Agricultural work vehicle and method for generating autonomous work path thereof

Abstract

Provided is a method for generating an autonomous work path of an agricultural work vehicle, the method comprising the steps of: acquiring boundary information of a work site; dividing the work site into a plurality of sections on the basis of the boundary information of the work site, wherein each of the plurality of sections includes a plurality of unit work sections; determining work sequences of the plurality of unit work sections included in each of the plurality of sections; and generating straight paths and rotational paths on the basis of the determined work sequences, wherein the straight paths are center lines of the respective unit work sections, and the rotational paths are paths for moving between the straight paths of adjacent work sequences.

Description

Agricultural work vehicles and methods for creating autonomous work paths thereof

[0001] The present disclosure relates to a method and system for generating an autonomous work path to improve the efficiency of C-turn based autonomous work.

[0002] Agricultural work vehicles are vehicles used for agricultural work, such as rice transplanters, combine harvesters, and tractors. For example, tractors can be equipped with various agricultural implements and perform the necessary agricultural work.

[0003] Autonomous operations of agricultural work vehicles are performed along pre-generated autonomous work paths. To ensure efficiency, these paths often consist of a straight path that passes through multiple parallel swaths, as well as a rotating path for the agricultural work vehicle to move to the next swath. A swath is the width of the work area that an agricultural work vehicle with an attached implement can operate at one time.

[0004] The space for agricultural work vehicles to turn is called a headland, and is typically located at the end or perimeter of the work area. Since the headland is not the area where crops are harvested, the wider the headland and the longer the distance the agricultural work vehicle travels within it, the less efficient autonomous operation becomes.

[0005] Common turning methods for agricultural work vehicles include the keyhole turn, the K-turn, and the C-turn. While keyhole turns enable precise turns, they require a wide space for both straight and circular paths, resulting in a wider bird's-eye area and a smaller harvest area. While K-turns allow for turns in tight spaces, they require both forward and reverse motion, increasing work time and fuel consumption. Furthermore, the constant shaking and transmission shifting put a strain on the durability of agricultural work vehicles.

[0006] Accordingly, C-turns, which simplify movement without requiring excessively wide new headways, are frequently adopted. However, C-turn-based autonomous operations incur losses due to duplicate travel paths in new headways. Therefore, to improve efficiency, autonomous work paths that minimize the distance agricultural work vehicles travel in new headways are needed.

[0007] The present disclosure provides a method and system for generating an autonomous work path that can minimize the distance traveled by an agricultural work vehicle in a new headway in a C-turn-based autonomous work.

[0008] According to one aspect of the present disclosure, a method for generating an autonomous work path of an agricultural work vehicle may include the steps of: obtaining boundary information of a work site; dividing the work site into a plurality of sections based on the boundary information of the work site, wherein each of the plurality of sections includes a plurality of unit work sections; determining a work order of the plurality of unit work sections included in each of the plurality of sections; and generating a straight path and a rotational path based on the determined work order, wherein the straight path is a center line of each unit work section, and the rotational path is a path for moving between straight paths of adjacent work orders.

[0009] In one embodiment, the step of dividing the work site into a plurality of sections may include the steps of calculating a total number of workable unit work sections based on boundary information of the work site, determining a minimum number of workable unit work sections per section based on a minimum turning radius (r) of the agricultural work vehicle, calculating a total number of sections based on the total number of workable unit work sections and the minimum number of workable unit work sections per section, and determining a number of workable unit work sections to be included in each of the plurality of sections based on the minimum number of workable unit work sections per section and the total number of sections.

[0010] In one embodiment, the step of calculating the total number of workable unit work sections may include the step of determining the width (w1) of the work area based on boundary information of the work area, the step of determining the width (w2) of the workable area based on the width (i) of the work equipment attached to the agricultural work vehicle, the step of determining the width (s) of the unit work section based on the overlap width (p) between predetermined adjacent unit work sections, and the step of calculating the total number of workable unit work sections based on the width (w2) of the workable area and the width (s) of the unit work section.

[0011] In one embodiment, the step of calculating the total number of workable unit work sections is as follows:

[0012]

[0013] The total number of workable unit work sections can be calculated using , where swathNum is the total number of workable unit work sections, and floor is a function that discards the values ​​below the decimal point of the input value.

