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

Abstract

(Project) Provides a path generation method, a path generation program, and a path generation system capable of generating a target path based on a baseline at an appropriate location. (Solution) The automatic driving system (100) has a setting processing unit (211) for setting the shape of the pavement, a work area located inside the pavement, and a headland area located outside the work area, and a reference line generated according to a predetermined operation, and a generating processing unit (212) for generating a target path for automatically driving the work vehicle (10) based on the work area.

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 reference line based on user operation, generates a path (target path) parallel to the reference line, and automatically drives a work vehicle along the target path (see, for example, Patent Document 1). Prior art literature

[0003] Japanese Patent Publication No. 2020-156329 The problem to be solved

[0004] However, in conventional technology, since multiple target paths are generated at predetermined intervals relative to a baseline regardless of whether the entire pavement area or the working area inside the pavement is used, a problem arises where paths are generated even in areas where driving is not required.

[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 generating a target path based on a baseline at an appropriate location. means of solving the problem

[0006] The path generation method according to the present invention performs the following: setting the shape of the pavement, a work area located inside the pavement where a work vehicle performs work, and a headland area located inside the pavement and outside the work area; a reference line generated according to a predetermined operation; and generating a target path for automatically driving the work vehicle based on the work area.

[0007] The path generation program according to the present invention is a program for executing on one or more processors the shape of a pavement, a work area located inside the pavement where a work vehicle performs work, a headland area located inside the pavement and outside the work area, a reference line generated according to a predetermined operation, and a target path for automatically driving the work vehicle based on the work area.

[0008] A path generation system according to the present invention comprises a setting processing unit and a generation processing unit. The setting processing unit sets the shape of the pavement, a work area located inside the pavement where a work vehicle performs work, and a headland area located inside the pavement and outside the work area. The generation processing unit generates a target path for automatically driving the work vehicle based on a reference line generated according to a predetermined operation and the work area. 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 generating a target path based on a baseline at an appropriate location 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. 5a is a drawing showing an example of a method for setting a work path and a non-work area according to an embodiment of the present invention. FIG. 5b is a drawing showing an example of a method for setting a work path and a non-work area according to an embodiment of the present invention. FIG. 6 is a drawing showing an example of an operation screen displayed on an operation terminal according to an embodiment of the present invention. FIG. 7a is a drawing for explaining a method for generating a work path according to an embodiment of the present invention. FIG. 7b is a diagram illustrating a method for generating a work path according to an embodiment of the present invention. FIG. 7c is a drawing for explaining a method for generating a work path according to an embodiment of the present invention. FIG. 8 is a drawing showing an example of automatic driving processing according to an embodiment of the present invention. FIG. 9a is a drawing for explaining a method of changing a work area according to an embodiment of the present invention. FIG. 9b is a drawing for explaining a method of changing a work area according to an embodiment of the present invention. FIG. 10a is a drawing for explaining a method of changing a work area according to an embodiment of the present invention. FIG. 10b is a drawing for explaining a method of changing a work area according to an embodiment of the present invention. FIG. 11a is a drawing for explaining a method of changing a work area according to an embodiment of the present invention. FIG. 11b is a drawing illustrating a method for changing a work area according to an embodiment of the present invention. FIG. 12a is a drawing for explaining a method of changing a work area according to an embodiment of the present invention. FIG. 12b is a drawing for explaining a method of changing a work area according to an embodiment of the present invention. FIG. 13 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. 14 is a drawing showing an example of an operation screen displayed on an operation terminal according to an 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 deviated 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. 18a is a drawing showing a work vehicle deviated from its position from the target path according to another embodiment of the present invention. FIG. 18b is a drawing showing an example of a target path after correction according to another embodiment of the present invention. FIG. 19 is a drawing showing an example of a method for correcting a target path according to another embodiment of the present invention. FIG. 20 is a flowchart illustrating an example of the sequence of automatic driving processing executed by an automatic driving system 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) within the pavement (F) (see FIG. 3). For example, the work vehicle (10) can drive automatically along a plurality of parallel work paths (R1) included in a preset target path (R) for 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 pavement (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 headland area (F2) outside the work area. For example, the work vehicle (10) harvests potatoes by traveling back and forth in parallel along a plurality of work paths (R1) in the work area (F1). The target path (R) is not limited to the path shown in FIG. 3 but is appropriately set according to the shape of the pavement (F), the content of the work, etc. The headland area (F2) is, for example, an area surrounding the work area (F1), and is a movement area (turning area) for the work vehicle (10) to move (turn) between work paths (R1) while the work is stopped. The work vehicle (10) drives manually in the headland area (F2) according to manual steering by a user (operator).

[0016] The control terminal (20) displays various information regarding work performed by the work vehicle (10), receives operations from the 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 a pavement (F), the operator operates the handle (137) to drive the work vehicle (10) manually. Also, when moving the work vehicle (10) to the beginning of each work path (R1), 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). 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, etc. 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. 13 and FIG. 20) 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 a 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. 6) 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 is within a predetermined range from the work path (R1), and that the direction (orientation) of the work vehicle (10) is within a predetermined angle relative to the work path (R1). 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 within the pavement (F) along the target path (R). In the example shown in FIG. 3, the work vehicle (10) performs work by driving straight automatically along a straight path (R1) in the work area (F1), and then drives manually towards the next work path (R1) in the headland area (F2) according to the operator's manual steering.

