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

Abstract

(Problem) To provide a path generation method, a path generation program, and a path generation system capable of correcting the position of a target path for automatically driving a work vehicle in a pavement including a work area and a non-work area. (Solution) The automatic driving system (100) comprises a work area for performing work on the work vehicle (10) while driving the work vehicle (10) automatically, a setting processing unit (211) for setting a non-work area outside the work area, a generating processing unit (212) for generating a target path for driving the work vehicle (10) automatically, and a correction processing unit (213) for correcting the target path when a correction operation for correcting the target path is received.

Description

Technology Field

[0001] The present invention relates to a path generation method, a path generation program, and a path generation system for generating a path (target path) for automatically driving a work vehicle. Background Technology

[0002] Conventionally, in packaging, a work vehicle that automatically drives along a preset target path is known. For example, a system is known that generates a path from a starting position to an ending position of work before starting automatic driving of the work vehicle, and executes automatic driving of the work vehicle along the generated path (see, for example, Patent Document 1). Prior art literature

[0003] Japanese Patent Publication No. 2018-161085 The problem to be solved

[0004] However, there are cases where it is desired to correct (change) the position of the generated target path after creating a target path for automatically driving a work vehicle. Yet, conventional technology has a problem in that it is not possible to correct the position of the set target path for pavements that include both work and non-work areas.

[0005] The objective of the present invention is to provide a path generation method, a path generation program, and a path generation system capable of correcting the position of a target path for automatically driving a work vehicle in a package including a work area and a non-work area. means of solving the problem

[0006] The path generation method according to the present invention is a method of setting a work area in which a work vehicle is driven automatically and a non-work area outside the work area, generating a target path for which the work vehicle is driven automatically, and correcting the position of the target path when a correction operation for correcting the position of the target path is received.

[0007] The path generation program according to the present invention is a program for executing, in one or more processors, a work area for performing work on the work vehicle while driving automatically, a non-work area outside the work area, a target path for driving the work vehicle automatically, and, upon receiving a correction operation for correcting the position of the target path, a correction operation for correcting the position of the target path.

[0008] A path generation system according to the present invention comprises a setting processing unit, a generation processing unit, and a correction processing unit. The setting processing unit sets a work area in which a work vehicle is driven automatically and a non-work area outside the work area. The generation processing unit generates a target path for driving the work vehicle automatically. When the correction processing unit receives a correction operation to correct the position of the target path, it corrects the position of the target path. Effects of the invention

[0009] According to the present invention, a path generation method, a path generation program, and a path generation system capable of correcting the position of a target path for automatically driving a work vehicle in a packaging that includes a work area and a non-work area can be provided. Brief explanation of the drawing

[0010] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. FIG. 2a is an external side view showing the configuration of a work vehicle according to an embodiment of the present invention. FIG. 2b is an exterior plan view showing the configuration of a work vehicle according to an embodiment of the present invention. FIG. 3 is a drawing showing an example of a target path set in a package according to an embodiment of the present invention. FIG. 4 is a drawing showing an example of a menu screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 5 is a drawing showing an example of an operation screen displayed on an operation terminal according to an embodiment of the present invention. FIG. 6 is a drawing showing a work vehicle according to an embodiment of the present invention in a state where it is out of position from the target path. FIG. 7 is a drawing showing an example of an operation screen displayed on an operation terminal according to an embodiment of the present invention. FIG. 8 is a drawing showing an example of a target path after correction according to an embodiment of the present invention. FIG. 9a is a drawing showing a work vehicle according to an embodiment of the present invention in a state where it is out of position from the target path. FIG. 9b is a drawing showing an example of a target path after correction according to an embodiment of the present invention. FIG. 10a is a drawing showing a work vehicle according to an embodiment of the present invention in a state where it is out of position from the target path. FIG. 10b is a drawing showing a work vehicle according to an embodiment of the present invention that is out of position from the target path. FIG. 11a is a drawing showing an example of a target path after correction according to an embodiment of the present invention. FIG. 11b is a drawing showing an example of an operation screen displayed on an operation terminal according to an embodiment of the present invention. FIG. 12 is a flowchart showing an example of the sequence of automatic driving processing executed by an automatic driving system according to an embodiment of the present invention. FIG. 13 is a drawing showing an example of a target path according to another embodiment of the present invention. FIG. 14a is a drawing showing a work vehicle deviating from its position from the target path according to another embodiment of the present invention. FIG. 14b is a drawing showing an example of a target path after correction according to another embodiment of the present invention. FIG. 15a is a drawing showing a work vehicle deviating from its position from the target path according to another embodiment of the present invention. FIG. 15b is a drawing showing an example of a target path after correction according to another embodiment of the present invention. FIG. 16a is a drawing showing a work vehicle deviating from its position from the target path according to another embodiment of the present invention. FIG. 16b is a drawing showing an example of a target path after correction according to another embodiment of the present invention. FIG. 17a is a drawing showing a work vehicle deviated from its position from the target path according to another embodiment of the present invention. FIG. 17b is a drawing showing an example of a target path after correction according to another embodiment of the present invention. FIG. 18 is a drawing showing an example of a method for correcting a target path according to another embodiment of the present invention. FIG. 19a is a drawing showing an example of a target path after correction according to another embodiment of the present invention. FIG. 19b is a drawing showing an example of a method for displaying a target path after correction according to another embodiment of the present invention. FIG. 20a is a drawing showing an example of a target path after correction according to another embodiment of the present invention. FIG. 20b is a drawing showing an example of a method for displaying a target path after correction according to another embodiment of the present invention. Specific details for implementing the invention

[0011] The following embodiments are examples of embodying the present invention and do not limit the technical scope of the present invention.

[0012] As shown in FIGS. 1 and 2, an automatic driving system (100) according to an embodiment of the present invention includes a work vehicle (10) and an operating terminal (20). The work vehicle (10) and the operating terminal (20) can communicate through a communication network (N1). For example, the work vehicle (10) and the operating terminal (20) can communicate through a mobile phone network, a packet network, or a wireless LAN. The automatic driving system (100) is a system capable of automatically driving the work vehicle (10) within a pavement (F) (see FIG. 3).

[0013] The work vehicle of the present invention is a vehicle that performs specific work on a field (F), such as a tractor, combine, or electric cultivator. In this embodiment, the work vehicle (10) is described as a vehicle (e.g., a potato harvester) that harvests a harvested product (e.g., a potato) which is the work object. For example, the work vehicle (10) is a towing vehicle in which a tractor tows a harvester (work unit) that harvests potatoes while driving.

[0014] The work vehicle (10) is configured to drive automatically (autonomously) along a preset target path (R) (work path (R1) and turning path (R2)) within the pavement (F) (see FIG. 3). For example, the work vehicle (10) can drive automatically along a preset target path (R) on the pavement (F) based on the position information of the current position of the work vehicle (10) positioned by the positioning unit (16).

[0015] The packaging (F) shown in FIG. 3 includes a work area (F1) in which the work vehicle (10) is driven automatically and the work vehicle (10) is made to perform work, and a non-work area (F2) outside the work area. For example, in the work area (F1), the work vehicle (10) harvests potatoes by traveling back and forth along a plurality of work paths (R1) in parallel from a work start position (S) to a work end position (G). The target path (R) is not limited to the path shown in FIG. 3 and is appropriately set according to the shape of the packaging (F), the work content, etc. The non-work area (F2) is, for example, an area surrounding the work area (F1) (headland area), and is a movement area (turning area) for the work vehicle (10) to move (turn) between work paths (R1) while the work is stopped. In the non-work area (F2), the work vehicle (10) drives automatically along the turning path (R2). Additionally, the work vehicle (10) may drive (automatically steer) the work path (R1) and drive (manually steer) the turning path (R2).

