provisional fuel supply start position C2. This means that the fuel supply position F2 cannot be reached. Accordingly, the route generation unit 35 sets the provisional refueling start position C2 to be the upstream end of only one of the end points of the autonomous work path P1 arranged in the headland near the refueling position F2. (Step S210). Thereafter, the process returns to step S207, and the above processing is repeated.
  • step S209 when the estimated remaining fuel amount when reaching the provisional fuel replenishment start position C2 is equal to or greater than the fuel amount G required for replenishment (step S209, Yes), the tractor 1 sets the provisional fuel replenishment start position C2. This means that the fuel supply position F2 can be reached via the route. Therefore, the route generation unit 35 determines the provisional fuel supply start position C2 as the recommended fuel supply start position C1 (step S211). Subsequent processes in steps S212 to S219 are the same as those in steps S108 to S115 of the first embodiment, and a description thereof will be omitted.
  • this embodiment recalculates the replenishment required fuel amount G while sequentially changing the provisional fuel supply start position C2 from the downstream side to the upstream side, and reaches the fuel supply position F2. It is determined whether or not it is possible, and the provisional fuel supply start position C2 when it is determined that it is reachable is determined as the recommended fuel supply start position C1. For example, the tractor 1 cannot reach the fuel supply position F2 at the temporary fuel supply start position C2 shown in FIG. 21, but reaches the fuel supply position F2 by moving the temporary fuel supply start position C2 upstream as shown in FIG. Assume that it is possible to do so. In this case, as shown in FIG. 23, the provisional fuel supply start position C2 in FIG.
  • the fuel supply path Q can be generated as in the first embodiment.
  • the fuel amount G required for replenishment changes as the departure point of the tractor 1 from the autonomous travel route P changes, and the remaining fuel amount at the time of departure changes.
  • the fuel supply route Q can be generated with appropriate consideration.
  • the traveling machine body 2 when it is assumed that the traveling machine body 2 has continued to travel on the autonomous traveling route P without refueling, the amount of fuel retained by the traveling machine body 2 is less than the reference amount.
  • the position on the autonomous travel route P is specified as the reachable position, and the fuel supply start position C is set at a position upstream of the autonomous travel route P.
  • the first distance from the current position (or work start position S) of the tractor 1 to the fuel supply position F via the fuel supply start position C is the fuel holding of the traveling machine body 2.
  • the predetermined distance from the second distance (the distance from the current position (or work start position S) of the tractor 1 to the farthest position where the autonomous traveling can be maintained) that can maintain autonomous traveling according to the amount
  • the fuel supply start position C may be set so as to be shorter.
  • the fuel replenishment start position C can be set with a certain amount of remaining fuel remaining, so that even if there is an error in the fuel consumption speed, etc., autonomous driving will not be interrupted due to insufficient fuel. Can do.
  • the acquisition unit 57 acquires the remaining fuel amount regularly or irregularly during the autonomous traveling of the tractor 1, and calculates the first distance and / or the second distance each time. It may be fixed. In that case, the route generation unit 35 monitors the difference between the first distance and the second distance, and the difference between the first distance and the second distance is longer than the first threshold distance longer than the predetermined distance.
  • the fuel supply start position C may be corrected when it becomes longer, or when it becomes shorter than the second threshold distance shorter than the predetermined distance. In this case, the route generation unit 35 calculates a fuel supply route Q from the corrected fuel supply start position C to the fuel supply position F by calculation.
  • the fuel replenishment start position C can be corrected as necessary, and the fuel consumption can be appropriately determined according to the fuel consumption situation. It is possible to generate a simple fuel supply route Q.
  • the reachable position specified based on the newly acquired amount of fuel held is upstream of the autonomous travel route P from the previously set reachable position or If a refueling start position C and a refueling route Q different from the conventional ones are generated as a result of being arranged on the downstream side, an inquiry is made to the user, and the refueling start position C and / or the refueling is performed.
  • the fuel supply start position C and the fuel supply route Q newly generated this time are changed. That is, the user is inquired about whether or not the fuel can be changed, whether the actual fuel decrease is faster or slower than expected.
