Route generation method, route generation system, and route generation program

Abstract

To provide a route generation method, a route generating system, and a route generating program which are capable of appropriately dividing a working area in an irregular shape and improving work efficiency.SOLUTION: A division processing part 312 divides a working area into a plurality of divided areas in accordance with a shape of the working area whose any internal angle is not a right angle. A generation processing part 313 generates a target route corresponding to each of the plurality of divided areas.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present invention relates to a technique for generating a target route for automatically traveling a work vehicle.

Background Art

[0002] Conventionally, there has been known a technique in which a work area such as an agricultural field is divided into a plurality of sections (divided areas), target routes corresponding to each of the plurality of divided areas are generated, and the work vehicle is caused to automatically travel according to the target route in each divided area (see, for example, Patent Document 1).

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] Meanwhile, in addition to rectangular fields where all internal angles are right angles (rectangular fields), there are irregularly shaped fields where any one or more internal angles are not right angles (irregularly shaped fields). In the case of an irregularly shaped field, depending on the position and shape of the divided area, it may not be possible to appropriately generate the target route, which may lead to a decrease in work efficiency.

[0005] An object of the present invention is to provide a route generation method, a route generation system, and a route generation program capable of appropriately dividing an irregularly shaped work area and improving work efficiency.

Means for Solving the Problem

[0006] A route generation method according to the present invention is a method for generating a target route for a work vehicle to travel, comprising: dividing the work area into a plurality of divided areas according to a shape of the work area in which any one or more internal angles are not right angles; and generating the target route corresponding to each of the plurality of divided areas.

[0007] The route generation system according to the present invention is a system for generating a target route for a work vehicle, and comprises a division processing unit and a generation processing unit. The division processing unit divides the work area into a plurality of divisional regions according to the shape of the work area in which none of the interior angles are right angles. The generation processing unit generates a target route corresponding to each of the plurality of divisional regions.

[0008] The path generation program according to the present invention is a program for generating a target path for a work vehicle, and causes one or more processors to perform the following actions: divide the work area into a plurality of divided regions according to the shape of the work area in which none of the interior angles are right angles, and generate a target path corresponding to each of the plurality of divided regions. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a path generation method, a path generation system, and a path generation program that can appropriately divide irregularly shaped work areas and improve work efficiency. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a block diagram showing the configuration of a driving system according to an embodiment of the present invention. [Figure 2] Figure 2 is an external view showing the configuration of a combine harvester according to an embodiment of the present invention. [Figure 3] Figure 3 shows an example of a field according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of a target path according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of a route pattern selection screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 6] Figure 6 shows an example of a work direction setting screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 7]FIG. 7 is a diagram showing an example of a middle split setting screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 8] FIG. 8 is a diagram for explaining the division (middle split) processing of an automatic travel area according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of divided areas and a target route according to an embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing another example of divided areas and a target route according to an embodiment of the present invention. [Figure 11] FIG. 11 is a flowchart showing an example of the procedure of route generation processing executed by a travel system according to an embodiment of the present invention. [Figure 12] FIG. 12 is a diagram for explaining the division (middle split) processing of an automatic travel area according to an embodiment of the present invention. [Figure 13] FIG. 13 is a diagram for explaining the division (middle split) processing of an automatic travel area according to an embodiment of the present invention. [Figure 14] FIG. 14 is a diagram showing another example of divided areas and a target route according to an embodiment of the present invention. [Figure 15A] FIG. 15A is a diagram showing an example of a target route generation method according to an embodiment of the present invention. [Figure 15B] FIG. 15B is a diagram showing another example of a target route generation method according to an embodiment of the present invention. [Figure 15C] FIG. 15C is a diagram showing another example of a target route generation method according to an embodiment of the present invention. [Figure 16] FIG. 16 is a diagram showing an example of a target route for divided areas according to an embodiment of the present invention. [Figure 17A] FIG. 17A is a diagram showing another example of a divided area according to an embodiment of the present invention. [Figure 17B] FIG. 17B is a diagram showing another example of a divided area according to an embodiment of the present invention. DESCRIPTION OF EMBODIMENTS

[0011] The following embodiment is an example embodying the present invention, and does not limit the technical scope of the present invention.

[0012] As an example of the working vehicle of the present invention, a combine harvester 1 will be described. As shown in FIG. 1, a traveling system 10 according to an embodiment of the present invention includes a combine harvester 1 and an operation terminal 3. The combine harvester 1 and the operation terminal 3 can communicate with each other via a communication network N1. For example, the combine harvester 1 and the operation terminal 3 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0013] The combine harvester 1 is a working vehicle that performs agricultural work such as reaping in a field (an example of a working area). The combine harvester 1 performs work while traveling, and transmits GNSS information from a GNSS antenna mounted on the combine harvester 1, that is, the position of the combine harvester 1 itself, to the operation terminal 3 as measurement point data.

[0014] In addition, the combine harvester 1 can perform automatic traveling along a preset target route. For example, the combine harvester 1 receives various types of setting information from the operation terminal 3, and performs automatic traveling in accordance with the setting information. The combine harvester 1 can also perform manual traveling by manual steering performed by an occupant (worker, operator).

[0015] The operation terminal 3 is a mobile terminal capable of remotely operating the combine harvester 1, and is configured of, for example, a tablet terminal, a notebook personal computer, a smartphone, or the like. Note that an operation device similar to the operation terminal 3 may be mounted on the combine harvester 1.

[0016] A worker can perform setting operations for various setting items on the operation terminal 3. In addition, the operation terminal 3 displays information such as the work status and traveling status of the combine harvester 1 during traveling. The worker can grasp the work status and traveling status on the operation terminal 3.

[0017] Incidentally, in addition to rectangular fields where all interior angles are right angles (including nearly right angles), there are also irregularly shaped fields where none of the interior angles are right angles (irregularly shaped fields). Figure 3 shows an example of an irregularly shaped field F. Field F shown in Figure 3 consists of an upper side SU2, a lower side SB2, a left side SL2, and a right side SR2, and has the shape of a quadrilateral (trapezoid) where the upper side SU2 and the lower side SB2 are parallel to each other, and the left side SL2 and the right side SR2 are not parallel to each other. Also, the left side SL2 is perpendicular to the upper side SU2 and the lower side SB2.