[0016] The control terminal (20) displays various information regarding work performed by the work vehicle (10), receives operations from a user (operator), and executes processing according to the operations. For example, the operator operates the control terminal (20) to set information necessary for automatic driving or outputs an instruction to start automatic driving to the work vehicle (10). In addition, the control terminal (20) displays information such as the work status and driving status of the work vehicle (10) during automatic driving. The operator can ascertain the work status and driving status through the control terminal (20).

[0017] The control terminal (20) may be mounted (detachable) on the work vehicle (10). In this case, the operator can operate the control terminal (20) while riding on the work vehicle (10). For example, by riding on the work vehicle (10) and operating the control terminal (20), the operator can switch to manual steering to drive the work vehicle (10) manually, or correct (change) the position of the target path (R).

[0018] [Work vehicle (10)]

[0019] As shown in FIGS. 1 and 2, the work vehicle (10) is equipped with a vehicle control unit (11), a memory unit (12), a driving unit (13), a working unit (14), a communication unit (15), a positioning unit (16), etc. The work vehicle (10) according to the present embodiment is a potato harvester that harvests potatoes while driving on a pavement (F). The vehicle control unit (11) is electrically connected to the memory unit (12), the driving unit (13), the working unit (14), the positioning unit (16), etc. In addition, the vehicle control unit (11) and the positioning unit (16) may be capable of wireless communication.

[0020] The communication unit (15) is a communication interface for connecting the work vehicle (10) to the communication network (N1) via wired or wireless means, and for executing data communication according to a predetermined communication protocol between the work vehicle (10) and external devices such as the control terminal (20) and base station through the communication network (N1). The work vehicle (10) can perform wireless communication with the control terminal (20) through the communication unit (15). Additionally, the work vehicle (10) can perform wireless communication of various information, including positioning information (correction information), between the work vehicle and the base station through the communication unit (15).

[0021] The driving unit (13) is a driving unit that drives the work vehicle (10). As shown in FIG. 2a, the driving unit (13) is equipped with an engine (131), a front wheel (132), a rear wheel (133), a transmission (134), a front axle (135), a rear axle (136), a steering wheel (137), etc. In addition, the front wheel (132) and the rear wheel (133) are installed on the left and right sides of the work vehicle (10), respectively. Furthermore, the driving unit (13) is not limited to a wheel type equipped with a front wheel (132) and a rear wheel (133), but may be a crawler type equipped with crawlers installed on the left and right sides of the work vehicle (10).

[0022] The engine (131) is a driving source, such as a diesel engine or a gasoline engine, that is driven by fuel supplied to a fuel tank not shown. The driving unit (13) may be equipped with an electric motor as a driving source, either together with the engine (131) or instead of the engine (131). Additionally, a generator not shown is connected to the engine (131), and power is supplied from the generator to electrical components such as a vehicle control device (11) installed in the work vehicle (10) and a battery.

[0023] The battery is charged by power supplied from the generator. The battery supplies power to electrical components such as a vehicle control unit (11), a positioning unit (16), and a communication unit (15).

[0024] The driving force of the engine (131) is transmitted to the front wheels (132) through the transmission (134) and front axle (135), and to the rear wheels (133) through the transmission (134) and rear axle (136). Additionally, the driving force of the engine (131) is also transmitted to the work unit (14) through the PTO shaft (138). When the work vehicle (10) performs automatic driving, the driving unit (13) performs driving operations according to the command of the vehicle control device (11).

[0025] The work unit (14) includes an excavation conveying device (141), a sorting device (142), etc. As shown in FIGS. 2a and 2b, the work unit (14) is connected to the vehicle body (tractor) via a PTO shaft (138). The excavation conveying device (141) is positioned to be vertically movable via a hydraulic cylinder (not shown) and is configured to allow excavation while maintaining a constant height of the excavation unit. The excavation conveying device (141) conveys the excavated harvest (potatoes) and soil to the sorting device (142). The sorting device (142) is equipped with a plurality of conveyors and is configured to drop soil due to vibration during conveyance. Additionally, chairs for sorting workers are arranged on both sides of the central part of the sorting device (142), and the sorting workers sort the harvest on the conveyors.

[0026] The handle (137) is a control unit operated by an operator or a vehicle control device (11). For example, in the driving unit (13), the angle of the front wheel (132) is changed by a hydraulic power steering mechanism (not shown) or the like according to the operation of the handle (137) by the vehicle control device (11), and the direction of travel of the work vehicle (10) is changed. When the operator performs a teaching operation when registering the pavement (F), the operator operates the handle (137) to drive the work vehicle (10) manually. Also, when moving the work vehicle (10) to the work start position (S), the operator operates the handle (137) (manual steering) to drive the work vehicle (10) manually.

[0027] In addition, the driving unit (13) is equipped with a shift lever, accelerator, brake, etc., not shown, which are operated by the vehicle control device (11), in addition to the steering wheel (137). Then, in the driving unit (13), the gear of the transmission (134) is switched to a forward gear or a back gear, etc., according to the operation of the shift lever by the vehicle control device (11), and the driving mode of the work vehicle (10) is switched to forward or reverse. In addition, the vehicle control device (11) controls the rotational speed of the engine (131) by operating the accelerator. In addition, the vehicle control device (11) brakes the rotation of the front wheel (132) and the rear wheel (133) using an electronic brake by operating the brake.

[0028] The positioning unit (16) is a communication device equipped with a positioning control unit (161), a memory unit (162), a communication unit (163), a positioning antenna (164), etc. For example, as shown in FIG. 2a, the positioning unit (16) is installed on the upper part of the cabin (18) where the operator is seated. Also, the installation location of the positioning unit (16) is not limited to the cabin (18). Furthermore, the positioning control unit (161), memory unit (162), communication unit (163), and positioning antenna (164) of the positioning unit (16) may be distributed and arranged at different locations within the work vehicle (10). Also, as described above, a battery is connected to the positioning unit (16), so the positioning unit (16) can operate even when the engine (131) is stopped. Additionally, as the positioning unit (16), for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass may be used as a substitute.

[0029] The positioning control unit (161) is a computer system equipped with one or more processors and memory such as non-volatile memory and RAM. The memory unit (162) is a non-volatile memory that stores data such as a program for executing positioning processing in the positioning control unit (161), positioning information, and movement information. For example, the program may be non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the memory unit (162). Alternatively, the program may be downloaded from a server (not shown) to the positioning unit (16) via a communication network (N1) and stored in the memory unit (162).

[0030] The communication unit (163) is a communication interface for connecting the positioning unit (16) to the communication network (N1) via wired or wireless connection and for executing data communication according to a predetermined communication protocol between the external device, such as a base station server, and the communication network (N1).

[0031] The memory unit (12) is a non-volatile memory unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various information. The memory unit (12) stores a control program, such as an automatic driving program, for executing automatic driving processing (see FIG. 12) on a vehicle control device (11). For example, the automatic driving program may be non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the memory unit (12). Alternatively, the automatic driving program may be downloaded from a server (not shown) to the work vehicle (10) via a communication network (N1) and stored in the memory unit (12). Additionally, the memory unit (12) stores data (path data) of a target path (R) generated at the operation terminal (20).

[0032] The vehicle control unit (11) has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various computational processes. The ROM is a non-volatile memory unit in which control programs, such as BIOS and OS, for executing various computational processes on the CPU are stored in advance. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for various processes executed by the CPU. The vehicle control unit (11) controls the working vehicle (10) by executing various control programs stored in advance in the ROM or memory unit (12) on the CPU.