[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. In addition, 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 automatically drives along the target path (R) within the packaging (F) by means of the information displayed on the operation terminal (20).

[0044] The memory unit (22) is a non-volatile memory unit such as an HDD, SSD, or flash memory that stores various types of information. The memory unit (22) stores a control program, such as an automatic driving program, for executing automatic driving processing (see FIG. 13 and FIG. 20) 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 notification processing unit (213), and a correction 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 the 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 the shape (external shape) of the packaging (F), a work area (F1) located inside the packaging (F), and a headland area (F2) located inside the packaging (F) and outside the work area (F1). The work area (F1) is, for example, an area where work is performed on the work vehicle (10) while the work vehicle (10) is driven automatically, and the headland area (F2) is an area (headland area) where the work vehicle (10) is moved while the work is stopped. Specifically, the setting processing unit (211) sets information such as the location and shape of the packaging (F), the work area (F1) and the headland area (F2), and the direction of work 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 performing work in the work section (14) within 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 to make a full circle along the outer perimeter of the pavement (F), 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 the headland area (F2) are set within the driving area.

[0051] Here, a specific example of a method for setting a work area (F1) and a headland area (F2) is described. FIG. 5a is an example of a setting screen (D2) displayed on an operating terminal (20). The setting screen (D2) displays the external shape of the pavement (F) set by the operator. In the setting screen (D2), the operator inputs a predetermined distance (W1 to W4) from the outer edge of the pavement (F) to the inside. The operator may input the distance by selecting "W1" on the map of the pavement (F) in the setting screen (D2), or may input the distance in a separate input field. The operator can set the distance (W1 to W4) for each edge. The setting processing unit (211) sets a work area (F1) inside the pavement (F) based on the distance (W1 to W4) input by the operator, and sets a headland area (F2) outside the work area (F1). Thus, the setting processing unit (211) can set a work area (F1) in an arbitrary range, and can set the location of the target path (R) according to the range of the work area (F1). In addition, the setting processing unit (211) can set the work area (F1) according to the operation of the operator.

[0052] In another embodiment, the setting processing unit (211) may set the range of the work area (F1) based on the size of the work vehicle (10) or the information of the work unit (14). For example, as shown in FIG. 5b, if the work unit (14) is a work unit (offset work unit) installed by shifting to the right (or left) from the center of the body of the work vehicle (10), the setting processing unit (211) sets the work area (F1) by setting the distance (W1 to W4) based on the offset position of the work unit (14). In this way, the setting processing unit (211) may set the work area (F1) based on the previously registered work vehicle information and work unit information.

[0053] 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 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).

[0054] 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 operator selects "Create Path" on the menu screen (D1) (see FIG. 4) to give instructions for generating the target path (R). Specifically, the generation processing unit (212) generates a reference line (L1) according to a predetermined operation and generates the target path (R) based on the reference line (L1) and the work area (F1). For example, the generation processing unit (212) generates a reference line (L1) according to the operator's operation and generates a target path (R) that includes a straight path (work path (R1)) parallel to the reference line (L1). Also, the reference line (L1) may be a straight line or a curve.

[0055] The generation processing unit (212) generates a target path (R) based on a predetermined path generation mode. Specifically, the generation processing unit (212) comprises a first path generation mode for generating a target path (R) based on a reference line (L1) passing through two reference points (points A and B) set according to the operator's operation at any location within the pavement (F); a second path generation mode for generating a target path (R) based on a reference line (L1) passing through a reference point (point A) set at the location of the work vehicle (10) within the pavement (F) (e.g., current location) and extending in the direction of the work vehicle's (10) orientation (vehicle orientation); a third path generation mode for generating a target path (R) based on a reference line (L1) passing through a reference point (point A) set at the location of the work vehicle (10) within the pavement (F) (e.g., current location) and extending in the direction of a set orientation angle (set angle) set according to the operator's operation; and an outer edge selected by the operator among the outer edges of the pavement (F). A target path (R) is generated by one of the following path generation modes: a fourth path generation mode that sets a baseline (L1) and generates a target path (R) based on the baseline (L1); and a fifth path generation mode that sets an external shape variation of the work area (F1) selected by the operator as the baseline (L1) and generates a target path (R) based on the baseline (L1). The operator may be able to select any one of the first to fifth path generation modes on the operation screen.

[0056] Additionally, when the generation processing unit (212) generates a baseline (L1), it generates a target path (R) that includes a work path (R1) parallel to the baseline (L1). Also, the target path (R) may be composed of multiple work paths (R1) or a single work path (R1). The target path (R) shown in FIG. 3 is parallel to the baseline (L1) and is composed of multiple work paths (R1) that are equally spaced.