[0018] Furthermore, an automated driving area F1 is set up inside field F, where the combine harvester 1 can automatically travel. The automated driving area F1 consists of an upper side SU1, a lower side SB1, a left side SL1, and a right side SR1, and has the shape of a quadrilateral (trapezoid) where the upper side SU1 and lower side SB1 are parallel to each other, and the left side SL1 and right side SR1 are not parallel to each other. Also, the left side SL1 is perpendicular to the upper side SU1 and lower side SB1. The upper sides SU1 and SU2 are parallel to each other, the lower sides SB1 and SB2 are parallel to each other, the left side SL1 and SL2 are parallel to each other, and the right side SR1 and SR2 are parallel to each other. In other words, the shape of field F and the shape of the automated driving area F1 are similar. Outside (around) the automated driving area F1 within field F, a headland area F2 is set up where the combine harvester 1 travels along the outer perimeter (circular travel) or turns when moving between work paths.

[0019] For example, in field F shown in Figure 3, a "reciprocating harvesting path" (an example of the second path pattern of the present invention) may be set for the automated driving area F1, in which the combine harvester 1 performs harvesting work by traveling back and forth along multiple parallel work paths. Figure 4 shows an example of a target path Ra for reciprocating harvesting. The target path Ra includes multiple parallel work paths R1 and a movement path R2 (non-work path) for moving from one work path R1 to the next work path R1. For example, as shown in Figure 4, the combine harvester 1 performs harvesting work within the automated driving area F1 from the outside in the left-right direction to the inside, according to the target path Ra. However, in the driving method shown in Figure 4, the distance that the combine harvester 1 travels along the movement path R2 becomes longer, which may reduce work efficiency.

[0020] Therefore, it is conceivable to divide the automated driving area F1 into multiple sections (divided areas) and generate a target path for each divided area to perform the work. However, in the case of an irregularly shaped field F as shown in Figure 3, depending on the location and shape of the divided areas, it may not be possible to generate a target path appropriately, potentially reducing work efficiency. In contrast, the driving system 10 according to this embodiment has a configuration that allows for the appropriate division of an irregularly shaped field F (automated driving area F1) and improved work efficiency, as shown below. The specific configurations for realizing the above configuration will be described below for each of the combine harvester 1 and the operation terminal 3.

[0021] In this invention, "right angle" and "perpendicular" include angles of 90 degrees ± α and mean approximately 90 degrees (substantially 90 degrees).

[0022] [Operating terminal 3] As shown in Figure 1, the operating terminal 3 is an information processing device comprising an operation control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34, etc. The operating terminal 3 is configured as, for example, a tablet terminal.

[0023] The communication unit 34 is a communication interface for connecting the operating terminal 3 to the communication network N1 by wire or wireless connection and for performing data communication with one or more external devices such as combines 1 via the communication network N1 in accordance with a predetermined communication protocol.

[0024] The operation display unit 33 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can register various setting information by operating the operation unit on the operation screen displayed on the display unit. The operator can also issue automatic driving instructions to the combine harvester 1 by operating the operation unit. Furthermore, the operator can understand the driving status of the combine harvester 1 as it automatically travels through the field by viewing the driving trajectory displayed on the operation terminal 3, even from a location away from the combine harvester 1.

[0025] The storage unit 32 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 32 stores a route generation program that causes the operation control unit 31 to execute the route generation process (see Figure 11) described later. For example, the route generation program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) provided on the operation terminal 3 and stored in the storage unit 32. Alternatively, the route generation program may be downloaded from a server (not shown) to the operation terminal 3 via the communication network N1 and stored in the storage unit 32. The storage unit 32 may also store work information transmitted from the combine harvester 1.

[0026] Furthermore, a dedicated application for automatically operating the combine harvester 1 is installed in the memory unit 32. The operation control unit 31 starts the dedicated application and performs various setting information processing related to the combine harvester 1, issues automatic operation instructions to the combine harvester 1, and so on.

[0027] The operation control unit 31 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as temporary memory for various processes performed by the CPU. The operation control unit 31 controls the operation terminal 3 by executing various control programs that are pre-stored in the ROM or memory unit 32 using the CPU.

[0028] As shown in Figure 1, the operation control unit 31 includes various processing units such as a setting processing unit 311, a division processing unit 312, a generation processing unit 313, and an output processing unit 314. The operation control unit 31 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as processing units.

[0029] The setting processing unit 311 sets various setting information for the combine harvester 1 to operate automatically. Specifically, the setting processing unit 311 sets field information related to the field. This field information includes, for example, the shape, size, and location information (coordinates, etc.) of the outermost perimeter of the field, measurement point data that constitutes the outermost perimeter of the field, and the shape, size, and location information (coordinates, etc.) of the in-field work area (automatic driving area F1, headland area F2) where work is performed in the field. The field information also includes the address of the field, the registration name and registration date of the field information, and the registration name and registration date of the in-field work area. The setting processing unit 311 accepts the registration operation of field information by the operator and sets the field information.

[0030] The setting processing unit 311 also sets the discharge location. For example, the setting processing unit 311 registers the location information (coordinates) of the discharge location specified by the operator in association with the field. The setting processing unit 311 also sets the travel speed (vehicle speed) of the combine harvester 1. For example, the operator can set the vehicle speed of the combine harvester 1. The setting processing unit 311 also sets well-known information such as the type of combine harvester 1 (maximum number of harvesting rows), vehicle width, and vehicle length.

[0031] Furthermore, the setting processing unit 311 sets the route pattern for the combine harvester 1 to work in the automatic travel area F1. For example, the setting processing unit 311 sets the route pattern according to the operator's setting operation. Figure 5 shows an example of the route pattern selection screen D1. For example, on the route pattern selection screen D1, the setting processing unit 311 displays a route pattern for "reciprocating harvesting" (an example of the second route pattern of the present invention) in which the combine harvester 1 performs harvesting work while traveling back and forth along multiple parallel work paths, and a route pattern for "circular harvesting" (an example of the first route pattern of the present invention) in which the combine harvester 1 travels in a circular motion along the edge of the work area (field F, automatic travel area F1, etc.).

[0032] Furthermore, on the route pattern selection screen D1, the operator can select a turning type. The turning types include the "standard type," which uses the minimum turning radius that allows combine 1 to turn under normal conditions; the "tight turning type," which has a smaller turning radius than the standard type; and the "soft type," which has a larger turning radius than the standard type and uses the minimum turning radius that allows combine 1 to turn safely under adverse conditions (such as mud). The operator can select one of these turning types. In addition, on the route pattern selection screen D1, the operator can adjust the turning radius when turning on work routes for back-and-forth mowing and circling mowing.