[0033] Specifically, the vehicle control device (11) drives the work vehicle (10) automatically based on position information indicating the position of the work vehicle (10) positioned by the positioning control unit (161). For example, when the conditions for starting automatic driving are satisfied and the operator presses the start button (K1) (see FIG. 5) on the operating terminal (20), the operating terminal (20) outputs an instruction to start automatic driving to the work vehicle (10). The conditions for starting automatic driving include, for example, that the positioning accuracy is greater than or equal to a predetermined value, that the current position matches the work start position (S), that it is within a predetermined range from the work start position (S), and that the direction (orientation) of the work vehicle (10) is within a predetermined angle relative to the target path (R). Furthermore, the conditions for starting automatic driving are not limited to each of the above conditions.

[0034] When the vehicle control device (11) obtains an instruction to start automatic driving from the operation terminal (20), it starts the automatic driving of the work vehicle (10) based on position information indicating the position of the work vehicle (10) positioned by the positioning control unit (161). By doing so, the work vehicle (10) starts automatic driving along the target path (R) (see FIG. 3) and starts work (e.g., potato harvesting) by the work unit (14). In addition, the target path (R) on which the work vehicle (10) drives is generated in advance, for example, by the operation terminal (20). The work vehicle (10) obtains path data of the target path (R) from the operation terminal (20) and automatically drives along the target path (R) within the packaging (F) from the work start position (S) to the work end position (G).

[0035] Additionally, when the vehicle control device (11) obtains an automatic driving stop instruction from the operation terminal (20), it stops the automatic driving of the work vehicle (10). For example, when an operator presses the stop button on the operation terminal (20), the operation terminal (20) outputs an automatic driving stop instruction to the work vehicle (10). When the vehicle control device (11) obtains an automatic driving stop instruction from the operation terminal (20), it stops the automatic driving of the work vehicle (10). By doing so, the work vehicle (10) stops automatic driving and stops the work performed by the work unit (14).

[0036] When an operator boards the work vehicle (10) and performs automatic driving and work on the work vehicle (10), the control terminal (20) is installed in the cabin (18) of the work vehicle (10), so that the operator can operate the control terminal (20) from the cabin (18).

[0037] Also, although the city is omitted, the work vehicle (10) may be further equipped with an obstacle sensor and a camera. The obstacle sensor is a sensor that detects obstacles in a predetermined detection area using infrared, ultrasonic, etc.

[0038] In addition, the camera is a digital camera that captures an image of a subject and outputs it as digital image data. The camera continuously captures the subject at a predetermined frame rate, generates a frame image of a predetermined resolution, and transmits it to a vehicle control device (11). For example, the camera captures a harvested product (potato) that is the work object.

[0039] The vehicle control device (11) acquires measurement information from the obstacle sensor and acquires an image from the camera. When an obstacle is detected, the vehicle control device (11) drives the work vehicle (10) to avoid contact with the obstacle or stops it. Additionally, the vehicle control device (11) outputs image data of the image acquired from the camera to the operation terminal (20). When the operation terminal (20) acquires the image data, it displays the image on the operation screen.

[0040] [Operation terminal (20)]

[0041] As shown in FIG. 1, the operation terminal (20) is an information processing device equipped with an operation control unit (21), a memory unit (22), an operation display unit (23), and a communication unit (24), etc. The operation terminal (20) may be configured as a portable terminal such as a tablet terminal or a smartphone.

[0042] The communication unit (24) is a communication interface for connecting the operation terminal (20) to the communication network (N1) via wired or wireless connection and for executing data communication according to a predetermined communication protocol between one or more external devices, such as work vehicles (10), through the communication network (N1).

[0043] The operation display unit (23) is a user interface equipped with 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 receives operations. The operator can perform operations to set and register various information (work vehicle information, packaging information, work information, etc., described later) by operating the operation unit on the operation screen displayed on the display unit. Additionally, the operator can perform instructions to start automatic driving, stop automatic driving, or correct the target path (R) for the work vehicle (10) by operating the operation unit. Furthermore, the operator can check the driving status and work status of the work vehicle (10) that is automatically driving along the target path (R) within the packaging (F) by means of the information displayed on the operation terminal (20) from a location away from the work vehicle (10).

[0044] The memory unit (22) is a non-volatile memory unit such as an HDD, SSD, or flash memory that stores various information. The memory unit (22) stores a control program, such as an automatic driving program, for executing automatic driving processing (see FIG. 12) in the operation control unit (21). For example, the automatic driving program may be non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the memory unit (22). Alternatively, the automatic driving program may be downloaded from a server (not shown) to an operation terminal (20) via a communication network (N1) and stored in the memory unit (22).

[0045] The operation control unit (21) has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various calculation processes. The ROM is a non-volatile memory unit in which control programs, such as BIOS and OS, for executing various calculation processes on the CPU are stored in advance. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for various processing executed by the CPU. The operation control unit (21) controls the operation terminal (20) by executing various control programs stored in advance in the ROM or memory unit (22) on the CPU.

[0046] Specifically, as shown in FIG. 1, the operation control unit (21) includes various processing units such as a setting processing unit (211), a generation processing unit (212), a correction processing unit (213), and a notification processing unit (214). In addition, the operation control unit (21) functions as the various processing units by executing various processing according to the control program in the CPU. In addition, some or all of the processing units may be composed of electronic circuits. In addition, the control program may be a program for making a plurality of processors function as processing units.

[0047] The setting processing unit (211) sets various setting information for executing automatic driving on the work vehicle (10). Specifically, the setting processing unit (211) sets information regarding the work vehicle (10) (hereinafter referred to as work vehicle information). The setting processing unit (211) sets the information by having an operator perform an operation to register the information on the operation terminal (20), such as the type (model) of the work vehicle (10), the location where the positioning antenna (164) is attached to the work vehicle (10), the type of work tool, the size and shape of the work tool, the position of the work tool relative to the work vehicle (10), the vehicle speed and engine rotation speed during the work of the work vehicle (10), and the vehicle speed and engine rotation speed during the turning of the work vehicle (10).

[0048] For example, the setting processing unit (211) displays the menu screen (D1) shown in FIG. 4 on the operation display unit (23). For example, the operator selects "Workpiece Registration" on the menu screen (D1) to register workpiece information regarding the workpiece. In this embodiment, workpiece information regarding a potato harvester is registered as a workpiece connected to a tractor.

[0049] Additionally, the setting processing unit (211) sets information regarding the packaging (F) (hereinafter referred to as packaging information). The setting processing unit (211) sets a work area (F1) where the work vehicle (10) is driven automatically and work is performed on the work vehicle (10), and a non-work area (F2) (headland area) outside the work area. Specifically, the setting processing unit (211) sets information such as the location and shape of the packaging (F), the work area (F1) and the non-work area (F2), the work start position (S) where work is started and the work end position (G) where work is ended, and the work direction, according to the operation of the operator on the operation terminal (20). Also, the work direction refers to the direction in which the work vehicle (10) is driven while the work unit (14) performs work in the work area (F1). For example, the operator registers packaging information by selecting "Packaging Registration" on the menu screen (D1).

[0050] Information regarding the location and shape of the pavement (F) can be automatically obtained, for example, by an operator boarding a work vehicle (10) and driving it around the outer perimeter of the pavement (F) once, and recording the trend of the position information of the positioning antenna (164) at that time. In addition, the location and shape of the pavement (F) can also be obtained based on a polygon obtained by an operator designating a plurality of points on a map by operating the operation terminal (20) while a map is displayed on the operation terminal (20). The area specified by the acquired location and shape of the pavement (F) is an area (driving area) where the work vehicle (10) can be driven. The work area (F1) and non-work area (F2) are set within the driving area.