[0057] Additionally, the generation processing unit (212) sets the ends (start and end) of the work path (R1) within the packaging (F). Specifically, the generation processing unit (212) sets the start and end of the work path (R1) on the outer edge of the work area (F1). For example, in the example shown in FIG. 3, the start of each work path (R1) with an upward driving direction is set on the lower edge of the work area (F1) and the end is set on the upper edge of the work area (F1), and the start of each work path (R1) with a downward driving direction is set on the upper edge of the work area (F1) and the end is set on the lower edge of the work area (F1). By doing this, the work vehicle (10) can automatically drive along each work path (R1) from the lower edge to the upper edge (or from the upper edge to the lower edge) in the work area (F1).

[0058] 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).

[0059] 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 perform automatic driving along the target path (R) while determining the current location of the work vehicle (10) by the positioning unit (16).

[0060] 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.

[0061] 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, automatic driving and work (e.g., potato harvesting work) begins.

[0062] When automatic driving of the work vehicle (10) is permitted, the vehicle control device (11) drives the work vehicle (10) automatically along the work path (R1) based on the target path (R). Additionally, 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).

[0063] When the work vehicle (10) is driving automatically, the operation control unit (21) displays map information including the pavement (F), the target route (R), and the current location of the work vehicle (10) on the operation screen (D3) (see FIG. 6). In addition, on the operation screen (D3), 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 values, etc.) of items such as the driving status, vehicle speed status, and location status of the work vehicle (10).

[0064] However, when the vehicle control device (11) automatically drives the work vehicle (10) along the work path (R1), it stops the automatic driving when the work vehicle (10) reaches the end of the work path (R1). Here, if the vehicle control device (11) sets the control point controlling the driving position of the work vehicle (10) to the position (positioning point) of the positioning antenna (164), there may be cases where an unworked area occurs within the work area (F1). For example, as shown in FIG. 7a, the vehicle control device (11) performs work while the work vehicle (10) automatically drives along the work path (R1), and stops the automatic driving when the position (control point) of the positioning antenna (164) reaches the end of the work path (R1). In this case, the work part (14) does not reach the upper edge of the work area (F1), and the area between the work part (14) and the upper edge (L2) becomes an unworked area.

[0065] To solve the above problem, the vehicle control device (11) sets the control point in the work unit (14). In this case, as shown in FIG. 7b, the vehicle control device (11) performs work while the work vehicle (10) automatically drives along the work path (R1), and stops the automatic driving at the timing when the position of the work unit (14) reaches the end of the work path (R1). By doing this, the work unit (14) reaches the upper edge of the work area (F1), thus preventing the occurrence of an unworked area, and ensuring that the entire work area (F1) can be reliably worked on. Additionally, the vehicle control device (11) can control the driving position of the work vehicle (10) by using the position of the work unit (14) as a control point based on the position (positioning point) of the positioning antenna (164) and the distance (L3) by pre-registering the distance (L3) from the positioning antenna (164).

[0066] As another embodiment for solving the above problem, the generation processing unit (212) may set the end of the work path (R1) within the headland area (F2) and extend the work path (R1) itself. Specifically, the generation processing unit (212) extends the work path (R1) within the headland area (F2) by a length (e.g., distance (L3)) corresponding to the distance (L3) from the positioning antenna (164) to the work unit (14). In this case, the vehicle control device (11) performs the work while the work vehicle (10) automatically drives along the work path (R1), and stops the automatic driving at the timing when the position (positioning point) of the positioning antenna (164) reaches the end of the work path (R1). By doing this, the work unit (14) reaches the upper edge of the work area (F1), thus preventing the occurrence of an unworked area, and ensuring that the entire work area (F1) can be reliably worked on.

[0067] Additionally, the operator may pre-select whether to set the control point of the work vehicle (10) to the work unit (14) (see FIG. 7b) or to the positioning antenna (164) (see FIG. 7c).

[0068] Additionally, when the work vehicle (10) reaches the end of the work path (R1), the vehicle control device (11) may stop (stop) automatic driving or switch to manual driving to maintain driving (stop automatic driving or switch from automatic driving mode to manual driving mode). Additionally, when the work vehicle (10) reaches the end of the work path (R1), the vehicle control device (11) may switch to manual driving and automatically move the work unit (14) to a non-working position (e.g., raise to a non-working height). Additionally, when the work vehicle (10) reaches the end of the work path (R1), the vehicle control device (11) may stop (stop) automatic driving and then, by operation of an operator, extend the work path (R1) by a predetermined distance to work the headland area (F2). Additionally, when the vehicle control device (11) automatically drives the extended part of the work path (R1), it may drive automatically at a speed below a predetermined speed in consideration of safety.

[0069] Here, the notification processing unit (213) may notify the outside when the work vehicle (10) stops. For example, before the work vehicle (10) stops at the end of the work path (R1) (or when it stops), or before the work vehicle (10) reaches the end of the work path (R1) and switches to manual driving (or when it switches), a buzzer sound or voice is output to the outside from the operation terminal (20) or the work vehicle (10). By this, the operator can clearly determine that the work vehicle (10) stops or switches to manual driving.