[0033] Furthermore, the setting processing unit 311 sets the working direction in which the combine harvester 1 will work within the automatic travel area F1. For example, the setting processing unit 311 sets the working direction according to the operator's setting operation. Figure 6 shows an example of the working direction setting screen D2. For example, on the working direction setting screen D2, the setting processing unit 311 displays the working direction that corresponds to each side of the work area (field F, automatic travel area F1, etc.) for the combine harvester 1 to select. In the example shown in Figure 6, the setting processing unit 311 displays four working directions (arrow lines) that correspond to the top side SU1, bottom side SB1, left side SL1, and right side SR1 (see Figure 3) of the automatic travel area F1 to select. Figure 6 shows the operator selecting the working direction (X1 direction) corresponding to the left side SL1.

[0034] The division processing unit 312 divides the work area into multiple divided areas (intermediate division) according to the shape of the work area (irregular shape) in which none of the interior angles are right angles. For example, the division processing unit 312 divides the automatic travel area F1 into multiple divided areas according to the shape of the irregularly shaped field F shown in Figure 3. Intermediate division refers to dividing the work area (grain stalks) within the automatic travel area F1 into left and right sections by harvesting them at an intermediate position (intermediate division path). The division processing unit 312 sets the divided areas according to the operator's settings, for example. Figure 7 shows an example of the intermediate division setting screen D3. For example, on the intermediate division setting screen D3, the division processing unit 312 displays a count specification button K1 for specifying the number of intermediate divisions and a count input field K2 for entering the number of intermediate divisions. If the operator sets the number of intermediate divisions to "1", the division processing unit 312 divides the automatic travel area F1 with a single dividing line and sets two divided areas.

[0035] Furthermore, if the operator sets the number of intermediate divisions to "2," the division processing unit 312 divides the automatic driving area F1 with two dividing lines to set up three divided areas. In the example shown in Figure 7, the division processing unit 312 sets up three divided areas using two dividing lines E1 and E2.

[0036] Here, the division processing unit 312 divides the work area into multiple division areas by dividing lines perpendicular to the pair of parallel sides of the work area when a pair of parallel sides of the work area are parallel. In the field F shown in Figure 3, the upper side SU1 and lower side SB1 of the automatic driving area F1 are parallel to each other, so the division processing unit 312 divides the automatic driving area F1 by dividing lines (dividing lines E1 and E2) perpendicular to the upper side SU1 and lower side SB1.

[0037] Furthermore, the division processing unit 312 divides the work area into multiple division areas using division lines parallel to the work direction within the work area. As shown in Figure 6, when the work direction is set to the X1 direction (for example, the direction parallel to the left side SL1), the division processing unit 312 divides the automatic driving area F1 using division lines parallel to the X1 direction (division lines E1, E2).

[0038] Furthermore, the division processing unit 312 divides the work area into a rectangular area and a non-rectangular area. In the field F shown in Figure 3, in the automated driving area F1, the left side SL1 is perpendicular to the upper side SU1 and the lower side SB1, respectively, and the right side SR1 is inclined relative to the left side SL1. Therefore, as shown in Figure 8, the division processing unit 312 divides the area into a rectangular area and a non-rectangular area (triangular area in Figure 8) by a dividing line E1 that passes through the intersection point P1 of the right side SR1 and the upper side SU1 and is perpendicular to the lower side SB1. As a result, as shown in Figure 8, the automated driving area F1 is divided into a right-angled triangular area (divided area F13) with a lower side length L1 and a rectangular area (rectangle) with a lower side length L2.

[0039] Furthermore, if the number of intermediate divisions is set to "2", the division processing unit 312 further divides the rectangular region with a bottom edge length of L2. For example, as shown in Figure 8, the division processing unit 312 divides the region into two rectangular regions of the same size by a dividing line E2 that passes through the position (L2) / 2 and is parallel to the left edge SL1. As a result, the automatic driving region F1 is divided into two rectangular division regions F11 and F12 of the same size, and a triangular division region F13 (non-rectangular region).

[0040] Furthermore, if the number of intermediate divisions is set to "1", the division processing unit 312 divides the area into a rectangular region and a non-rectangular region using the division line E1. In other words, the division processing unit 312 divides the work area so that non-rectangular regions are preferentially generated. For this reason, for example, the division processing unit 312 automatically sets the first division line at the position where a non-rectangular region is generated, and sets the second division line at an equal position or at a position specified by the operator if the rectangular region is to be further divided into smaller rectangular regions.

[0041] The generation processing unit 313 generates a target route for the combine harvester 1 to travel along. Specifically, the generation processing unit 313 generates a target route for automatic or manual travel through the automatic travel area F1 based on the aforementioned setting information such as field information, route pattern, turning type, turning radius, discharge position, and division area. The generation processing unit 313 also generates a target route corresponding to each of the multiple division areas. For example, if the route pattern for "reciprocating mowing" is set (see Figure 5), and the automatic travel area F1 is divided into three division areas F11, F12, and F13 (see Figures 7 and 8), the generation processing unit 313 generates a target route R11 for reciprocating mowing in division area F11, a target route R12 for reciprocating mowing in division area F12, and a target route R13 for reciprocating mowing in division area F13, as shown in Figure 9. The generation processing unit 313 registers the target route Ra, which includes the generated target routes R11, R12, and R13, in association with field F.

[0042] The output processing unit 314 outputs the setting information set by the setting processing unit 311 and the path data of the target path Ra generated by the generation processing unit 313 to the combine harvester 1. In addition, the output processing unit 314 outputs work start instructions and work end instructions to the combine harvester 1 based on the operator's operations.

[0043] When the operation control unit 31 receives the work start instruction operation from the operator, the output processing unit 314 outputs the work start instruction to the combine harvester 1. As a result, the control device 11 of the combine harvester 1 receives the work start instruction from the operation terminal 3. When the control device 11 receives the work start instruction, it starts the work and driving of the combine harvester 1. For example, when the combine harvester 1 acquires the route data of the target route Ra shown in Figure 9 and receives the work start instruction, first the operator performs harvesting work while driving in a circular motion along the outer perimeter of the headland area F2 of the field F using manual steering, and when the work in the headland area F2 is completed, the operator performs harvesting work while driving along the route corresponding to the dividing line E2 (intermediate route) in the automatic driving area F1 using manual steering. As a result, the divided area F11 is separated from the automatic driving area F1. Subsequently, when the operator moves the combine harvester 1 to the work start position in the divided area F11 and issues an instruction to start automatic driving, the control device 11 causes the combine harvester 1 to automatically drive within the divided area F11 according to the target path R11 (see Figure 9) and perform the harvesting work.