[0051] Additionally, the setting processing unit (211) sets information regarding how to specifically perform the work (hereinafter referred to as work information). The setting processing unit (211) is configured to set the work information, such as whether there is cooperative work between the unmanned work vehicle (10) and the manned work vehicle (10), the number of skips (R1) which is the number of work paths skipped when the work vehicle (10) turns in the non-work area (F2), the width of the headland, and the width of the non-cultivated land. For example, the operator registers the work information by selecting "Register Work" on the menu screen (D1).

[0052] The generation processing unit (212) generates a target path (R), which is a path for automatically driving the work vehicle (10), based on each of the above setting information. The target path (R) is, for example, a work path from the work start position (S) to the work end position (G) (see FIG. 3). The target path (R) shown in FIG. 3 includes a straight path work path (R1) that drives the work vehicle (10) back and forth parallel on the pavement (F), and a turning path (R2) that connects the work paths (R1). In addition, the turning path (R2) may be composed of a straight path and a curved path, or may be composed only of a curved path. The generation processing unit (212) generates and stores the target path (R) of the work vehicle (10) based on each of the above setting information set by the setting processing unit (211). For example, an operator selects "Create Path" on the menu screen (D1) to give instructions for generating the target path (R).

[0053] When the generation processing unit (212) generates a target path (R), it transmits the path data of the target path (R) to the work vehicle (10). Additionally, the generation processing unit (212) can generate and store multiple target paths (R) according to the work content for a single package (F).

[0054] The path data transmitted from the control terminal (20) is stored in the memory unit (12) of the work vehicle (10). By this, the work vehicle (10) can automatically drive along the target path (R) while positioning the current location of the work vehicle (10) by the positioning unit (16).

[0055] In addition, the work vehicle (10) according to the present embodiment travels on a roughly rectangular pavement (F) shown in FIG. 3. The work vehicle (10) is configured to drive automatically when its current location is within the pavement (F), and is configured not to drive automatically when its current location is outside the pavement (F) (e.g., a public road). In addition, the work vehicle (10) is configured to drive automatically when the above conditions for starting automatic driving are met.

[0056] When the work vehicle (10) satisfies the above conditions for starting automatic driving, if the start button (K1) is pressed on the operation screen (D2) (see FIG. 5) of the operation terminal (20) by an operator and an instruction to start automatic driving is given, it starts automatic driving and work (e.g., potato harvesting work).

[0057] When automatic driving of the work vehicle (10) is permitted, the vehicle control device (11) drives the work vehicle (10) automatically from the work start position (S) to the work end position (G) based on the target path (R). In addition, while the work vehicle (10) is driving automatically, the vehicle control device (11) periodically outputs various measurement values ​​(PTO rotation speed, vehicle speed, position information, etc.) to the control terminal (20).

[0058] When the work vehicle (10) is driving automatically, the operation control unit (21) displays map information including the pavement (F), target path (R), work start position (S), work end position (G), and the current position of the work vehicle (10) on the operation screen (D2) (see FIG. 5). In addition, on the operation screen (D2), the operation control unit (21) displays, in addition to the map information, function icons such as a scale icon for changing the display scale of the map and a direction icon for changing the direction of the map, and display icons (notification icons) for displaying the current status (measurement value, etc.) of items such as the driving status, vehicle speed status, and location status of the work vehicle (10).

[0059] However, there are cases where one wants to correct (change) the position of the created target path (R) after generating a target path (R) for automatically driving the work vehicle (10). However, if the position of the target path (R) is freely correctable, a problem arises where the target path (R) is generated in an area where the work vehicle (10) cannot be driven (for example, a headland area that is a non-working area (F2), etc.). Regarding this, according to the configuration of the present embodiment, as shown below, it is possible to correct the target path (R) for automatically driving the work vehicle (10) to an appropriate position.

[0060] The operation control unit (21) is configured to correct the position of the target path (R) when the position (current position) of the work vehicle (10) is offset by a predetermined distance from the target path (R) before the work vehicle (10) starts automatic driving (before starting the work, or before resuming the work after temporarily stopping automatic driving, etc.).

[0061] Specifically, the correction processing unit (213) corrects the position of the target path (R) when it receives a correction operation to correct the position of the target path (R) while the work vehicle (10) is located within the work area (F1). For example, as shown in FIG. 6, when the work vehicle (10) is located within the work area (F1) and the current position (P1) of the work vehicle (10) is offset by a predetermined distance from the work path (R1), the correction processing unit (213) receives the correction operation when the operator presses the path shift button (K2) on the operation screen (D2) (see FIG. 7) (correction operation). When the correction processing unit (213) receives the correction operation, as shown in FIG. 8, it corrects the position of the target path (R) so that the work path (R1) passes through the current position (P1) of the work vehicle (10) (transfers the entire target path (R) in parallel). Here, since the work vehicle (10) is offset to the right relative to the target path (R) (work path (R1)), the correction processing unit (213) shifts the entire target path (R) to the right (parallel movement).

[0062] Additionally, the correction processing unit (213) does not correct the position of the target path (R) even if it receives the correction operation when the work vehicle (10) is not located within the work area (F1), that is, when the work vehicle (10) is located within the non-work area (F2). In another embodiment, the correction processing unit (213) may prohibit the reception of the correction operation when the work vehicle (10) is not located within the work area (F1). For example, when the work vehicle (10) is located within the work area (F1), the correction processing unit (213) may display the path shift button (K2) as selectable (active), and when the work vehicle (10) is not located within the work area (F1), it may display the path shift button (K2) as unselectable (inactive) (e.g., grayed-out display) or not display it. Additionally, if the correction processing unit (213) receives the correction operation while the work vehicle (10) is not located within the work area (F1), it may display an error message (e.g., a message such as "Cannot shift path") on the operation screen (D2).

[0063] According to the above configuration, the target path (R) can be corrected to a position based on the current position (P1) of the work vehicle (10). Additionally, since the correction (path shift) of the target path (R) position is permitted on the condition that the work vehicle (10) is located within the work area (F1), it is possible to prevent the target path (R) from being generated in the non-work area (F2).

[0064] In another embodiment, the correction processing unit (213) may correct the position of the target path (R) such that the work path (R1) closest to the current position (P1) of the work vehicle (10) at the time the correction operation is received passes through the current position (P1), among the multiple work paths (R1) included in the target path (R). For example, as shown in FIG. 9a, when the current position (P1) of the work vehicle (10) at the time the correction operation is received is closest to the work path (Rb) among the multiple work paths (R1), the correction processing unit (213) corrects the position of the target path (R) such that the work path (Rb) passes through the current position (P1). Here, since the work vehicle (10) is offset to the left with respect to the work path (Rb), as shown in FIG. 9b, the correction processing unit (213) shifts the entire target path (R) to the left (parallel movement).

[0065] Additionally, the correction processing unit (213) may correct the position of a work path (R1) among a plurality of work paths (R1) that corresponds to driving direction information in the same direction as the driving direction of the work vehicle (10) when the correction operation is received. In the example shown in FIG. 9a, since the driving direction of the work vehicle (10) is from bottom to top, the correction processing unit (213) identifies the work path (Rb) closest to the current position (P1) of the work vehicle (10) among the work paths (R1) that correspond to driving direction information in the top direction, and shifts the target path (R) based on the work path (Rb). In this way, the correction processing unit (213) may exclude work paths (R1) that correspond to driving direction information in a direction different from the driving direction of the work vehicle (10) from the reference path for correction (path shift).

