Work vehicle and travel region specifying device
An autonomous travel work vehicle including: a body part; a work machine attached to the body part; a moving GPS antenna configured to detect positional information on the body part; a memory configured to store a field where the body part travels; a control section configured to control travel of the body part and work by the work machine in the field; and a remote control device that generates a route of the body part in the field. The control section is configured to cause the body part to travel from a current position to a work start point and then start work with the work machine in a case where an instruction of start of work with the work machine is issued in a headland.
1 . A work vehicle comprising:
a body part;
a work machine that is attached to the body part;
a position detecting section configured to detect positional information on the body part;
a memory section configured to store a travel region where the body part travels;
a control section configured to control travel of the body part and work by the work machine in the travel region and in a work region distinct from the travel region;
a route generating section configured to generate a route of the body part in the travel region and in the work region; and
an azimuth angle detecting section configured to detect an azimuth angle of the body part, wherein:
a start point along the route is set,
the start point is included in the work region,
the start point is associated with the body part starting work, along the route, by autonomous driving,
in response to an instruction to move to the start point, the control section is configured to cause the body part to travel from a current position of the body part to the start point based on a determination that one or more conditions are satisfied, the one or more conditions including:
a direction of movement of the work vehicle is toward the start point when the instruction to move to the start point is received, the direction of the work vehicle associated with the azimuth angle of the body part.
2 . The work vehicle according to claim 1 , wherein the control section is further configured to cause the body part to travel to the start point of the route and then to start work with the work machine, and wherein the memory section is further configured to store a map of a field to which the body part is to travel.
3 . The work vehicle according to claim 1 , wherein the control section is further configured to cause the body part to travel from the current position to the start point in response to an angle difference between the azimuth angle of the body part and an azimuth angle from the current position to the start point being within a predetermined threshold.
4 . The work vehicle of claim 3 , wherein:
the azimuth angle of the body part corresponds to an azimuth angle measured relative to a reference orientation of the body part; and
the predetermined threshold is less than ten degrees.
5 . The work vehicle according to claim 1 , wherein the control section is further configured to cause the body part to travel from a work end position of the route to a travel end position after work with the work machine on the route is completed, and wherein the control section is further configured to control the azimuth angle of the body part at the travel end position.
6 . The work vehicle of claim 1 , wherein the position detecting section includes a gyro sensor configured to detect a first angular velocity, a second angular velocity distinct from the first angular velocity, and a third angular velocity distinct from the first angular velocity and distinct from the second angular velocity.
7 . The work vehicle of claim 6 , wherein the control section is further configured to:
receive first data from the gyro sensor and second data from the azimuth angle detecting section; and
obtain an orientation and a turning direction of the body part based, at least in part, on the first data and on the second data.
8 . The work vehicle of claim 1 , further comprising a travel region specifying device, the travel region specifying device comprising:
a positional information acquiring section configured to acquire positional information corresponding to a position and an orientation of the body part;
a travel trajectory region specifying section configured to specify a travel trajectory region of the body part based on a travel trajectory of the body part specified using the positional information;
a travel region specifying section configured to specify the travel region where the body part is configured to travel based on a plurality of selection points selected from the travel trajectory; and
a correction section configured to:
correct the travel region; and
in response to the travel region including a region outside the travel trajectory region, correct the travel region to a region not including a region outside the travel trajectory region.
9 . The work vehicle of claim 1 , wherein:
the route includes a work route, in the work region, along which the work vehicle is configured to perform work, and a travel route, in the travel region, along which the work vehicle is configured to travel without performing work,
a first end of the travel route comprises the start point, and
a second end of the work route comprises a work end point.
10 . The work vehicle of claim 9 , wherein:
the start point is positioned at a first beginning of the work route and at the first end of the travel route,
the work end point is set at the second end of the work route, and
the current position is at a second beginning of the travel route.
11 . The work vehicle of claim 1 , further comprising a travel region specifying device, the travel region specifying device comprising:
a positional information acquiring section configured to acquire positional information corresponding to a position and an orientation of the body part, the position comprising the current position;
a travel trajectory region specifying section configured to specify a travel trajectory region of the body part using the current position;
a travel region specifying section configured to specify a travel region where the body part is configured to travel based on a plurality of selection points selected from the travel trajectory region; and
a correction section configured to, in response to the travel region including a region outside the travel trajectory region, correct the travel region to a region not including a region outside the travel trajectory region.
12 . The work vehicle of claim 1 , wherein the one or more conditions further include that the current position relative to an extension line obtained by extending the route toward the start point is within a predetermined distance.
13 . A travel region specifying device comprising:
a positional information acquiring section configured to acquire positional information of a body part of a work vehicle;
a travel trajectory region specifying section configured to specify a travel trajectory region of the body part based on a travel trajectory of the body part specified using the positional information, wherein the travel trajectory region comprises a closed region surrounded by the travel trajectory;
a travel region specifying section configured to:
specify a field shape as a travel region where the body part is configured to travel based on a plurality of selection points selected from the travel trajectory, and
determine that the field shape is in error based on identifying a point that is located outside the travel trajectory region; and
a notification section configured to issue a first notification, suggesting that the travel region includes a region outside the travel trajectory region and a second notification indicating that the field shape is incorrect.
14 . The travel region specifying device of claim 13 , wherein the travel region specifying section is further configured to:
compare first data corresponding to a field shape of a field with second data corresponding to a map of the field; and
cause the notification section to generate the second notification.
15 . The travel region specifying device of claim 13 , wherein the travel region specifying section is further configured to:
compare a first value corresponding to an area of a field shape to a second value corresponding to an area of the travel trajectory region; and
in response to the first value being larger than the second value, generate a second field shape.
16 . The travel region specifying device of claim 15 , wherein the travel region specifying section is further configured to cause the notification section to:
generate a third notification indicating a request for input from an operator of the travel region specifying device that the second field shape is correct.
17 . The travel region specifying device of claim 13 , wherein the travel region specifying device is configured to automatically correct the travel region in response to a determination that the travel region includes the region outside the travel trajectory region.
18 . A travel region specifying device comprising:
a positional information acquiring section configured to acquire positional information of a body part of a work vehicle;
a travel trajectory region specifying section configured to specify a travel trajectory region of the body part based on a travel trajectory of the body part specified using the positional information, wherein the travel trajectory region comprises a closed region surrounded by the travel trajectory;
a travel region specifying section configured to:
specify a travel region where the body part is configured to travel based on a plurality of selection points selected from the travel trajectory, and
determine that the travel region is in error based on identifying a point that is located outside the travel region; and
a correction section configured to correct the travel region, wherein in response to the travel region including a region outside the travel trajectory region, and wherein in response to receipt, at a display device, of an acknowledgement, the correction section is configured to correct the travel region to a region not including the region outside the travel trajectory region.
19 . The travel region specifying device of claim 18 , further comprising a notification section configured to issue a first notification that a travel region includes a region outside the travel trajectory region.
20 . The travel region specifying device of claim 19 , wherein:
the notification section is further configured to issue a second notification after the correction section corrects the travel region; and
the second notification corresponds to an inquiry of the travel region specifying device whether a corrected travel region is correct to prompt receipt of the acknowledgement.