[0044] Once the work in divided area F11 is completed, the operator manually steers the combine harvester 1 along the path corresponding to the dividing line E1 (the middle section path) in the automated driving area F1 and performs harvesting work. This separates divided area F12 from the automated driving area F1. Subsequently, when the operator moves the combine harvester 1 to the work start position in divided area F12 and issues an instruction to start automated driving, the control device 11 causes the combine harvester 1 to automatically drive through divided area F12 according to the target path R12 (see Figure 9) and perform harvesting work.

[0045] Once work in section F12 is completed, the operator moves the combine harvester 1 to the work start position in section F13 and issues an automatic start command. The control device 11 then causes the combine harvester 1 to automatically travel through the remaining section F13 according to the target path R13 (see Figure 9) while performing harvesting. Alternatively, the combine harvester 1 may automatically travel along the intermediate paths corresponding to the dividing lines E1 and E2 while performing harvesting.

[0046] Furthermore, when the operation control unit 31 receives the work stop instruction operation from the operator, the output processing unit 314 outputs the work stop instruction to the combine harvester 1. As a result, the control device 11 acquires the work stop instruction from the operation terminal 3. Upon acquiring the work stop instruction, the control device 11 stops the operation and movement of the combine harvester 1. The combine harvester 1 may also automatically travel across the entire field F from the work start position to the work end position.

[0047] In another embodiment, the generation processing unit 313 may generate a target path with a path pattern different from the path pattern set by the operator for a non-rectangular area. For example, in the example shown in Figure 9, if the length of the movement path R3 (non-work path) included in the target path R13 is greater than or equal to a predetermined length, the generation processing unit 313 does not generate a target path with a "reciprocating mowing" path pattern for the divided area F13. In this case, for example as shown in Figure 10, the generation processing unit 313 generates a target path R13 with a "circular mowing" path pattern for the divided area F13. This makes it possible to omit the movement path R3, thereby further improving work efficiency. Note that the movement path R3 (non-work path) includes straight paths, turning paths, and reverse paths for which mowing has been performed, as well as straight paths, turning paths, and reverse paths for which mowing has not been performed. Thus, even when the operator selects a "reciprocating mowing" path pattern (see Figure 5), the generation processing unit 313 may be configured not to set a target path for reciprocating mowing in the divided area F13 if the length of the movement path R3 is greater than or equal to a predetermined length.

[0048] Furthermore, when the generation processing unit 313 generates a target route with a route pattern different from the route pattern set by the operator for a non-rectangular area, it may display a message on the operation screen indicating that the target route will be generated with a route pattern different from the route pattern set by the operator, or a message asking whether or not to allow the generation of a target route with a route pattern different from the route pattern set by the operator.

[0049] In another embodiment, the generation processing unit 313 may not generate a target path for automatic driving in non-rectangular areas and may recommend manual operation by manual steering to the operator. For example, the operation control unit 31 may display a message recommending manual operation on the operation screen at the target path generation stage or at the start of work in a non-rectangular area. In this case, the generation processing unit 313 generates a target path only in rectangular areas.

[0050] The operating terminal 3 may also be able to access the website (agricultural support site) of the agricultural support service provided by the server (not shown) via the communication network N1. In this case, the operating terminal 3 can function as an operating terminal for the server by having a browser program executed by the operation control unit 31. The server then comprises the processing units described above and executes each of the processes.

[0051] [Combine Harvester 1] Figure 2 shows a side view of the combine harvester 1. As shown in Figures 1 and 2, the combine harvester 1 includes a threshing unit 4, a sorting unit 5, a straw processing unit 6, a power unit 8, a control unit 9, a control device 11, a memory unit 12, a positioning unit 13, a driving unit 14, a harvesting unit 15, a storage unit 16, a communication unit 17, and the like. The combine harvester 1 is a so-called self-propelled combine harvester. The combine harvester 1 moves using the driving unit 14, threshes the grain stalks harvested by the harvesting unit 15 in the threshing unit 4, sorts the grain in the sorting unit 5 and stores it in the storage unit 16. The combine harvester 1 processes the straw after threshing using the straw processing unit 6. The combine harvester 1 drives the driving unit 14, the harvesting unit 15, the storage unit 16, the threshing unit 4, the sorting unit 5, and the straw processing unit 6 with power supplied by the power unit 8.

[0052] The running gear 14 is located below the machine frame 29 and comprises a pair of left and right crawler-type running gears 2 and a transmission (not shown). The running gear 14 uses power (e.g., rotational power) transmitted from the engine 27 of the power unit 8 to rotate the crawlers of the crawler-type running gears 2, thereby causing the combine harvester 1 to travel in the forward and backward directions and to turn in the left and right directions. The transmission transmits the power (rotational power) from the power unit 8 to the crawler-type running gears 2 and can also change the speed of the rotational power.

[0053] The harvesting unit 15 is located in front of the traveling unit 14 and performs harvesting work on rows within the number of harvestable rows. The harvesting unit 15 is equipped with a divider 28, a lifting device 20, a cutting device 23, and a conveying device 7. The divider 28 separates the grain stalks in the field into individual rows and guides a predetermined number of grain stalks within the number of harvestable rows to the lifting device 20. The lifting device 20 lifts the grain stalks guided by the divider 28. The cutting device 23 cuts the grain stalks that have been lifted by the lifting device 20. The conveying device 7 conveys the grain stalks cut by the cutting device 23 to the threshing unit 4.

[0054] The threshing unit 4 is located behind the harvesting unit 15. The threshing unit 4 comprises a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stalks of grain conveyed from the conveying device 7 of the harvesting unit 15 for threshing, and further transports the threshed stalks, i.e., the straw, to the straw disposal unit 6. The threshing drum 19 threshes the stalks of grain being transported by the feed chain 18.

[0055] The sorting unit 5 is located below the threshing unit 4. The sorting unit 5 includes an oscillating sorting device 21, a blown-air sorting device 22, a grain conveying device (not shown), and a straw debris discharge device (not shown). The oscillating sorting device 21 separates the threshed grain that has fallen from the threshing unit 4 into grain and straw debris by sieving. The blown-air sorting device 22 further separates the threshed grain separated by the oscillating sorting device 21 into grain and straw debris by blowing air. The grain conveying device conveys the grain separated by the oscillating sorting device 21 and the blown-air sorting device 22 to the storage unit 16. The straw debris discharge device discharges the straw debris separated by the oscillating sorting device 21 and the blown-air sorting device 22 to the outside of the machine.

[0056] The storage unit 16 is located to the right of the threshing unit 4. The storage unit 16 comprises a storage tank (grain tank) 24 and a discharge device 25. The storage tank 24 stores the grain that has been transported from the sorting unit 5. The discharge device 25, at the discharge position, consists of an auger and the like, and discharges the grain stored in the storage tank 24 to the discharge area or transport vehicle.