[0066] In another embodiment, the correction processing unit (213) may correct the target path (R) based on a work path (R1) located within a predetermined range from the current position (P1) of the work vehicle (10). For example, as shown in FIG. 9a, the correction processing unit (213) sets a predetermined range (the range of the dotted circle in FIG. 9a) centered on the current position (P1) of the work vehicle (10) when the correction operation is received, and identifies the work path (R1) closest to the current position (P1) among a plurality of work paths (R1) included in the predetermined range. In the example shown in FIG. 9a, since work paths (Ra, Rb) are included in the predetermined range, the correction processing unit (213) identifies the work path (Rb) closest to the current position (P1) among the work paths (Ra, Rb) and corrects the position of the target path (R) so that the work path (Rb) passes through the current position (P1). The above predetermined range may be set according to the operator's operation, or may be automatically set based on information such as work content and set vehicle speed.

[0067] Additionally, the correction processing unit (213) may set a limit (upper limit value) on the correction amount (shift amount, shift width) of the target path (R). For example, the correction processing unit (213) sets the length of about half the working width of the work vehicle (10) as the upper limit value (upper correction width (w1)) of the correction amount of the target path (R). In this case, for example, as shown in FIG. 10a, when the current position (P1) of the work vehicle (10) is within the upper correction width (w1) from the work path (Rb) (the position deviation amount of the work vehicle (10) is within the upper correction width (w1)), the correction processing unit (213) permits the correction (path shift) of the target path (R). Meanwhile, as shown in FIG. 10b, if the current position (P1) of the work vehicle (10) is outside the upper limit correction range (w1) from the work path (Rb), the correction processing unit (213) prohibits correction (path shift) of the target path (R). The upper limit correction range (w1) may be set according to the operation of the operator, or it may be automatically set based on information such as work content and set vehicle speed. Thus, when the correction processing unit (213) receives the above correction operation from the operator, it may correct the position of the target path (R) within the range of a preset upper limit value.

[0068] As described above, the correction processing unit (213) is configured to correct the position of the target path (R) (path shift) when it receives a correction operation (path shift operation) from an operator to correct the position of the target path (R) while the work vehicle (10) is located within the work area (F1). After the position of the target path (R) is corrected, when the operator presses the start button (K1), the work vehicle (10) starts automatic driving along the corrected target path (R).

[0069] The notification processing unit (214) notifies of specific information when an error occurs in the position correction (path shift) of the target path (R). Specifically, the notification processing unit (214) notifies of specific information when the work vehicle (10) becomes unable to drive automatically at at least one location of the target path (R) due to the position correction of the target path (R).

[0070] For example, in the example shown in FIG. 11a, when the shape of the pavement (F) is irregular, if the position of the target path (R) is corrected, a specific turning path (Rx) approaches the boundary of the pavement (F), and when the work vehicle (10) travels along the turning path (Rx), it pops out of the pavement (F). In this case, if the work vehicle (10) cannot automatically travel along the turning path (Rx) when the position of the target path (R) is corrected, the notification processing unit (214) displays an error message (M1) on the operation screen (D3) during path creation, for example, as shown in FIG. 11b. Additionally, the notification processing unit (214) may display an allow button on the error message (M1) to receive instructions to allow the target path (R) after correction. When the operator presses the allow button, the generation processing unit (212) saves the target path (R) after correction. Additionally, the notification processing unit (214) may display (highlight) the turning path (Rx) in an identifiable manner on the operation screen (D3). Furthermore, the generation processing unit (212) may create an alternative path that the work vehicle (10) can travel on and present it on the operation screen (D3) in the event that the above error occurs.

[0071] The operation terminal (20) may be able to access the website (agricultural support site) of the agricultural support service provided by the server (not shown) via a communication network (N1). In this case, the operation terminal (20) can function as an operation terminal of the server by executing a browser program by the operation control unit (21). The server is equipped with each of the processing units described above and executes each processing.

[0072] [Automatic Driving Processing]

[0073] Hereinafter, with reference to FIG. 12, an example of the automatic driving process performed by the automatic driving system (100) will be described.

[0074] Furthermore, the present invention may be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. Additionally, the one or more steps included in the automatic driving process described herein may be appropriately omitted. Furthermore, the execution order of each step in the automatic driving process may differ within the scope of producing the same operational effect. Additionally, although the case in which the vehicle control device (11) and the operation control unit (21) execute each step in the automatic driving process is described as an example, an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner is also considered as another embodiment.

[0075] <Step S1>

[0076] In step S1, the operation control unit (21) sets a work area (F1) and a non-work area (F2). Specifically, the operation control unit (21) sets information such as the position and shape of the packaging (F), the work area (F1) and the non-work area (F2), the work start position (S) for starting the work and the work end position (G) for ending the work, and the work direction according to the operation of the operator (see FIG. 3).

[0077] Step S2

[0078] In step S2, the operation control unit (21) generates a target path (R) for automatic driving. Specifically, the operation control unit (21) generates a target path (R) for automatically driving the work vehicle (10) based on each piece of information set in step S1. For example, as shown in FIG. 3, the operation control unit (21) generates a target path (R) that includes a work path (R1), which is a plurality of parallel round-trip paths from a work start position (S) to a work end position (G), and a turning path (R2) that connects the work paths (R1). The work path (R1) is set within a work area (F1), and the turning path (R2) is set within a non-work area (F2).

[0079] Step S3

[0080] In step S3, the vehicle control unit (11) manually drives the work vehicle (10) according to the operator's manual steering. For example, the operator manually drives the work vehicle (10) to the place where work is to be started.

[0081] Step S4

[0082] In step S4, the operation control unit (21) determines whether it has received a correction operation from the operator to correct the position of the target path (R). For example, the operation control unit (21) determines whether the operator has pressed the path shift button (K2) on the operation screen (D2) (see FIG. 7) (correction operation). If the operation control unit (21) receives the correction operation by the operator (S4: Yes), it proceeds to step S5. On the other hand, if the operation control unit (21) does not receive the correction operation by the operator (S4: No), it proceeds to step S8. For example, if the operator wants to start automatic driving by moving the position of the target path (R) to the current position (P1) of the work vehicle (10) (path shift), the operator presses the path shift button (K2).

[0083] Step S5

[0084] In step S5, the operation control unit (21) acquires the current position (P1) of the work vehicle (10). Specifically, the operation control unit (21) acquires the current position (P1) of the work vehicle (10) when it receives the correction operation from the operator.

[0085] Step S6

[0086] In step S6, the operation control unit (21) determines whether the current position (P1) of the work vehicle (10) is within the work area (F1). That is, the operation control unit (21) determines whether the current position (P1) of the work vehicle (10) is within the work area (F1) or within the non-work area (F2) when the correction operation is received from the operator. If the operation control unit (21) determines that the current position (P1) of the work vehicle (10) is within the work area (F1) (S6:Yes), the process is moved to step S7. On the other hand, if the operation control unit (21) determines that the current position (P1) of the work vehicle (10) is not within the work area (F1) (in the non-work area (F2)) (S6:No), the process is moved to step S61.

[0087] Step S7

[0088] In step S7, the operation control unit (21) corrects the position of the target path (R). Specifically, when the operation control unit (21) receives the correction operation from the operator (see FIG. 7) while the work vehicle (10) is within the work area (F1) and is positioned to the right relative to the work path (R1) (see FIG. 6), the entire target path (R) is shifted to the right so that the work path (R1) passes the current position (P1) of the work vehicle (10), as shown in FIG. 8.

[0089] Step S8

[0090] In step S8, the operation control unit (21) determines whether it has received an automatic driving start instruction. When the operator presses the start button (K1) on the operation screen (D2) (see FIG. 7), the operation control unit (21) outputs an automatic driving start instruction to the work vehicle (10). The vehicle control device (11) obtains the automatic driving start instruction from the operation terminal (20).

[0091] When the start button (K1) is pressed by the operator, the operation control unit (21) outputs the path data of the target path (R) after correction to the work vehicle (10). The vehicle control unit (11) acquires the path data of the target path (R) after correction along with an automatic driving start instruction. Additionally, when the vehicle control unit (11) receives the automatic driving start instruction, it switches the driving mode from manual driving to automatic driving.