[0070] [Method for initiating automatic driving]

[0071] In another embodiment for initiating automatic driving of a work vehicle (10), the vehicle control device (11) may initiate automatic driving of the work vehicle (10) when the work vehicle (10) or the work unit (14) reaches the end (starting end) of a target path (R) (work path (R1)) set based on a work area (F1) or within a predetermined range from said end, and the automatic driving initiation condition is satisfied. For example, FIG. 8 shows a predetermined range (A1) set based on the starting end (Pa) of the work path (R1). The vehicle control device (11) permits automatic driving of the work vehicle (10) when the automatic driving initiation condition is satisfied while the position of the control point (positioning antenna (164) or work unit (14)) of the work vehicle (10) is located within the predetermined range (A1). Additionally, the vehicle control device (11) may automatically move the work unit (14) to the work position (lower to the work height) and start driving the work unit (14) when the position of the control point of the work vehicle (10) is within a predetermined range (A1), thereby starting automatic driving. Additionally, the vehicle control device (11) may start automatic driving when it receives a start operation (lowering operation of the start button (K1), lowering operation of the work unit (14)) from the operator while the position of the control point of the work vehicle (10) is within a predetermined range (A1).

[0072] Additionally, when the work vehicle (10) or work unit (14) reaches within a predetermined range (A1), the vehicle control device (11) may automatically drive the work vehicle (10) to the end (starting point) of the target path (R) (work path (R1)), and when the work vehicle (10) reaches the end and the condition for starting automatic driving is satisfied, the vehicle control device (11) may start automatic driving on the work path (R1). Thus, when the control point of the work vehicle (10) reaches within a predetermined range (A1), the vehicle control device (11) may automatically drive the work vehicle (10) to the starting point of the work path (R1). Additionally, when the work vehicle (10) reaches the starting point of the work path (R1), the vehicle control device (11) may automatically lower the work unit (14) and start driving the work unit (14) to start automatic driving. Additionally, the vehicle control device (11) may automatically drive the work vehicle (10) to the beginning of the work path (R1) when the work vehicle (10) reaches within a predetermined range (A1) and the deviation between the direction of the work path (R1) and the direction of the line connecting the direction of the work path (R1), the vehicle position, and the beginning of the work path (R1) is within the threshold, or when the deviation between the direction of the work path (R1) and the direction of the line connecting the vehicle position and the beginning of the work path (R1) is within the threshold.

[0073] [How to change the work area (F1)]

[0074] The setting processing unit (211) may change the range of the work area (F1) based on information regarding the work history (previous work information) of the work vehicle (10). For example, as shown in FIG. 9a, when the work vehicle (10) automatically drives along the work path (R1) and reaches the end of the work path (R1), and then the operator drives the work vehicle (10) along the extension of the work path (R1) by manual steering and continues the work, the setting processing unit (211) expands the work area (F1) based on the position where manual driving was stopped. FIG. 9b shows the work area (F1) after expansion. For example, the setting processing unit (211) expands the work area (F1) by moving the upper edge (Fa) of the work path (R1) in parallel to a position that passes through the position where the work vehicle (10) stopped on the extension of the work path (R1).

[0075] As another example, as shown in FIG. 10a, when a work vehicle (10) automatically drives along a work path (R1) and the operator switches the automatic driving to stop (stop) or manual driving before reaching the end of the work path (R1), the setting processing unit (211) reduces the work area (F1) based on the position where the work vehicle (10) stopped. FIG. 10b shows the work area (F1) after reduction. For example, the setting processing unit (211) reduces the work area (F1) by moving the upper edge (Fa) of the work path (R1) parallel to a position that passes the position where the work vehicle (10) stopped on the work path (R1).

[0076] In the example shown in FIGS. 9 and 10, the work area (F1) is modified by moving one side of the work area (F1) in parallel, but in another embodiment, the setting processing unit (211) may be configured to modify the work area (F1) by moving a part of the side of the work area (F1) in parallel. For example, as shown in FIG. 11a, when the work vehicle (10) travels and performs work beyond the end of the work path (R1), the setting processing unit (211) expands only the part of the upper side (Fa) of the work area (F1) that corresponds to the work width of the work path (R1), as shown in FIG. 11b.

[0077] Also, for example, as shown in FIG. 12a, when the work vehicle (10) switches from automatic driving to stop or manual driving before reaching the end of the work path (R1), the setting processing unit (211) reduces only the portion of the upper edge (Fa) of the work area (F1) corresponding to the work width of the work path (R1), as shown in FIG. 12b.

[0078] Additionally, the setting processing unit (211) may allow the operator to pre-set whether to change the range of the work area (F1) based on work history information within the packaging (F) before the work (first setting method), and may allow the operator to select whether to change the range of the work area (F1) when the timing for changing the range of the work area (F1) arrives during the work (while driving automatically) (when the end of the work path (R1) has been passed, when the vehicle has stopped immediately before the end of the work path (R1), etc.) (second setting method).