[0057] The straw removal section 6 is located behind the threshing section 4. The straw removal section 6 includes a straw conveying device (not shown) and a straw cutting device (not shown). The straw conveying device conveys the straw transported from the feed chain 18 of the threshing section 4 to the straw cutting device. The straw cutting device cuts the straw transported by the straw conveying device and discharges it outside the machine.

[0058] The power unit 8 is located above the traveling unit 14 and in front of the storage unit 16. The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 14, the harvesting unit 15, the storage unit 16, the threshing unit 4, the sorting unit 5, and the straw waste processing unit 6.

[0059] The control unit 9 is located above the power unit 8. The control unit 9 is equipped with controls around the driver's seat, which is the seat where the operator sits, for controlling the movement of the combine harvester 1. These controls include a handle for instructing the turning of the combine harvester 1, and a main and sub-transmission levers for instructing changes in the forward and reverse speed of the combine harvester 1. Manual movement of the combine harvester 1 is performed by the driving unit 14, which receives input from the handle, main and sub-transmission levers of the control unit 9. The control unit 9 also includes mechanisms for operating the harvesting operation by the harvesting unit 15, the threshing operation by the threshing unit 4, and the discharge operation by the discharge device 25 of the storage unit 16.

[0060] The positioning unit 13 acquires the position of the combine harvester 1 using a satellite positioning system such as GPS. For example, the positioning unit 13 receives positioning signals from positioning satellites via a positioning antenna and acquires position information of the positioning unit 13, i.e., the position of the combine harvester 1 (measurement point data), based on the positioning signals.

[0061] The communication unit 17 (see Figure 1) is a communication interface for connecting the combine 1 to the communication network N1 by wire or wireless connection and for performing data communication with external devices such as the operation terminal 3 via the communication network N1 in accordance with a predetermined communication protocol.

[0062] The storage unit 12 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 12 stores control programs, such as an automatic driving program, which causes the control device 11 to execute automatic driving processing. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. Alternatively, the automatic driving program may be downloaded from a server (not shown) to the combine 1 via a communication network N1 and stored in the storage unit 12. The storage unit 12 also stores various setting information obtained from the operation terminal 3.

[0063] The control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as temporary memory for the various processes performed by the CPU. The control device 11 controls the combine 1 by executing various control programs that have been stored in advance in the ROM or memory unit 12 using the CPU.

[0064] Specifically, as shown in Figure 1, the control device 11 includes various processing units such as the driving processing unit 111. The control device 11 functions as these various processing units by executing various processes according to the automatic driving program using the CPU. Some or all of these processing units may be composed of electronic circuits. The automatic driving program may be a program that causes multiple processors to function as processing units.

[0065] The driving processing unit 111 automatically drives the combine harvester 1 according to the target route Ra set for the field F. Specifically, the driving processing unit 111 acquires various setting information set for the field F and route data of the target route Ra from the operation terminal 3. For example, during harvesting, the driving processing unit 111 acquires the vehicle position of the combine harvester 1 from the positioning unit 13, and controls the power unit 8, driving unit 14, and harvesting unit 15 so that the combine harvester 1 automatically drives along the work route and performs harvesting work based on the vehicle position and the work route included in the target route Ra. Alternatively, for example, the driving processing unit 111 controls the operation of the power unit 8, driving unit 14, and harvesting unit 15 in response to the operator's manual steering to perform manual driving and harvesting work. Furthermore, during the discharge operation, the driving processing unit 111 acquires the vehicle position of the combine harvester 1 from the positioning unit 13, and controls the power unit 8 and the driving unit 14 so that the combine harvester 1 automatically travels along the discharge route based on the vehicle position and the discharge route included in the target route Ra.

[0066] In the examples shown in Figures 9 and 10, the driving processing unit 111 causes the combine harvester 1 to automatically drive and perform harvesting operations in the divided area F11 according to the target path R11, then in the divided area F12 according to the target path R12, and finally in the divided area F13 according to the target path R13.

[0067] In addition, the control device 11 controls the vehicle speed of the combine harvester 1 according to preset setting information or operator operations.

[0068] [Route generation process] The following describes an example of the route generation process performed by the driving system 10, with reference to Figure 11.

[0069] Furthermore, the present invention can be understood as an invention of a route generation method that performs one or more steps included in the route generation process. Also, the one or more steps included in the route generation process described herein may be omitted as appropriate. Furthermore, the execution order of each step in the route generation process may differ to the extent that similar effects are produced. In addition, although the case in which the control device 11 performs each step in the route generation process is described here as an example, a route generation method in which one or more processors distribute and execute each step in the route generation process can also be considered as another embodiment.

[0070] In step S1, the operation control unit 31 registers various setting information. Specifically, the operation control unit 31 sets and registers field information related to field F, vehicle information related to combine harvester 1, work information related to the work, and route information related to the target route (route pattern, turning type, work direction, etc.) based on the operator's setting operations. For example, the operation control unit 31 sets the route pattern and turning type according to the operator's selection operation on the route pattern selection screen D1 shown in Figure 5. Also, for example, the operation control unit 31 sets the work direction according to the operator's selection operation on the work direction setting screen D2 shown in Figure 6.

[0071] Next, in step S2, the operation control unit 31 determines whether or not it is necessary to divide field F. Specifically, the operation control unit 31 determines that field F needs to be divided if the operator selects "Specify number of divisions" on the division setting screen D3 shown in Figure 7, and determines that field F does not need to be divided if the operator selects "No division". In another embodiment, the operation control unit 31 may determine that field F needs to be divided if the shape of field F is not rectangular, that is, if field F is an irregularly shaped field. Alternatively, the operation control unit 31 may determine that field F needs to be divided based on the shape of field F and the direction of work. For example, the operation control unit 31 may determine that it is necessary to divide the field F if the shape of the field F is such that a pair of sides facing each other in a direction perpendicular to the working direction are not parallel to each other, and that it is not necessary to divide the field F if the shape of the field F is such that a pair of sides facing each other in a direction perpendicular to the working direction are parallel to each other.

[0072] If the operation control unit 31 determines that it is necessary to divide field F (S2:Yes), it moves the process to step S3; if it determines that it is not necessary to divide field F (S2:No), it moves the process to step S5.

[0073] In step S3, the operation control unit 31 sets the division positions (intermediate division positions, intermediate division paths) for dividing the field F. Specifically, the operation control unit 31 sets the division positions so that the work area is divided into a rectangular area and a non-rectangular area.