  • the present invention is not limited to this, and an inquiry for changing the fuel supply route Q is made to the user only when the actual fuel decrease is faster than expected, and the fuel decrease is slower than expected. In this case, the inquiry may not be made and the fuel supply route Q may not be changed.
  • the fuel supply route Q is automatically generated on the headland near the fuel supply position F.
  • the present invention is not limited to this, and the user may be allowed to designate which headland the fuel supply route Q is to be generated.
  • the determination part 58 determines whether autonomous driving
  • the fuel supply route Q may be generated simultaneously with the generation of the route P. In this case, if it is found that the actual amount of fuel held by the traveling vehicle 2 is less than the maximum amount after the autonomous running is started, the user can determine whether or not the fuel supply route Q can be changed at that time. It is also possible to make an inquiry.
  • FIG. 24 is a diagram illustrating a display example of the work information input screen 95 according to the third embodiment.
  • the route generation system 99 according to the third embodiment before the autonomous traveling of the tractor 1 is started, an autonomous traveling route that takes into consideration necessary fuel is generated in advance. This is different from the embodiment.
  • the operation screen is switched to the work information input screen 95 shown in FIG. That is, in the route generation system 99 according to the third embodiment, a work information input screen 95 is displayed instead of the work information input screen 90.
  • the work information input screen 95 has a “fuel remaining amount” field.
  • the fuel remaining amount final detection value of the fuel remaining amount sensor 51
  • the user can set a desired value as the remaining amount of fuel by directly inputting a numerical value in the field or selecting “full” by a pull-down operation.
  • the remaining fuel amount set in this field is received by the work information setting unit 47 and stored in the storage unit 32.
  • a replenishment position setting window 91 is displayed so that the fuel replenishment position can be set.
  • the fuel supply route Q is automatically added to the autonomous travel route P of the tractor 1.
  • the modified autonomous traveling route with the added is generated, and this modified autonomous traveling route is stored in the storage unit 32.
  • the autonomous traveling of the tractor 1 is started by transmitting the corrected autonomous traveling route to the tractor 1 and operating the farm work start operation unit 65.
  • the acquisition unit 57 acquires the amount of fuel actually owned by the traveling machine body 2 by acquiring the detection result of the fuel remaining amount sensor 51.
  • the route generation unit 35 determines whether the fuel remaining amount received by the work information setting unit 47 before the start of autonomous traveling and the fuel remaining amount acquired by the acquiring unit 57 after starting autonomous traveling deviate by a predetermined value or more. Judge whether or not.
  • the route generation unit 35 When the difference between the fuel remaining amount received by the work information setting unit 47 before the start of autonomous driving and the fuel remaining amount acquired by the acquiring unit 57 after starting autonomous driving is less than a predetermined value, the route generation unit 35 The supply route Q is not regenerated (not corrected).
  • the fuel supply route Q is generated again, and the user is inquired of whether or not the fuel can be adopted.
  • the corrected autonomous traveling route including the fuel supply route Q is transmitted to the tractor 1.
  • the tractor 1 can be automatically traveled along the fuel supply route Q set corresponding to the actual fuel remaining amount, and the risk of running out of fuel during autonomous travel can be eliminated.
  • the “predetermined value” for determining the degree of deviation can be set to a value larger than the amount of fuel required to travel on one autonomous work path P1, for example.
  • the “replenishment position” set by operating the display screen of the replenishment position setting window 91 is a position where fuel is replenished and a position where fertilizer is replenished. This is different from the above embodiment. That is, in the fourth embodiment, the fuel supply position set by the supply position setting unit 56 also serves as the fertilizer supply position.
  • the acquisition unit 57 of the present embodiment acquires not only the amount of fuel held by the traveling machine body 2 but also the amount of fertilizer (material) held by the fertilizer application device 3.
  • the acquisition unit 57 acquires the remaining amount of fertilizer in the fertilizer tank 29, in other words, the amount of fertilizer held by the fertilizer application device 3 based on the detection value received from the fertilizer remaining amount sensor 30.