[0079] In addition, if the setting processing unit (211) adopts the second setting method, it may be set so that when the operator selects "do not change the range of the work area (F1)," thereafter, no inquiry regarding the change of the work area (F1) is made.

[0080] Additionally, the setting processing unit (211) may allow the operator to select whether to change the entire range of the work area (F1) (see FIG. 9 and FIG. 10) or to change the range of a part of the work area (F1) (see FIG. 11 and FIG. 12).

[0081] 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.

[0082] [Automatic Driving Processing]

[0083] Hereinafter, with reference to FIG. 13, an example of the automatic driving process performed by the automatic driving system (100) will be described.

[0084] 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.

[0085] <Step S1>

[0086] In step S1, the operation control unit (21) sets the work area (F1) and the headland area (F2). Specifically, the operation control unit (21) sets information such as the position and shape of the pavement (F), the work area (F1) and the headland area (F2), and the direction of work according to the operation of the operator (see FIG. 3). For example, as shown in FIG. 5a, when the operator inputs the distance (W1 to W4) from the outer edge of the pavement (F), the operation control unit (21) sets the work area (F1) and the headland area (F2) based on the distance (W1 to W4). Also, as shown in FIG. 5b, the operation control unit (21) sets distances (W1 to W4) based on the size of the work vehicle (10), the type, size, and position (offset position, etc.) of the work unit (14), and sets a work area (F1) and a headland area (F2) based on the set distances (W1 to W4).

[0087] Step S2

[0088] 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. Specifically, the operation control unit (21) generates a reference line (L1) according to the operation of the operator and generates a target path (R) that includes a work path (R1) parallel to the reference line (L1). For example, the operation control unit (21) generates the target path (R) based on any one of the first to fifth path generation modes described above.

[0089] Additionally, the operation control unit (21) sets the ends (start and end) of the work path (R1) so that the work range by the work vehicle (10) is accommodated within the work area (F1). For example, as shown in FIG. 3, the operation control unit (21) generates a target path (R) such that the end of each work path (R1) is located at the upper or lower edge of the work area (F1). As another embodiment, as shown in FIG. 7c, when a control point controlling the driving position of the work vehicle (10) is set at the position (positioning point) of the positioning antenna (164), the operation control unit (21) may set the end (end) of the work path (R1) at the headland area (F2).

[0090] Step S3

[0091] In step S3, the vehicle control device (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 end (starting end) of the work path (R1) or to within a predetermined range (A1) from said end (see FIG. 8). Specifically, the operator manually drives the work vehicle (10) until the control point of the work vehicle (10) (location of the positioning antenna (164) or the work part (14)) is located within the predetermined range (A1).

[0092] Step S4

[0093] In step S4, the vehicle control device (11) determines whether the work vehicle (10) satisfies the automatic driving start condition. If the work vehicle (10) satisfies the automatic driving start condition (S4: Yes), the vehicle control device (11) proceeds to step S5. Meanwhile, if the work vehicle (10) does not satisfies the automatic driving start condition (S4: No), the vehicle control device (11) returns the process to step S3. The vehicle control device (11) continues manual driving processing until the work vehicle (10) satisfies the automatic driving start condition.

[0094] Step S5

[0095] In step S5, the vehicle control device (11) initiates automatic driving processing. Specifically, the vehicle control device (11) initiates automatic driving (automatic straight driving) of the work vehicle (10) according to the work path (R1) included in the target path (R) (see FIG. 3). Additionally, the vehicle control device (11) initiates work by the work unit (14) within the work area (F1).

[0096] Step S6

[0097] In step S6, the vehicle control unit (11) determines whether the work vehicle (10) has reached the end of the work path (R1). If the vehicle control unit (11) determines that the work vehicle (10) has reached the end of the work path (R1) (S6: Yes), the process is transferred to step S7. Meanwhile, if the vehicle control unit (11) determines that the work vehicle (10) has not reached the end of the work path (R1) (S6: No), the process is returned to step S5. The vehicle control unit (11) continues the automatic driving process until the work vehicle (10) reaches the end of the work path (R1).

[0098] Step S7

[0099] In step S7, the vehicle control device (11) stops the automatic driving of the work vehicle (10). Additionally, the vehicle control device (11) stops the work of the work unit (14). For example, when the work vehicle (10) reaches the end of the work path (R1), the vehicle control device (11) stops the work vehicle (10) and raises the work unit (14) to a work height to stop the drive.

[0100] Step S8

[0101] In step S8, the vehicle control device (11) determines whether the work by the work vehicle (10) has been completed. For example, if the operator performs an operation to end automatic driving, the vehicle control device (11) determines that the work has been completed. In another embodiment, the vehicle control device (11) may determine that the work has been completed when the work vehicle (10) reaches a preset work end position. If the vehicle control device (11) determines that the work by the work vehicle (10) has been completed (S8: Yes), the automatic driving process is terminated. On the other hand, if the vehicle control device (11) determines that the work by the work vehicle (10) has not been completed (S8: No), the process is returned to step S3. Upon returning to step S3, the vehicle control device (11) manually drives the work vehicle (10) toward the next work path (R1) according to the operator's manual steering.