[0014] In one embodiment, the step of determining the minimum number of unit work sections per section is as follows:

[0015]

[0016] The minimum number of unit work sections per section can be determined using, where, minSwathsPerSection is the minimum number of unit work sections per section, ceil is a function that rounds up the value after the decimal point of the input value, r is the minimum turning radius of the agricultural work vehicle, and s is the width of the unit work section.

[0017] In one embodiment, the step of calculating the total number of sections is performed by the following mathematical formula:

[0018]

[0019] The total number of the above sections can be calculated using, where n is the total number of sections, swathNum is the total number of workable unit work sections, minSwathsPerSection is the minimum number of unit work sections per section, and floor is a function that discards the values ​​after the decimal point of the input value.

[0020] In one embodiment, the step of determining the number of unit work sections to be included in each of the plurality of sections may determine the number of unit work sections to be included in each of the plurality of sections such that the remaining sections, except for the last section among the plurality of sections, include the minimum number of unit work sections per section, and the last section includes the unit work sections greater than or equal to the minimum number of unit work sections per section.

[0021] In one embodiment, the step of determining the number of unit work sections to be included in each of the plurality of sections may include the step of calculating the total number of sections based on the total number of workable unit work sections and the minimum number of unit work sections per section, and the step of determining the number of unit work sections to be included in each of the plurality of sections such that sections other than the last section among the plurality of sections include the minimum number of unit work sections per section, and the last section includes unit work sections greater than or equal to the minimum number of unit work sections per section.

[0022] In one embodiment, the step of determining the work order of the plurality of unit work sections may include the step of determining a start unit work section and an end unit work section among the plurality of unit work sections, and the step of determining the work order of the remaining unit work sections other than the start unit work section and the end unit work section among the plurality of unit work sections, and the step of determining the work order of the plurality of unit work sections may determine that the agricultural work vehicle (200) can move between unit work sections of adjacent work orders with only one rotation.

[0023] In one embodiment, the step of determining the start unit work section and the end unit work section among the plurality of unit work sections is, in the case of a section including an even number of unit work sections, the following mathematical formula

[0024]

[0025] The above starting unit work section and the above ending unit work section can be determined using the following mathematical formula, and in the case of a section including an odd number of unit work sections

[0026]

[0027] The starting unit work section and the ending unit work section can be determined using, where N is the number of unit work sections included in the section.

[0028] According to one aspect of the present disclosure, an agricultural work vehicle (200) includes a position sensor (210), a memory (230) storing one or more commands, and a processor (240), and when the one or more commands are executed by the processor (240), the agricultural work vehicle (200) can perform the method of generating the autonomous work path.

[0029] According to a method and system for generating an autonomous work path according to one embodiment, the efficiency of autonomous work can be improved by minimizing the distance that an agricultural work vehicle travels in a new head section, thereby reducing fuel consumption, shortening work time, and minimizing the possibility of mechanical damage to an agricultural work vehicle.

[0030] Figure 1 is a drawing illustrating an example of an autonomous work path based on C-turn.

[0031] FIG. 2 is a block diagram illustrating components of an agricultural work vehicle according to one embodiment.

[0032] FIG. 3 is a flowchart illustrating an operation of an agricultural work vehicle generating an autonomous work path according to one embodiment.

[0033] FIG. 4 is a flowchart illustrating an operation of an agricultural work vehicle according to one embodiment to divide a work area into a plurality of sections.

[0034] Figures 5a, 5b and 5c are conceptual diagrams illustrating the process of determining section division and work order.

[0035] The terms used in this disclosure are selected from widely used, common terms, taking into account the functions of the disclosure. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. In certain cases, terms may be arbitrarily selected by the applicant, in which case their meanings will be described in detail in the relevant description. Therefore, the terms used in this disclosure should not be defined simply as names, but rather based on the meanings of the terms and the overall content of the disclosure.

[0036] Singular expressions may include plural expressions unless the context clearly indicates otherwise. Terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art described herein.

[0037] The term "and / or" in this disclosure includes any combination of a plurality of related described components or any one of a plurality of related described components.

[0038] Terms including ordinal numbers, such as "first" or "second," used in this disclosure may be used to describe various components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.

[0039] In this disclosure, the expression “at least one of a, b, or c” may refer to “a,” “b,” “c,” “a and b,” “a and c,” “b and c,” “all of a, b, and c,” or variations thereof.