[0092] When the vehicle control unit (11) receives an automatic driving start instruction (S8: Yes), it proceeds to step S9 for processing. Meanwhile, when the vehicle control unit (11) does not receive an automatic driving start instruction (S8: No), it proceeds to step S3 for processing. The vehicle control unit (11) continues manual driving processing until it receives an automatic driving start instruction.

[0093] Step S9

[0094] In step S9, the vehicle control device (11) initiates automatic driving processing. Specifically, the vehicle control device (11) initiates automatic driving of the work vehicle (10) according to the target path (R) (see FIG. 3) or the corrected target path (R) (see FIG. 8) generated at the operation terminal (20). Additionally, the vehicle control device (11) initiates work by the work unit (14) within the work area (F1).

[0095] Step S10

[0096] Next, in step S10, the vehicle control unit (11) determines whether the work vehicle (10) has reached the work end position (G) (see FIG. 3 and FIG. 8). If the vehicle control unit (11) determines that the work vehicle (10) has reached the work end position (G) (S10: Yes), the automatic driving process is terminated. If the vehicle control unit (11) determines that the work vehicle (10) has not reached the work end position (G) (S10: No), the process is moved to step S3. Returning to step S3, if the vehicle control unit (11) receives a manual driving instruction from the operator, the work vehicle (10) is driven manually, and if the manual driving instruction is not received, the automatic driving is continued and the process is moved to step S4.

[0097] Step S61

[0098] In step S61, the operation control unit (21) rejects position correction (path shift) of the target path (R) and notifies information indicating that position correction is impossible. For example, the operation control unit (21) displays the path shift button (K2) as unselectable (e.g., grayed out) or hides it on the operation screen (D2) (see FIG. 7), and also displays an error message (e.g., a message stating "Cannot shift path") on the operation screen (D2). After step S61, the operation control unit (21) proceeds to step S3 for processing. Thus, when the operation control unit (21) receives a correction operation for the position of the target path (R) from the operator (S4:Yes), if the current position (P1) of the work vehicle (10) is located within the work area (F1) (S6:Yes), the correction of the position of the target path (R) is permitted (S7), and if the current position (P1) of the work vehicle (10) is located outside the work area (F1) (S6:No), the correction of the position of the target path (R) is prohibited (S61).

[0099] The operation control unit (21) and the vehicle control device (11) repeat the above-described processing until the work vehicle (10) reaches the work end position (G) (S10: No). In this way, the automatic driving system (100) executes the automatic driving processing.

[0100] As described above, the automatic driving system (100) according to the present embodiment sets a work area (F1) for performing work on the work vehicle (10) while driving the work vehicle (10) automatically, a non-work area (F2) outside the work area (F1), generates a target path (R) for driving the work vehicle (10) automatically, and corrects the position of the target path (R) when a correction operation to correct the position of the target path (R) is received while the work vehicle (10) is located within the work area (F1).

[0101] For example, the automatic driving system (100) corrects the position of the target path (R) such that, among a plurality of work paths (R1) included in the target path (R), the work path (R1) closest to the current position (P1) of the work vehicle (10) when the correction operation is received passes through the current position (P1) (see FIG. 8). In addition, if the automatic driving system (100) becomes unable to drive automatically at at least one position of the target path (R) due to the correction of the position of the target path (R), it notifies the work vehicle (10) of certain information (error message (M1) of FIG. 11b).

[0102] According to the above configuration, the target path (R) can be shifted to a position based on the current position (P1) of the work vehicle (10). Additionally, since the correction (path shift) of the target path (R) position is permitted on the condition that the work vehicle (10) is located within the work area (F1), it is possible to prevent the target path (R) from being generated in the non-work area (F2).

[0103] [Other embodiments]

[0104] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0105] In the above-described embodiment, the operation control unit (21) is configured to correct (shift) the position of the entire target path (R) when it receives the correction operation from the operator. In another embodiment, the operation control unit (21) may be configured to correct (shift) the position of a specific work path (R1) among the target path (R) when it receives the correction operation from the operator. Specifically, the operation control unit (21) corrects the position of a specific work path (R1) that satisfies a predetermined condition among a plurality of work paths (R1) included in the target path (R). A specific example of the above configuration is described below. Also, as shown in FIG. 13, the following example is given in which the target path (R) consists only of a plurality of work paths (R11) (straight paths). That is, the work vehicle (10) drives automatically in a straight line along the work path (R11), and when turning, drives turning according to the manual steering of the operator. However, in the following configuration as well, the target path (R) may include a turning path, and the work vehicle (10) may automatically drive the work path and the turning path.

[0106] For example, as shown in FIG. 14a, when the operation control unit (21) receives the correction operation from the operator while the work vehicle (10) is located within the work area (F1) and the current position (P1) of the work vehicle (10) is misaligned with respect to the target path (R), the operation control unit (21) corrects the position of a specific work path (Ry) among the target paths (R). Here, as shown in FIG. 14b, the operation control unit (21) corrects the position of only the work path (Ry) that is closest to the current position (P1) of the work vehicle (10) when the correction operation is received, among a plurality of work paths (R11). The operation control unit (21) does not correct the position of other work paths (R11) excluding the work path (Ry).

[0107] In another embodiment, the operation control unit (21) may correct the position of a work path (R11) among a plurality of work paths (R11) for which driving direction information corresponding to the same direction as the driving direction of the work vehicle (10) when the correction operation is received is also corresponding. For example, in the target path (R) shown in FIG. 15a, driving direction information corresponding to the bottom-to-top direction corresponds to the work path (Rm), and driving direction information corresponding to the top-to-bottom direction corresponds to the work path (Rn). When the driving direction of the work vehicle (10) when the correction operation is received while the work vehicle (10) is located within the work area (F1), the operation control unit (21) corrects the position of only the work path (Rm) when the driving direction of the work vehicle (10) is from bottom to top. Here, as shown in FIG. 15b, the operation control unit (21) shifts the position of all of the plurality of work paths (Rm) to the left and does not correct the position of the work path (Rn).

[0108] As another example, as shown in FIG. 16a, when the driving direction in the target path (R) alternately changes for each work path, the operation control unit (21) corrects the position only of the work path (Rs) that is in the same direction as the driving direction of the work vehicle (10) when the correction operation is received while the work vehicle (10) is located within the work area (F1), as shown in FIG. 16b, and does not correct the position for the work path (Rt) that has a different driving direction.

[0109] In addition, as another embodiment, the operation control unit (21) may correct the position of a work path (R11) that is closest to the current position (P1) of the work vehicle (10) when the correction operation is received, among a plurality of work paths (R11), and also corresponds to driving direction information in the same direction as the driving direction of the work vehicle (10) when the correction operation is received. That is, the operation control unit (21) may correct the position of a specific work path (R11) based on the work path (R11) that is closest to the current position (P1) of the work vehicle (10) among the work paths (R11) that correspond to driving direction information in the same direction as the driving direction of the work vehicle (10) when the correction operation is received.

[0110] In addition, as another embodiment, the work area (F1) may include a plurality of work areas in which different target paths are generated. For example, as shown in FIG. 17a, work areas (F11, F12) may be set in the pavement (F), a target path (R1a) may be set in the work area (F11), and a target path (R1b) may be set in the work area (F12). In this case, as shown in FIG. 17b, the operation control unit (21) corrects the position of the target path (R1a) corresponding to the work area (F11) where the work vehicle (10) is located when the correction operation is received. The operation control unit (21) does not correct the position of the target path (R1b) corresponding to the work area (F12) where the work vehicle (10) is not located when the correction operation is received.