  • the determination unit 58 not only determines whether or not the traveling vehicle 2 can complete autonomous traveling on the autonomous traveling route P based on the amount of fuel acquired by the acquiring unit 57, but also holds the fertilizer acquired by the acquiring unit 57. It is also determined whether or not the fertilizer application device 3 can complete the autonomous work on the autonomous travel route P (autonomous work routes P1, P1,%) Depending on the amount.
  • the route generation unit 35 specifies the position on the autonomous traveling route P when the amount of fuel held by the traveling machine body 2 is equal to or less than the reference amount as the reachable position, and the autonomous traveling route is determined from the reachable position.
  • the end of the autonomous work path P1 that is arranged on the upstream side of P and arranged on the headland near the fuel and fertilizer supply position F3 is set as the fuel supply start positions C4 and C5.
  • FIG. 25 shows a case where two positions C4 and C5 are set as fuel supply start positions. Of the two positions C4 and C5, the fuel supply end position corresponding to the fuel supply start position C4 arranged on the upstream side is shown as a position D4. In addition, the fuel supply end position corresponding to the fuel supply start position C5 disposed on the downstream side of the two positions C4 and C5 is indicated as a position D5.
  • generation part 35 pinpoints the position on the autonomous running path P when the amount of fertilizer possessed by the fertilizer application machine 3 becomes below a predetermined value as a fertilizer running position, and autonomous running path rather than this fertilizer running position
  • the end of the autonomous work path P1 that is arranged on the upstream side of P and located on the headland near the supply position F3 is specified as the fertilizer supply start position (material supply start position) U1, U2.
  • FIG. 26 shows a case where two positions U1 and U2 are set as fertilizer supply start positions.
  • positioned upstream among two positions U1, U2 is shown as position V1.
  • positioned downstream among two positions U1, U2 is shown as position V2.
  • the route generation unit 35 looks at the fuel supply start positions C4 and C5 and the fertilizer supply start positions U1 and U2 that are provisionally generated individually as described above, the fuel supply start positions C4 and C5 It is determined whether or not the fertilizer replenishment start positions U1 and U2 are arranged before.
  • the fertilizer replenishment start position is not arranged at a position upstream of this. Therefore, the fuel supply start position C4 (and the fuel supply end position D4) is not integrated with any fertilizer supply start position (and fertilizer supply end position).
  • the fertilizer replenishment start positions U1 and U2 are arranged at positions upstream of this. That is, it has been specified that there is a shortage of fertilizer multiple times (in this embodiment, twice) between the fuel supply start position C5 and the fuel supply start position C4 on the upstream side thereof.
  • a fertilizer supply start position U1 and a fertilizer supply start position U2 are set.
  • the path generation unit 35 has the next fuel supply start position C5 (and the fuel supply) at the same position as the fertilizer supply start position U2 (and the fertilizer supply end position V2) farthest from the upstream fuel supply start position C4.
  • the end position D5) is moved (moved).
  • the next fuel supply start position C5 (and the fuel supply end position D5) is integrated into the fertilizer supply start position U2 (and the fertilizer supply end position V2) farthest from the fuel supply start position C4 related to the previous fuel supply. .
  • the route generation system 99 is mounted on the traveling machine body (vehicle body part) 2 and holds a fertilizer (material) to perform an autonomous work within the traveling area (work machine). 3 is provided.
  • the acquisition unit 57 can acquire the amount of fertilizer held by the fertilizer applicator 3.
  • the determination unit 58 can determine whether or not autonomous work in the traveling area can be completed based on the amount of fertilizer retained. When the determination unit 58 determines that neither the autonomous traveling nor the autonomous work can be completed by the determining unit 58, and the fertilizer is insufficient in the autonomous traveling route P before the fuel. Based on the amount of fertilizer retained, autonomous traveling and autonomous work up to the fuel replenishment start position C and autonomous traveling from the fuel replenishment start position C to the fuel replenishment position F in the fuel replenishment route Q can be completed. Thus, the fuel supply start position C is set.
  • the fertilizer replenishment start position U2 (and the fertilizer replenishment end position V2) and the fuel replenishment start position C5 (and the fuel replenishment end position D5) are arranged in accordance with the direction of being disposed further upstream.