[0074] For example, in the automated driving area F1 within field F shown in Figure 3, the operation control unit 31 sets the division position at a point where a straight line (dividing line E1) passes through the intersection P1 of the right side SR1 and the top side SU1 and is perpendicular to the bottom side SB1, as shown in Figure 8. Furthermore, if the length of a side (a side extending perpendicular to the working direction) of the rectangular area within the automated driving area F1 is greater than or equal to a predetermined length, the operation control unit 31 sets the division position at half that length. In the example shown in Figure 8, the operation control unit 31 sets the division position at a point where a straight line (dividing line E2) passes through the center of half the length of the top side SU1 ((L2) / 2) and is perpendicular to both the top side SU1 and the bottom side SB1. In another embodiment, the operation control unit 31 may set the division position at a location specified by the operator. Note that the operation control unit 31 may not set a division position if the length of a side (a side extending perpendicular to the working direction) of the rectangular area is less than a predetermined length.

[0075] Next, in step S4, the operation control unit 31 sets the division area. Specifically, based on the division position set in step S3, the operation control unit 31 divides the field F into a rectangular area and a non-rectangular area, and sets the rectangular division area and the non-rectangular division area.

[0076] For example, in the example shown in Figure 8, the operation control unit 31 divides the automatic driving area F1 by dividing lines E1 and E2 to create two rectangular division areas F11 and F12, and a triangular division area F13.

[0077] Next, in step S5, the operation control unit 31 generates a target path Ra for the combine harvester 1 to travel along. Specifically, the operation control unit 31 generates a target path Ra for the combine harvester to travel along the automatic travel area F1 based on the setting information described above. For example, as shown in Figure 9, the operation control unit 31 generates a target path R11 for back-and-forth mowing in divided area F11, a target path R12 for back-and-forth mowing in divided area F12, and a target path R13 for back-and-forth mowing in divided area F13. As another example, as shown in Figure 10, the operation control unit 31 generates a target path R11 for back-and-forth mowing in divided area F11, a target path R12 for back-and-forth mowing in divided area F12, and a target path R13 for round-trip mowing in divided area F13.

[0078] If the field F (automatic driving area F1) is not divided (S2: No), the operation control unit 31 generates one target path Ra (target path for back-and-forth mowing or circling mowing) for the automatic driving area F1.

[0079] The operation control unit 31 registers the generated target route Ra in association with field F. Furthermore, when the operation control unit 31 receives an automatic driving start instruction from the operator, it outputs the route data of the generated target route Ra to the combine harvester 1.

[0080] The operation control unit 31 executes the route generation process as described above. The operation control unit 31 can execute the route generation process for each field and register route data for the target route for each field.

[0081] As described above, the travel system 10 according to this embodiment is a system that generates a target path for the combine harvester 1 to travel along. The travel system 10 also divides the work area into multiple sub-regions according to the shape of the work area (irregularly shaped field) in which none of the interior angles are right angles, and generates a target path corresponding to each of the multiple sub-regions. Specifically, the travel system 10 divides the work area into a rectangular region and a non-rectangular region, and generates a first target path corresponding to the rectangular region and a second target path corresponding to the non-rectangular region.

[0082] With the above configuration, for example, the automated driving area F1 can be divided into multiple areas, and work can be performed in each divided area, thereby shortening the distance traveled on non-work paths (travel paths). Therefore, work efficiency can be improved. In addition, by dividing the automated driving area F1 into rectangular and non-rectangular areas, target paths suitable for each of the rectangular and non-rectangular areas can be generated individually. For example, a target path for back-and-forth mowing can be generated for the rectangular area, and a target path for circumferential mowing can be generated for the non-rectangular area (see Figure 10). Therefore, the work efficiency of each divided area can be further improved.

[0083] [Other embodiments] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0084] For example, if the shape of field F is as shown in Figure 12, and the right-hand side SR2 is not perpendicular to the upper side SU2 and the lower side SB2, and the right-hand side SR1 of the automatic driving area F1 is not perpendicular to the upper side SU1 and the lower side SB1, and the left-hand side SL2 is not perpendicular to the upper side SU2 and the lower side SB2, and the left-hand side SL1 of the automatic driving area F1 is not perpendicular to the upper side SU1 and the lower side SB1, then the operation control unit 31 divides the field F into one rectangular area and two non-rectangular areas by dividing line E1 passing through the intersection point P1 of the right-hand side SR1 and the upper side SU1 and perpendicular to the lower side SB1, and dividing line E2 passing through the intersection point P2 of the left-hand side SL1 and the upper side SU1 and perpendicular to the lower side SB1. As a result, as shown in Figure 12, the automatic driving area F1 is divided into two right-angled triangular divided areas F11 and F13 and one rectangular divided area F12.

[0085] For example, if the shape of field F is as shown in Figure 13, the operation control unit 31 divides it into one rectangular area and two non-rectangular areas by dividing line E1 passing through the intersection P1 of the right side SR1 and the top side SU1 and perpendicular to the bottom side SB1, and dividing line E2 passing through the intersection P3 of the left side SL1 and the bottom side SB1 and perpendicular to the top side SU1. As a result, as shown in Figure 13, the automatic driving area F1 is divided into two right-angled triangular divided areas F11 and F13 and one rectangular divided area F12.

[0086] In another embodiment, the operation control unit 31 may generate a target path pattern in a non-rectangular region where the length of the work path is greater than or equal to a predetermined length, and generate a target path pattern in a non-rectangular region where the work path is less than or equal to a predetermined length, where the work path is less than or equal to a predetermined length, and run parallel to the dividing line and in one direction. For example, as shown in Figure 14, in part A1 of the non-rectangular divided region F13, the length of each work path R30 is greater than or equal to a predetermined length, while in part A2 of the divided region F13, the length of each work path R30 is less than a predetermined length. In this case, if the combine harvester 1 runs back and forth in part A2, turning movements will become frequent, reducing work efficiency. Therefore, for part A2, the operation control unit 31 generates a target path R32 (one-way work path) in which the combine harvester 1 runs forward along the work path R30, and after working along that work path R30, runs backward to move to the next work path R30. In contrast, in section A1, reversing as in section A2 would reduce work efficiency, so the target path R31 for normal reciprocating mowing is generated.

[0087] In another embodiment, the operation control unit 31 may generate a target path that travels in the direction of the rows (planting direction) within a non-rectangular region. For example, as shown in Figure 15A, if the direction of the rows is in the X3 direction, the operation control unit 31 generates a target path for circular mowing that travels along the X3 direction for the divided region F13. Also, as shown in Figure 15B, if the direction of the rows is in the X4 direction, the operation control unit 31 generates a target path for reciprocating mowing or unidirectional mowing that travels along the X4 direction for the divided region F13.