[0111] Additionally, the operation control unit (21) may generate a work path (r1) for driving the work vehicle (10) through the work area (f1) when an unworked area (f1) occurs within the work area (F11) by correcting the position of the target path (R1a). For example, as shown in FIG. 17b, when an unworked area (f1) occurs at the right end of the work area (F11) by shifting the target path (R1a) to the left, the operation control unit (21) may generate one or more additional work paths (r1) in the unworked area (f1). However, since there may be cases where it is not necessary to add work paths (r1) depending on the work content, the operation control unit (21) may decide whether to generate work paths (r1) in the unworked area (f1) based on the work content (work information). For example, the operation control unit (21) creates an additional work path (r1) in the unworked area (f1) when the work content is tillage, and does not create a work path (r1) in the unworked area (f1) when the work content is furrow making (when the number of furrows is predetermined).

[0112] In addition, as another embodiment, the operation control unit (21) may correct only the position of a portion of the section between the beginning and the end of the work path (R11). For example, as shown in FIG. 18, the operation control unit (21) may move only a portion of the section (Re) along the work path (R11) to a position that passes through the current position (P1) of the work vehicle (10). For example, when an operator designates the end of the section, the operation control unit (21) moves the section (Re) from the current position (P1) of the work vehicle (10) to the designated end so that it passes through the current position (P1).

[0113] In each of the embodiments described above, the operation control unit (21) is configured to move the position of the target path (R) in parallel to match the current position (P1) of the work vehicle (10) according to the correction operation, but in another embodiment, the operation control unit (21) may be configured to correct the orientation of the target path (R) according to the correction operation to match the current orientation of the work vehicle (10). That is, when the operation control unit (21) receives a correction operation to correct the position of the target path (R) while the work vehicle (10) is located within the work area (F1), it may correct the orientation of the target path (R) (path angle shift). Specifically, the operation control unit (21) corrects the orientation of the target path (R) such that, among a plurality of work paths (R1) included in the target path (R), the orientation of the work path (R1) closest to the current position (P1) of the work vehicle (10) at the time the correction operation is received matches the current orientation of the work vehicle (10). Additionally, the operation control unit (21) may correct the position and orientation of the target path (R) so that the work path (R1) closest to the current position (P1) of the work vehicle (10) when the correction operation is received passes through the current position (P1) of the work vehicle (10), and the orientation of the work path (R1) matches the current orientation of the work vehicle (10). Additionally, the operation control unit (21) may correct the orientation of the entire target path (R), or correct the orientation of only a part of the work path (R1).

[0114] In each of the embodiments described above, when the position of a part of the work path (R1) of the target path (R) is corrected, the distance between the work paths (R1) changes, so it is necessary to correct the turning path (R2) connecting the work paths (R1). Therefore, the operation control unit (21) may correct the turning path (R2) according to the correction of the position of the work path (R1). Specifically, if the operator has set a turning method in advance, the operation control unit (21) corrects the turning path (R2) while maintaining the said turning method. If the turning path (R2) cannot be corrected by the turning method set by the operator, the operation control unit (21) may urge the operator to change the turning method.

[0115] In addition, in each of the embodiments described above, when the operation control unit (21) corrects the target path (R), it may store the path data of the corrected target path (R). For example, the operation control unit (21) stores the path data of the corrected target path (R) in the memory unit (22) by matching it to packaging (F), work content, etc. By doing so, the operator can select the corrected target path (R) from the past and perform the work during the next operation.

[0116] In each of the embodiments described above, the correction processing unit (213) is configured to correct the position of the target path (R) when it receives a correction operation to correct the position of the target path (R) while the work vehicle (10) is located within the work area (F1). In another embodiment, the correction processing unit (213) may correct the position of the target path (R) even when it receives the correction operation while the work vehicle (10) is located within the non-work area (F2). That is, the present invention may correct the position of the target path (R) according to the correction operation, rather than based on the current position of the work vehicle (10).

[0117] Additionally, the correction processing unit (213) may exclude work paths (Rg) located in non-work areas (F2) from the automatic driving path by correcting the position of the target path (R) among the multiple work paths (R1) included in the target path (R). That is, when the correction processing unit (213) receives the correction operation, it generates the target path (R) only by the work paths (R1) located within the work area (F1) among the multiple work paths (R1) after position correction.

[0118] For example, as shown in FIG. 19a, when the work vehicle (10) receives the correction operation while it is located in the non-work area (F2), if the position of the target path (R) is corrected (the entire target path (R) is shifted to the left (parallel movement)) so that the work path closest to the work vehicle (10) passes through the current position (P1) of the work vehicle (10), the first work path (Rg) moves into the non-work area (F2). In this case, the correction processing unit (213) excludes the work path (Rg) located in the non-work area (F2) from the automatic driving path. Additionally, the correction processing unit (213) may delete the work path (Rg) from the target path (R) or invalidate the work path (Rg). By doing so, the work vehicle (10) is restricted (prohibited) from automatically driving along the work path (Rg) in the non-work area (F2).

[0119] In addition, when the correction processing unit (213) excludes the work path (Rg) from the automatic driving path, the work path (Rg) and the turning path connected to the work path (Rg) may be not displayed in the operating terminal (2), as shown in FIG. 19b. That is, in the operating screen displaying the target path (R), the correction processing unit (213) may not display the work path (Rg) that is located in the non-work area (F2) by correcting the position of the target path (R), and may display the work path (R1) that is located in the work area (F1) by correcting the position of the target path (R).

[0120] In addition, for example, as shown in FIG. 20a, when the work vehicle (10) receives the correction operation while it is located in the work area (F1), if the position of the target path (R) is corrected (the entire target path (R) is shifted to the right (parallel movement)) so that the work path closest to the work vehicle (10) passes through the current position (P1) of the work vehicle (10), the final work path (Rh) moves into the non-work area (F2). In this case, the correction processing unit (213) excludes the work path (Rh) located in the non-work area (F2) from the automatic driving path. By doing so, the work vehicle (10) is restricted from automatically driving along the work path (Rh) in the non-work area (F2). In addition, when the correction processing unit (213) excludes the work path (Rh) from the automatic driving path, the operation terminal (2) may not display the work path (Rh) and the turning path connected to the work path (Rh), as shown in FIG. 20b.

[0121] Additionally, if a work path excluded from the automatic driving path (work path (Rg) in FIG. 19a, work path (Rh) in FIG. 20a) is again located within the work area (F1) by the correction operation, the correction processing unit (213) may restore the work path to the automatic driving path and display it on the operation screen. Furthermore, if the work path (R1) located in the non-work area (F2) is excluded, the correction processing unit (213) may change the work start position (S) and the work end position (G) (see FIG. 19b and FIG. 20b).

[0122] As described above, the path generation method of the present invention sets a work area (F1) for performing work on a work vehicle (10) while driving the work vehicle (10) automatically, and a non-work area (F2) outside the work area, generates a target path (R) for driving the work vehicle (10) automatically, and corrects the position of the target path (R) when a correction operation for correcting the position of the target path (R) is received. Additionally, the path generation method corrects the position of the target path (R) set in the work area (F1) when the correction operation is received. By doing so, the position of the target path (R) for driving the work vehicle (10) automatically in a pavement (F) including the work area (F1) and the non-work area (F2) can be corrected. In particular, the position of the target path (R) set in the work area (F1) can be corrected.

[0123] [Invention Note]

[0124] Hereinafter, an overview of the invention derived from each of the embodiments described above is provided. Furthermore, each component and each processing function described in the following notes can be selected and arbitrarily combined.

[0125] <Booklet 1>

[0126] A work area for performing work on said work vehicle while driving the work vehicle automatically, and a non-work area outside said work area, and

[0127] Generating a target path for automatically driving the above-mentioned work vehicle, and,

[0128] A path generation method that performs correction of the position of the target path when a correction operation to correct the position of the target path is received.