[0102] The operation control unit (21) and the vehicle control device (11) repeat the above-described processing until the work by the work vehicle (10) is completed (S8:No). As described above, the automatic driving system (100) performs the automatic driving processing.

[0103] As described above, the automatic driving system (100) according to the present embodiment performs the following: setting the shape of the pavement (F), a work area (F1) located inside the pavement (F) where the work vehicle (10) performs work, and a headland area (F2) located inside the pavement (F) and outside the work area (F1); and generating a reference line (L1) generated according to a predetermined operation and a target path (R) for automatically driving the work vehicle (10) based on the work area (F1).

[0104] For example, the automatic driving system (100) creates a work path (R1) parallel to a reference line (L1) within the work path (R1). Then, the automatic driving system (100) starts automatic driving when the work vehicle (10) or work unit (14) reaches the beginning of the work path (R1), and stops automatic driving when the work vehicle (10) or work unit (14) reaches the end of the work path (R1).

[0105] According to the above configuration, a target path (R) based on a reference line (L1) can be created at an appropriate location for the pavement (F). Additionally, the operator can set the intended range as a work area (F1) to perform automatic driving and work. Thus, workability and safety can be improved by the work vehicle (10).

[0106] [Other embodiments]

[0107] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0108] There may be cases where one wishes to correct (change) the position of the target path (R) while the work vehicle (10) is driving automatically along the target path (R). For example, when the work vehicle (10) is driving automatically along the work path (R1), if a positional misalignment occurs in the left-right direction relative to the work path (R1), there may be cases where one wishes to move the work path (R1) to the driving position of the work vehicle (10). Therefore, as another embodiment, the correction processing unit (214) of the operation control unit (21) may be configured to move the position of a specific work path (R1) when it receives a correction operation (movement operation) to move the position of the target path (R) in the left-right direction while the work vehicle (10) is driving automatically along the work path (R1). Specifically, when the correction processing unit (214) receives the above correction operation, it moves only the work path (R1) that the work vehicle (10) is driving on.

[0109] For example, as shown in FIG. 15a, when a work vehicle (10) is driving at a position deviated to the left from a specific work path (Rx) while driving automatically along a specific work path (Rx) in a work path (R1), if the operator presses the path offset button (K2) on the operation screen (D3) (see FIG. 14), the correction processing unit (214) moves only the work path (Rx) in the work path (R1) as shown in FIG. 15b. The operator can set the amount of movement (correction amount) of the work path (Rx) by the path offset button (K2). In FIG. 14, since the correction amount is set to "5cm to the left," the correction processing unit (214) moves the work path (Rx) 5cm to the left. Also, the operator can set the correction amount "5cm to the left" by pressing the "1cm" of the left-direction arrow 5 times, for example. By this, the vehicle control unit (11) automatically drives the work vehicle (10) to follow the work path (Rx) after correction (see FIG. 15b).

[0110] Additionally, the correction processing unit (214) corrects the position of only the work path (Rx) that is closest to the current position (P1) of the work vehicle (10) when the correction operation is received, among the multiple work paths (R1). The correction processing unit (214) does not correct the position for other work paths (R1) excluding the work path (Rx).

[0111] In another embodiment, the correction processing unit (214) may correct the position of a work path (R1) among a plurality of work paths (R1) 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. For example, in the target path (R) shown in FIG. 16a, 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 is from bottom to top, the correction processing unit (214) corrects the position of only the work path (Rm). Here, as shown in FIG. 16b, the correction processing unit (214) shifts the position of all of the plurality of work paths (Rm) to the left (parallel movement) and does not correct the position of the work path (Rn).

[0112] As another example, as shown in FIG. 17a, when the driving direction in the target path (R) alternately changes for each work path, the correction processing unit (214) corrects the position only for 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, as shown in FIG. 17b, and does not correct the position for the work path (Rt) that has a different driving direction.

[0113] In addition, as another embodiment, the correction processing unit (214) may correct the position of a work path (R1) that is closest to the current position (P1) of the work vehicle (10) when the correction operation is received, 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, among a plurality of work paths (R1). That is, the correction processing unit (214) may correct the position of a specific work path (R1) based on the work path (R1) that is closest to the current position (P1) of the work vehicle (10) among the work paths (R1) 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.

[0114] 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. 18a, 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. 18b, the correction processing unit (214) 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 correction processing unit (214) 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.

[0115] Additionally, the correction processing unit (214) may create a work path (r1) for driving the work vehicle (10) through the unworked 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. 18b, 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 correction processing unit (214) may create 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 correction processing unit (214) may decide whether to create work paths (r1) in the unworked area (f1) based on the work content (work information). For example, the correction processing unit (214) 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).