[0088] Furthermore, as shown in Figure 15C, for example, if the row of rows has a mix of sections in the X3 direction and sections in the X4 direction, the operation control unit 31 generates a target path for circumferential mowing and a target path for reciprocal mowing or unidirectional travel for the divided region F13. For example, as shown in Figure 16, the generation processing unit 313 generates a target path for circumferential mowing for the outer periphery of the divided region F13, a target path for circumferential mowing with the lateral work path omitted for the section inside the outer periphery, and a target path for unidirectional travel for the section further inside.

[0089] In another embodiment, the operation control unit 31 may display the division position on the operation screen when the combine harvester 1 is in manual driving mode and the operator is manually driving along the intermediate division path. In other words, the target path of the present invention is not limited to a target path for automatic driving, but may also be a target path that can be confirmed by the operator during manual driving.

[0090] In another embodiment, if the length of the movement path R2 in the rectangular divided regions F11 and F12 is greater than or equal to a predetermined length, the operation control unit 31 may be configured to generate a target path for circular mowing for the divided regions F11 and F12, even if the operator has selected the "reciprocating mowing" path pattern. Alternatively, the operation control unit 31 may display a message prompting the operator to select the "reciprocating mowing" path pattern.

[0091] In another embodiment, if the length of the movement path R2 in the rectangular division area is greater than or equal to a predetermined length, the operation control unit 31 may present the operator with the number of intermediate divisions (recommended number of intermediate divisions) that will result in the length being less than the predetermined length.

[0092] In another embodiment, the operation control unit 31 may divide the work area if the work area has a shape in which a pair of opposing sides perpendicular to the work direction are not parallel to each other. For example, in the field F shown in Figure 3, when the work direction is in the X1 direction (see Figure 6), the automatic travel area F1 has a shape in which the left side SL1 and the right side SR1, which are opposite each other in a direction perpendicular to the X1 direction, are not parallel to each other (see Figure 8). In this case, the operation control unit 31 divides the automatic travel area F1 into multiple divided areas. In contrast, for example, in the field F shown in Figure 3, when the work direction is in the X2 direction (see Figure 6), the automatic travel area F1 has a shape in which the upper side SU1 and the lower side SB1, which are opposite each other in a direction perpendicular to the X2 direction, are parallel to each other. In this case, the operation control unit 31 does not divide the automatic travel area F1. When the work direction is in the X2 direction, the operation control unit 31 generates, for example, a target path for back-and-forth mowing or circumferential mowing across the entire automatic travel area F1.

[0093] Furthermore, when the working direction is in the X2 direction, the operation control unit 31 may divide the automatic travel area F1 into multiple non-rectangular areas. That is, the operation control unit 31 may divide the automatic travel area F1 with dividing lines parallel to the working direction (X2 direction) to generate multiple non-rectangular areas.

[0094] In another embodiment, when the working direction is in the X2 direction, the operation control unit 31 may divide the automatic travel area F1 with a dividing line perpendicular to the X2 direction to generate a rectangular area and a non-rectangular area. That is, in the present invention, the dividing line and the intermediate path may be parallel to the working direction or perpendicular to the working direction.

[0095] In other embodiments, the divided region may include non-rectangular regions with shapes different from the triangular shape. For example, as shown in Figure 17A, the operation control unit 31 divides the automatic driving region F1 by a dividing line E1 parallel to the left side SL1 (parallel to the work direction (X1 direction)) such that a region (divided region F12) is formed where the length of the straight path (work path R1) parallel to the left side SL1 is greater than or equal to a predetermined length, and a region (divided region F13) where the length is less than the predetermined length. The predetermined length is the same as the predetermined length in the configuration of Figure 14. The operation control unit 31 may further divide the region into divided regions F11 and F12 by a dividing line E2. As a result, the automatic driving region F1 is divided into a rectangular divided region F11, a non-rectangular (pentagonal) divided region F12, and a non-rectangular (triangular) divided region F13. Furthermore, the operation control unit 31 generates target paths for reciprocating mowing in divided regions F11 and F12, and generates target paths for a path pattern that travels in one direction in divided region F13.

[0096] Furthermore, in another embodiment, the divided region may not include a triangular non-rectangular region. For example, as shown in Figure 17B, the operation control unit 31 divides the automatic travel region F1 by a dividing line E1 parallel to the left side SL1 (parallel to the work direction (X1 direction)) to form a non-rectangular (square-shaped) divided region F13 and a rectangular region. The operation control unit 31 may further divide the rectangular region into rectangular divided regions F11 and F12 by a dividing line E2. As a result, the automatic travel region F1 is divided into rectangular divided regions F11 and F12 and a non-rectangular (square-shaped) divided region F13. The operation control unit 31 also generates target paths for reciprocating mowing in the divided regions F11 and F12 and a target path for circumferential mowing in the divided region F13. As shown in Figures 17A and 17B, the operation control unit 31 may set the division position (intermediate division position, intermediate division path) according to the path pattern of the target path and the length of the work path in the divided region after division.

[0097] Furthermore, the present invention can also be applied to configurations that do not include the process of dividing the work area into multiple sub-regions. Specifically, the present invention can be applied to the invention of an operation control unit 31 that executes each of the target path generation methods described above. For example, the operation control unit 31 generates a path that travels around the edge of a non-rectangular area (a target path for circumferential mowing). Alternatively, the operation control unit 31 generates a target path for circumferential mowing for a non-rectangular area when the length of a non-work path (for example, the movement path R3 in Figure 9) is greater than or equal to a predetermined length, and generates a target path for reciprocal mowing for a non-rectangular area when the length of a non-work path is less than a predetermined length.

[0098] In the above-described embodiment, a combine harvester 1 was given as an example of a work vehicle, but the work vehicle of the present invention is not limited to a combine harvester 1, and may be various other work vehicles such as a tractor, rice transplanter, or construction machinery.

[0099] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0100] <Note 1> A route generation method for generating a target route for a work vehicle, Depending on the shape of the work area where none of the interior angles are right angles, the work area is divided into multiple sub-regions, To generate the target path corresponding to each of the plurality of divided regions, A method for generating routes that executes this process.

[0101] <Note 2> When one of the multiple sides of the aforementioned work area is parallel, The work area is divided into the plurality of divided areas by dividing lines perpendicular to the pair of sides. The route generation method described in Appendix 1.

[0102] <Note 3> The work area is divided into the plurality of division areas by dividing lines parallel to the working direction in the work area. Route generation method as described in Appendix 1 or 2.