[0129] Booklet 2

[0130] A path generation method described in Appendix 1 for correcting the position of the target path when the correction operation is received while the above work vehicle is located within the above work area.

[0131] Book 3

[0132] A path generation method described in Appendix 1 or 2 for correcting the position of the target path such that, among a plurality of work paths included in the target path, the work path closest to the current position of the work vehicle when the correction operation is received passes through the current position.

[0133] Book 4

[0134] A path generation method described in any one of appendices 1 to 3, which notifies a predetermined information when the work vehicle becomes unable to drive automatically at at least one location of the target path by correcting the location of the target path.

[0135] Book 5

[0136] A path generation method described in any one of Appendix 1 to 4 for correcting the location of a specific work path that satisfies a predetermined condition among a plurality of work paths included in the above-mentioned target path.

[0137] Book 6

[0138] A path generation method described in Appendix 5 for correcting the position of the work path closest to the current position of the work vehicle when the correction operation is received, among the plurality of work paths above.

[0139] Book 7

[0140] A path generation method described in Appendix 5 or 6 for correcting the position of a work path among the plurality of work paths above, wherein the driving direction information corresponding to the same direction as the driving direction of the work vehicle when the correction operation is received.

[0141] Book 8

[0142] A method for generating a path as described in any one of Appendix 5 to 7, which corrects the position of the work path that is closest to the current position of the work vehicle at the time the correction operation is received among the plurality of work paths above, and also corresponds to driving direction information in the same direction as the driving direction of the work vehicle at the time the correction operation is received.

[0143] Bookmark 9

[0144] The above work area includes a plurality of work areas where different target paths are generated, and

[0145] A path generation method described in any one of Appendix 1 to 8, which corrects the position of the target path corresponding to the work area where the work vehicle is located when the correction operation is received among the plurality of work areas.

[0146] Bookmark 10

[0147] A path generation method described in any one of Appendix 1 to 9, which generates a work path for driving a work vehicle through an unworked area when an unworked area is created within the work area by correcting the position of the above-mentioned target path.

[0148] Bookmark 11

[0149] A path generation method described in Appendix 10 for determining whether to generate a work path that drives the above-mentioned unworked area based on work information regarding the above-mentioned work.

[0150] Bookmark 12

[0151] A path generation method described in any one of Appendix 1 to 11, which corrects the position of the target path within a preset upper limit range when the above correction operation is received.

[0152] Bookmark 13

[0153] A path generation method described in any one of appendices 1 to 12, wherein, among a plurality of work paths included in the above-mentioned target path, the work path located in the above-mentioned non-work area is excluded from the path for automatic driving by correcting the position of the above-mentioned target path.

[0154] Bookmark 14

[0155] A path generation method described in Appendix 13, wherein, in a screen displaying the above-mentioned target path, the above-mentioned work path located in the above-mentioned non-work area is not displayed by correcting the position of the above-mentioned target path, and the above-mentioned work path located in the above-mentioned work area is displayed by correcting the position of the above-mentioned target path. In the above-mentioned path generation method, one or more processors execute the processing described in any one of Appendix 1 to 14.

[0156] Bookmark 15

[0157] A work area for performing work on said work vehicle while driving the work vehicle automatically, and a non-work area outside said work area, and

[0158] Generating a target path for automatically driving the above-mentioned work vehicle, and,

[0159] A path generation program for executing the correction of the position of the target path on one or more processors when a correction operation for correcting the position of the target path is received.

[0160] <Book 16>

[0161] A work area for automatically driving a work vehicle and performing work on the said work vehicle, and a setting processing unit for setting a non-work area outside the said work area,

[0162] A generation processing unit that generates a target path for automatically driving the above-mentioned work vehicle, and

[0163] A path generation system having a correction processing unit that corrects the position of the target path when a correction operation to correct the position of the target path is received. Explanation of the symbols

[0164] 100: Automatic driving system 10: Work vehicle 11: Vehicle Control Unit 12: Memory Department 13: Driving section 14: Work Department 20: Operation terminal 211: Configuration processing unit 212: Creation Processing Unit 213: Correction processing unit 214:Notification Processing Unit F: Packaging F1, F11, F12: Workspace F2: Non-working area f1: Unworked area S: Start position G: Task exit location K1: Start button K2: Path shift button M1: Error message P1: Current location R, R1a, R1b: Target path R1, R11, Ra, Rb: Work path Rm, Rn, Rs, Rt, Ry, r1:Work path Rg, Rh: Work path R2, Rx: Turning path Re: Section

Claims

Claim 1 A path generation method comprising: setting a work area for performing work on a work vehicle while driving the work vehicle automatically, a non-work area outside the work area, generating a target path for driving the work vehicle automatically, and, upon receiving a correction operation for correcting the position of the target path, performing a correction operation for correcting the position of the target path. Claim 2 A path generation method for correcting the position of the target path in the case where the correction operation is received while the work vehicle is located within the work area, according to claim 1. Claim 3 A path generation method according to claim 1, wherein among a plurality of work paths included in the target path, the work path closest to the current position of the work vehicle when the correction operation is received passes through the current position. Claim 4 A path generation method according to claim 1, wherein, when the work vehicle becomes unable to drive automatically at at least one location of the target path by correcting the position of the target path, a predetermined information is notified. Claim 5 A path generation method according to claim 1, which corrects the location of a specific work path that satisfies a predetermined condition among a plurality of work paths included in the target path. Claim 6 In claim 5, a path generation method for correcting the position of the work path closest to the current position of the work vehicle when the correction operation is received, among the plurality of work paths. Claim 7 In claim 5, a path generation method for correcting the position of a work path among the plurality of work paths, wherein the driving direction information corresponding to the same direction as the driving direction of the work vehicle when the correction operation is received. Claim 8 A path generation method according to claim 5, wherein among the plurality of work paths, the work path is closest to the current position of the work vehicle when the correction operation is received, and the driving direction information corresponding to the same direction as the driving direction of the work vehicle when the correction operation is received. Claim 9 A path generation method according to claim 1, wherein the work area includes a plurality of work areas in which different target paths are generated, and among the plurality of work areas, corrects the position of the target path corresponding to the work area where the work vehicle is located when the correction operation is received. Claim 10 A path generation method according to claim 1, wherein when an unworked area is created within the worked area by correcting the position of the target path, a work path is generated for driving the work vehicle through the unworked area. Claim 11 In claim 10, a path generation method for determining whether to generate a work path that drives the unworked area based on work information regarding the above work. Claim 12 A path generation method according to claim 1, which corrects the position of the target path within a preset upper limit range when the correction operation is received. Claim 13 A path generation method according to claim 1, wherein, among a plurality of work paths included in the target path, the work path located in the non-work area is excluded from the path for automatic driving by correcting the position of the target path. Claim 14 A path generation method according to claim 13, wherein, in a screen displaying the target path, the work path located in the non-work area is not displayed by correcting the position of the target path, and the work path located in the work area is displayed by correcting the position of the target path. Claim 15 A path generation program for executing, in one or more processors, a work area for performing work on the work vehicle while driving the work vehicle automatically, a non-work area outside the work area, a target path for driving the work vehicle automatically, and, upon receiving a correction operation for correcting the position of the target path, a correction operation for correcting the position of the target path. Claim 16 A path generation system comprising: a work area for performing work on a work vehicle while automatically driving the work vehicle; a setting processing unit for setting a non-work area outside the work area; a generation processing unit for generating a target path for automatically driving the work vehicle; and a correction processing unit for correcting the position of the target path when a correction operation for correcting the position of the target path is received.

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