  • a supply route Q for supplying both can be generated. Therefore, it is possible to efficiently supply fuel and fertilizer.
  • the route generation unit 35 determines that neither the autonomous traveling nor the autonomous work can be completed by the determination unit 58, and the previous fuel in the autonomous traveling route P is determined.
  • the next fuel supply start position C5 is set at a position common to the set fertilizer supply start position U2.
  • the fuel replenishment start position C5 and the fertilizer replenishment start position U2 can be set to a common position, and fuel replenishment and fertilizer replenishment can be performed efficiently.
  • the replenishment position F3 set by the replenishment position setting unit 56 is a position where both fuel and fertilizer can be replenished.
  • the fuel supply position and the fertilizer supply position may be set to different positions. In that case, if the fuel replenishment position and the fertilizer replenishment position are arranged on the same side of the headland, the fuel replenishment start position and the fertilizer replenishment start position are determined in the same manner as shown in the fourth embodiment. Can be integrated as needed.
  • the fuel replenishment position and the fertilizer replenishment position are arranged on the pillows on different sides, the fuel replenishment start position and the fertilizer replenishment start position are not integrated and the fuel replenishment path and the fertilizer replenishment path are individually Can be generated.
  • the acquisition unit 57 obtains the amount of fuel held by the traveling machine body 2 (checks the replenishment amount) and is necessary. Depending on the situation, it may be notified that the fuel is insufficient. For example, the amount of fuel that has been replenished is the amount of fuel that is less than the maximum capacity of the fuel tank from the refueling position F1 (F2, F3) to the work end position E after refueling. If it is less than, for example, a warning lamp may be turned on or an alarm sound may be generated. This can prompt the user to replenish (add) a necessary amount of fuel.
  • the refueling start position C and the refueling end position D are the end and start ends of two autonomous work paths P1 connected to each other via the connection path P2, and are arranged on the headland on the same side. It was supposed to be. However, it is not necessarily limited to this.
  • the fuel replenishment start position C and the fuel replenishment end position D may be arranged on a common autonomous work path P1 or arranged on headlands on different sides.
  • the determination unit 58 performs the autonomous traveling based on the vehicle speed, the engine speed, the route length of the autonomous traveling route P, and the like set when generating the autonomous traveling route P.
  • the planned amount of fuel (planned required amount) required for the route P is calculated.
  • the method for calculating the expected required amount of fuel is not limited to this.
  • the engine load is estimated by taking the detection value of the load sensor 54 into account, and the engine speed and engine load are calculated.
  • the planned required amount of fuel may be calculated from the relationship.
  • the relationship between the planned required amount calculated by the determination unit 58 as the predicted amount when the tractor 1 has been operated in the past and the amount of fuel actually required is stored in the storage unit 32, and this information is stored.
  • the relationship between the planned required amount on the autonomous work path (straight path) P1 and the actual amount of fuel required is the relationship between the planned required amount on the connection path (turning circuit) P2 and the actual fuel required. It is good also as what memorize
  • the remaining amount of fuel at a position that is not far from the current position of the tractor 1 can be estimated with relatively high accuracy. It is considered that the accuracy of the estimation of is reduced. Therefore, when displaying an image representing the generated autonomous traveling route P with arrows, lines, etc., on the display 37, the route color is expressed in gradation or the like so that the higher the accuracy of estimation of the remaining amount of fuel, the darker the color. It may be expressed.
  • the fuel from the current position of the tractor 1 is displayed on the monitoring screen 100 (screen displaying the autonomous traveling route P graphically) displayed on the display 37.
  • the color of the path to the replenishment start position C may be expressed by a unified color, and the color may be gradually changed to darker as the tractor 1 travels downstream along the autonomous travel route P. Or it is good also as what expresses with a different color according to the accuracy of estimation for every autonomous work path P1 arrange
  • FIG. 27 shows an example in which the difference in the accuracy of estimation for each autonomous work path P1 is represented on the monitoring screen 100 by such an expression method.
  • the material is a fertilizer, but the material is not limited to this.
  • the material may be a herbicide, a drug, a seedling, a seed, or the like.