[0103] <Note 4> The aforementioned work area is divided into a rectangular area and a non-rectangular area. A first target path corresponding to the rectangular region and a second target path corresponding to the non-rectangular region are generated. Route generation method as described in any of the appendices 1 to 3.

[0104] <Note 5> The aforementioned non-rectangular region is a triangular region. Route generation method as described in Appendix 4.

[0105] <Note 6> The aforementioned second target path is a path that travels in a circular motion along the edges of the non-rectangular region. Route generation method as described in Appendix 4 or 5.

[0106] <Note 7> When it is possible to set either a first path pattern that travels along the edges of the non-rectangular region or a second path pattern that travels parallel to the dividing line that divides the work area as the path pattern of the target path, In the second route pattern, if the length of the travel path taken when moving from the first work path to the second work path is greater than or equal to a predetermined length, the target path of the second route pattern is not set as the second target path. Route generation method as described in any of the appendices 4 to 6.

[0107] <Note 8> The system can accept an operation from the user to select either the first route pattern or the second route pattern as the route pattern for the target route, Even if the user selects the second route pattern, if the length of the travel path is greater than or equal to a predetermined length, the target path of the second route pattern will not be set as the second target path. Route generation method as described in Appendix 7.

[0108] <Note 9> In the non-rectangular region, a target path is generated for the portion where the length of the work path is greater than or equal to a predetermined length, and a target path is generated for the portion where the length of the work path is less than the predetermined length, and a target path is generated for the portion where the work path is parallel to the dividing line that divides the work region and travels in one direction. Route generation method as described in any of the appendices 4 to 8.

[0109] <Note 10> When a work vehicle performs the harvesting operation of cutting grain stalks, In the non-rectangular region, a second target path is generated that travels in the direction of the rows. A route generation method described in any of the appendices 4 to 9. [Explanation of Symbols]

[0110] 1: Combine harvester (work vehicle) 3: Operating terminal 10: Driving System 11: Control device 31: Operation Control Unit 111: Driving section 311: Configuration Processing Unit 312: Partitioning Processing Unit 313: Generation Processing Unit 314: Output Processing Unit D1: Route pattern selection screen D2: Work direction setting screen D3: In-between animation settings screen E1: Dividing line E2: Dividing line F: Field (work area) F1: Automated driving area F11: Split area (rectangular area) F12: Split area (rectangular area) F13: Split area (non-rectangular area) F2: Headland area R: Target path R1: Work Route R11: Target route (First target route) R12: Target route (First target route) R13: Target route (Second target route) R2: Travel Path R3: Travel Path R31: Target route R32: Target route SB1: Bottom edge SB2: Bottom edge SL1: Left side SL2: Left side SR1: Right-hand side SR2: Right-hand side SU1: Top SU2: Top

Claims

1. A route generation method for generating a target route for a work vehicle, Depending on the shape of the work area where none of the interior angles are right angles, the system accepts a division operation from the user to divide the work area into multiple division areas, Based on the division operation, the work area is divided into the plurality of division areas, To generate the target path corresponding to each of the plurality of divided regions, The aforementioned division operation accepts an input for the number of times the work area is to be divided, If the number of times is one, the work area is divided into a rectangular area and a non-rectangular area; if the number of times is multiple, the work area is divided into a rectangular area and a non-rectangular area, and the rectangular area is further divided at positions of equal area or at positions specified by the user. A method for generating routes that executes this process.

2. On the screen that accepts the split operation, a button for specifying the number of times and a field for entering the number of times are displayed, and the split operation is accepted from the user. The route generation method according to claim 1.

3. When one of the multiple sides of the aforementioned work area is parallel, The work area is divided into the plurality of division areas by dividing lines perpendicular to the pair of sides, or by dividing lines parallel to the working direction in the work area. The route generation method according to claim 1.

4. A method for generating a first target path corresponding to the rectangular region and a second target path corresponding to the non-rectangular region. A route generation method according to any one of claims 1 to 3.

5. The aforementioned non-rectangular region is a triangular region. The route generation method according to claim 4.

6. The aforementioned second target path is a path that travels in a circular motion along the edges of the non-rectangular region. The route generation method according to claim 4.

7. The second target route includes a first work route through which the work vehicle performs work, and a second work route through which the work vehicle performs work after the first work route. When it is possible to set either a first path pattern that travels along the edges of the non-rectangular region or a second path pattern that travels parallel to the dividing line that divides the work area as the path pattern of the target path, In the second route pattern, if the length of the travel path that the work vehicle travels when moving from the first work path to the second work path is greater than or equal to a predetermined length, the target path of the second route pattern is not set as the second target path. The route generation method according to claim 4.

8. The system can accept an operation from the user to select either the first route pattern or the second route pattern as the route pattern for the target route, Even if the user selects the second route pattern, if the length of the travel path is greater than or equal to a predetermined length, the target path of the second route pattern will not be set as the second target path. The route generation method according to claim 7.

9. In the non-rectangular region, a target path is generated for the portion where the length of the work path is greater than or equal to a predetermined length, and a target path is generated for the portion where the length of the work path is less than the predetermined length, and a target path is generated for the portion where the work path is parallel to the dividing line that divides the work region and travels in one direction. The route generation method according to claim 4.

10. When the aforementioned work vehicle performs the harvesting work of cutting grain stalks, In the non-rectangular region, a second target path is generated that travels in the direction of the rows. The route generation method according to claim 4.

11. A route generation system that generates a target route for a work vehicle to travel, A division processing unit receives a division operation from the user to divide the work area into multiple division areas according to the shape of the work area in which none of the interior angles are right angles, and divides the work area into the multiple division areas based on the division operation, A generation processing unit that generates a target path corresponding to each of the plurality of divided regions, Equipped with, The aforementioned division processing unit is As part of the division operation, the system accepts an input for the number of times to divide the work area. A path generation system that, when the number of times is one, divides the work area into a rectangular area and a non-rectangular area, and when the number of times is multiple, divides the work area into a rectangular area and a non-rectangular area, and further divides the rectangular area at positions of equal area or at positions specified by the user.

12. A route generation program that generates a target route for a work vehicle to travel, Depending on the shape of the work area where none of the interior angles are right angles, the system accepts a division operation from the user to divide the work area into multiple division areas, Based on the division operation, the work area is divided into the plurality of division areas, To generate target paths corresponding to each of the aforementioned multiple divided regions, The aforementioned division operation accepts an input for the number of times the work area is to be divided, If the number of times is one, the work area is divided into a rectangular area and a non-rectangular area; if the number of times is multiple, the work area is divided into a rectangular area and a non-rectangular area, and the rectangular area is further divided at positions of equal area or at positions specified by the user. A route generation program that causes one or more processors to execute.

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