[0116] In addition, as another embodiment, the correction processing unit (214) may correct only the position of a portion of the section between the beginning and the end of the work path (R1). For example, as shown in FIG. 19, the correction processing unit (214) may move only a portion of the section (Re) along the work path (R1) by a set correction amount. For example, when the work vehicle (10) is driving automatically along the work path (R1) and the operator presses the path offset button (K2) to specify the end of the section, the correction processing unit (214) moves the section (Re) from the current position (P1) of the work vehicle (10) to the specified end by a set correction amount.

[0117] The correction processing (movement processing) of the work path (R1) shown in FIGS. 15 to 19 may also be applied to an automatic driving system (100) that does not include the processing of setting a work area (F1) and a headland area (F2) on the pavement (F). That is, the correction processing unit (214) may perform the correction processing of the work path (R1) even when the work vehicle (10) is driving at any location within the pavement (F). Specifically, the correction processing unit (214) may correct the position of the work path (R1) even when it receives a correction operation to correct the position of the work path (R1) while the work vehicle (10) is located within the headland area (F2). As another embodiment, the correction processing unit (214) may correct the position of the work path (R1) under the condition that it receives a correction operation to correct the position of the work path (R1) while the work vehicle (10) is located within the work area (F1).

[0118] In addition, in the configuration described above, the correction processing unit (214) is configured to move the work path (R1) by a set amount of correction, but in another embodiment, the correction processing unit (214) may move the position of the work path (R1) to match the current position (P1) of the work vehicle (10) according to the correction operation.

[0119] In addition, as another embodiment, the correction processing unit (214) may be configured to correct the orientation of the work path (R1) to match the current orientation of the work vehicle (10) according to the correction operation. That is, when the correction processing unit (214) receives a correction operation to correct the position of the target path (R), it may correct the orientation of the target path (R) (path angle shift). Specifically, the correction processing unit (214) corrects the orientation of the work path (R1) such that, among the 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 correction processing unit (214) may correct the position and orientation of the work path (R1) 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 correction processing unit (214) may correct the orientation of the entire target path (R) or correct the orientation of only a part of the work path (R1).

[0120] In addition, in each of the embodiments described above, when the correction processing unit (214) corrects the target path (R), it may store the path data of the target path (R) after correction. For example, the correction processing unit (214) stores the path data of the target path (R) after correction in the storage unit (22) by matching it to the packaging (F), work content, etc. By doing so, the operator can select the past target path (R) after correction and perform the work during the next operation.

[0121] FIG. 20 is a flowchart corresponding to an automatic driving process including the correction process. Compared to the automatic driving process shown in FIG. 13, the automatic driving process shown in FIG. 20 has the processing of steps S21 and S22 added, and the other processing is the same as that shown in FIG. 13.

[0122] When the work vehicle (10) starts automatic driving (step S7), in the subsequent step S21, the operation control unit (21) determines whether the work vehicle (10) has received a correction operation (an operation of pressing the path offset button (K2) of the operation screen (D3) of FIG. 14) during automatic driving. If the work vehicle (10) has received the correction operation during automatic driving (S21: Yes), the operation control unit (21) proceeds to step S22 for processing. On the other hand, if the work vehicle (10) has not received the correction operation during automatic driving (S21: No), the operation control unit (21) proceeds to step S8 for processing.

[0123] In step S22, the operation control unit (21) performs a correction process for the work path (R1). Specifically, the operation control unit (21) moves the work path (R1) along which the work vehicle (10) is driving automatically by a correction amount set by the operator (see FIG. 14). After step S22, the operation control unit (21) moves the processing to step S8. If the automatic driving system (100) includes a correction process for the target path (R), it performs the automatic driving process as described above.

[0124] [Invention Note]

[0125] 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.

[0126] <Booklet 1>

[0127] Setting the shape of the pavement, a work area located inside the pavement where a work vehicle performs work, and a headland area located inside the pavement and outside the work area.

[0128] A path generation method in which one or more processors execute to generate a target path for automatically driving the work vehicle based on a baseline generated according to a predetermined operation and the work area.

[0129] Booklet 2

[0130] A path generation method described in Appendix 1 that stops the automatic driving of the work vehicle when the work vehicle or a work part installed on the work vehicle reaches the end of the target path set according to the above work area.

[0131] Book 3

[0132] A path generation method described in Appendix 1 or 2 for initiating automatic driving of a work vehicle when, based on the above work area, the end of the target path set or a work part installed on the work vehicle is reached within a predetermined range from the end, and the conditions for initiating automatic driving are satisfied.

[0133] Book 4

[0134] When the work vehicle or the work unit reaches within the above predetermined range, the work vehicle is automatically driven to the end of the above target path, and

[0135] A path generation method described in Appendix 3 for initiating automatic driving of the work vehicle when the work vehicle reaches the end and the initiation condition is satisfied.

[0136] Book 5

[0137] The above work area can be set to an arbitrary range, and

[0138] A path generation method described in any one of Appendix 1 to 4 for setting the location of the target path according to the range of the above work area.

[0139] Book 6

[0140] A path generation method described in Appendix 5 that sets the range of the above-mentioned work area according to user operation.