  • the herbicide spraying device when the material is a drug, the drug spraying device, when the seedling is a seedling transplanting device, when the seed is a seeding device, the fertilizer 3 It can be used as a work machine instead of
  • the route generation unit 35, the replenishment position setting unit 56, the acquisition unit 57, and the determination unit 58 are provided on the wireless communication terminal 46 side, but these configurations are the tractor 1 side and the wireless communication terminal. It is not limited to which of the 46 side is provided. In addition, other components may be provided on either the tractor 1 side or the wireless communication terminal 46 side.
  • the route generation system 99 is used only in the process of generating the supply route Q, and the actual traveling is performed by, for example, the user steering the tractor 1 while referring to the supply route Q by the wireless communication terminal 46 or the like. It may be done.

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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 concerne une unité de génération de trajectoire (35) permettant de générer une trajectoire de déplacement autonome sur laquelle un déplacement autonome est effectué par un corps de déplacement (unité automobile). Une unité d'acquisition (57) acquiert une quantité de carburant conservée que le corps de déplacement conserve. Une unité d'évaluation (58) évalue s'il est possible de terminer le déplacement autonome sur la trajectoire de déplacement autonome avec la quantité de carburant conservée. Une unité de définition de position de ravitaillement (56) définit une position de ravitaillement en carburant (position de ravitaillement) du carburant. L'unité de génération de trajectoire (35) permet de générer une trajectoire de ravitaillement en carburant à partir d'une position de commencement du ravitaillement en carburant sur la trajectoire de déplacement autonome jusqu'à la position de ravitaillement en carburant si l'unité d'évaluation (58) a évalué qu'il n'est pas possible de terminer le déplacement autonome. Sur la base de la quantité de carburant conservée, l'unité de génération de trajectoire (35) définit la position de commencement du ravitaillement en carburant de telle sorte qu'il est possible de terminer le déplacement autonome vers la position de commencement du ravitaillement en carburant et le déplacement autonome sur une trajectoire de ravitaillement en carburant à partir de la position de commencement du ravitaillement en carburant jusqu'à la position de ravitaillement en carburant.
PCT/JP2017/041981 2016-12-05 2017-11-22 Système de génération de trajectoire WO2018105400A1 (fr)

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FR3132002A1 (fr) * 2022-01-25 2023-07-28 Kuhn Sas Procédé et installation de travail d’une parcelle avec au moins un robot agricole ravitaillé

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JP7085977B2 (ja) * 2018-12-21 2022-06-17 株式会社クボタ 圃場作業機及び搭載物管理システム
JP7039454B2 (ja) * 2018-12-26 2022-03-22 株式会社クボタ 走行支援装置、走行支援装置を備えた作業車両及び走行支援方法
JP7045341B2 (ja) * 2019-01-29 2022-03-31 ヤンマーパワーテクノロジー株式会社 協調作業システム
JP7046861B2 (ja) * 2019-03-25 2022-04-04 ヤンマーパワーテクノロジー株式会社 作業車両用の表示システム
JP7280759B2 (ja) * 2019-06-20 2023-05-24 ヤンマーパワーテクノロジー株式会社 散布作業用の自動走行システム
JP7237788B2 (ja) 2019-09-26 2023-03-13 株式会社クボタ 作業車両
JP7408495B2 (ja) * 2020-06-18 2024-01-05 株式会社やまびこ 作業ロボットシステム
JP7476035B2 (ja) * 2020-08-28 2024-04-30 株式会社やまびこ 作業ロボットの制御装置及び制御方法
FR3114217A1 (fr) * 2020-09-24 2022-03-25 Kuhn Sas Procédé de travail d’une parcelle par au moins deux robots agricoles
JP7561642B2 (ja) * 2021-02-03 2024-10-04 株式会社クボタ 圃場作業車
JP7632211B2 (ja) * 2021-09-28 2025-02-19 井関農機株式会社 作業車両管理システム
JP2024005433A (ja) * 2022-06-30 2024-01-17 株式会社クボタ 作業機

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WO2023144119A1 (fr) * 2022-01-25 2023-08-03 Kuhn Sas Procédé et installation de travail d'une parcelle avec au moins un robot agricole ravitaillé

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