[0141] Book 7

[0142] A path generation method described in Appendix 5 or 6 for setting the range of the work area based on the size of the work vehicle or information on the work part installed on the work vehicle.

[0143] Book 8

[0144] A path generation method described in any one of Appendix 1 to 7 for changing the range of the work area based on information of the work history by the above-mentioned work vehicle.

[0145] Bookmark 9

[0146] A path generation method described in any one of Appendix 1 to 8, wherein when the above-mentioned work vehicle is automatically driving a first work path among a plurality of parallel work paths included in the above-mentioned target path, a movement operation to move the position of the above-mentioned target path in a left-right direction is received.

[0147] Bookmark 10

[0148] A path generation method described in Appendix 9 that moves only the first work path when the above movement operation is received.

[0149] Bookmark 11

[0150] A plurality of the above work areas are set on the inner side of the above packaging, and

[0151] Generate the target path in each of the plurality of the above work areas, and

[0152] A path generation method described in Appendix 9 or 10 for moving the position of the target path corresponding to the work area where the work vehicle is automatically driving when the above movement operation is received.

[0153] Bookmark 12

[0154] A path generation method described in any one of appendices 9 to 11 for moving the position of the work path corresponding to driving direction information in the same direction as the driving direction of the work vehicle when the above movement operation is received. In the path generation method, one or more processors execute the processing described in any one of appendices 1 to 12.

[0155] Bookmark 13

[0156] Setting the shape of the pavement, a work area located inside the pavement where a work vehicle performs work, and a headland area located inside the pavement and outside the work area.

[0157] A path generation program for executing on one or more processors a target path for automatically driving the work vehicle based on a baseline generated according to a predetermined operation and the work area.

[0158] Bookmark 14

[0159] A setting processing unit for setting the shape of the packaging, a work area located inside the packaging where a work vehicle performs work, and a headland area located inside the packaging and outside the work area, and

[0160] A path generation system comprising a baseline generated according to a predetermined operation and a generation processing unit that generates a target path for automatically driving the work vehicle based on the work area. Explanation of the symbols

[0161] 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: Notification Processing Unit 214: Correction processing unit A1: Specified range F: Packaging F1: Workspace F2: Headland area K1: Start button K2: Path Offset Button L1: Baseline R: Target path R1:Work path

Claims

Claim 1 A path generation method comprising: setting the shape of a pavement, a work area located inside the pavement where a work vehicle performs work, and a headland area located inside the pavement and outside the work area, a reference line generated according to a predetermined operation, and generating a target path for automatically driving the work vehicle based on the work area. Claim 2 A path generation method according to claim 1, wherein the automatic driving of the work vehicle is stopped when the work vehicle or a work part installed on the work vehicle reaches the end of the target path set based on the work area. Claim 3 A path generation method according to claim 1, wherein the end of the target path set based on the work area or a work part installed on the work vehicle is reached within a predetermined range from the end, and the conditions for initiating automatic driving are satisfied, thereby initiating automatic driving of the work vehicle. Claim 4 A path generation method according to claim 3, wherein when the work vehicle or the work part reaches within the predetermined range, the work vehicle is automatically driven to the end of the target path, and when the work vehicle reaches the end and the starting condition is satisfied, the automatic driving of the work vehicle is started. Claim 5 A path generation method according to claim 1, wherein the work area can be set to an arbitrary range, and the location of the target path is set according to the range of the work area. Claim 6 In claim 5, a path generation method for setting the range of the work area according to user operation. Claim 7 A path generation method according to claim 5, which sets the range of the work area based on the size of the work vehicle or information on the work part installed on the work vehicle. Claim 8 A path generation method according to claim 1, which changes the range of the work area based on information of the work history by the work vehicle. Claim 9 A path generation method for moving the position of a specific work path when a movement operation to move the position of the target path is received, when the work vehicle is automatically driving a first work path among a plurality of parallel work paths included in the target path in any one of claims 1 to 8. Claim 10 In claim 9, a path generation method that moves only the first work path when the above movement operation is received. Claim 11 A path generation method according to claim 9, wherein a plurality of work areas are set on the inner side of the packaging, a target path is generated in each of the plurality of work areas, and when the movement operation is received, the position of the target path corresponding to the work area in which the work vehicle is automatically driving is moved. Claim 12 In claim 9, a path generation method for moving the position of the work path corresponding to driving direction information in the same direction as the driving direction of the work vehicle when the above movement operation is received. Claim 13 A path generation program for executing on one or more processors the shape of a pavement, a work area located inside the pavement where a work vehicle performs work, a headland area located inside the pavement and outside the work area, a reference line generated according to a predetermined operation, and a target path for automatically driving the work vehicle based on the work area. Claim 14 A path generation system comprising: a setting processing unit for setting the shape of a pavement, a work area located inside the pavement where a work vehicle performs work, and a headland area located inside the pavement and outside the work area; a reference line generated according to a predetermined operation; and a generation processing unit for generating a target path for automatically driving the work vehicle based on the work area.

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