[0040] When a part of the specification is said to "include" a component, this does not exclude other components, but rather implies the inclusion of other components, unless otherwise specifically stated. Furthermore, terms such as "part" and "module" used in the specification refer to a unit that processes at least one function or operation, which may be implemented in hardware, software, or a combination of hardware and software.

[0041] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the attached drawings so that those skilled in the art can easily practice the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts that are not related to the description are omitted to clearly explain the present disclosure, and similar parts are designated with similar reference numerals throughout the specification. In addition, the reference numerals used in each drawing are only for the purpose of describing each drawing, and different reference numerals used in different drawings do not indicate different elements.

[0042] Figure 1 is a drawing illustrating an example of an autonomous work path based on C-turn.

[0043] Referring to FIG. 1, an agricultural work vehicle (200) performs work while moving along an autonomous work path on a work site (100). The agricultural work vehicle (200) starts from a starting position (filled star in FIG. 1) and sequentially moves from straight path ① to straight path ⑩ to perform work, and then arrives at an ending position (empty star in FIG. 1). When the agricultural work vehicle (200) passes through one straight path (e.g., straight path ①), it turns using a C-turn to move to the next straight path (e.g., straight path ②). At this time, the space for the agricultural work vehicle (200) to turn may be referred to as a headland (110), and in the example of FIG. 1, the headland (110) is formed at the upper and lower edges of the work site (100).

[0044] In the example of Fig. 1, the agricultural work vehicle (200) first passes through a straight path that is relatively far from the center of the work site (100) (e.g., straight paths ① and ②) and then passes through a straight path that is relatively close to the center (e.g., straight paths ⑨ and ⑩). In this way, the agricultural work vehicle (200) wastes time and fuel because it passes through the same section multiple times when moving in the new headway section (110). For example, the agricultural work vehicle (200) passes through the section in the width (w) direction four times while moving from the straight path ⑧ to the straight path ⑨, and passes through the section in the width (w) direction five times while moving from the straight path ⑨ to the straight path ⑩. This number of path duplications increases as the number of straight sections increases, which ultimately results in more time and fuel loss.

[0045] As described below, an agricultural work vehicle (200) according to one embodiment can divide a work area (100) into a plurality of sections in the width (w) direction and generate an autonomous work path that moves along a plurality of straight paths included in each section in a predetermined order. According to the generated autonomous work path, the number of path duplications in the new head section (110) can be minimized, and loss of time and fuel can be minimized.

[0046] FIG. 2 is a block diagram illustrating components of an agricultural work vehicle according to one embodiment.

[0047] Referring to FIG. 2, the agricultural work vehicle (200) may include a position sensor (210), a human-machine interface (HMI) (220), a memory (230), and a processor (240). However, not all of the illustrated components are essential components. The agricultural work vehicle (200) may be implemented with more or fewer components than the components illustrated in FIG. 2. For example, the agricultural work vehicle (200) may further include a powertrain, a steering system, an object detection sensor, and the like.

[0048] The position sensor (210) can detect the position of the agricultural work vehicle (200). The position sensor (210) may include at least one of a Global Navigation Satellite System (GNSS), a Global Positioning System (GPS), a Differential GPS, a Real-Time Kinematic Global Positioning System (RTK GPS), GLONASS, Galileo, and an Inertial Measurement Unit (IMU), but is not limited thereto.

[0049] The HMI (220) may provide an interface through which a user and the agricultural work vehicle (200) can interact. For example, the HMI (220) may include an input interface for receiving user input and an output interface for displaying information related to the autonomous work path. In one embodiment, the HMI (220) may be a touch screen capable of receiving touch input.

[0050] The memory (230) can store one or more instructions or programs that can be executed by the processor (240). The operations of the agricultural work vehicle (200) described in the present disclosure can be implemented by the processor (240) executing the instructions or programs stored in the memory (230).

[0051] The memory (230) may include at least one of, but is not limited to, flash memory, hard disk, random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and programmable read-only memory (PROM).

[0052] The processor (240) can control the overall operation of the agricultural work vehicle (200). For example, the processor (240) can control the operations performed by the agricultural work vehicle (200) to create an autonomous work path by executing one or more commands or programs stored in the memory (230).

[0053] The processor (240) may be configured as, for example, at least one of a CPU (Central Processing Unit), a microprocessor, an AP (Application Processor), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), a DSP (Digital Signal Processor), an ECU (Electronic Control Unit), a TCU (Transmission Control Unit), and a VCU (Vehicle Control Unit), but is not limited thereto.

[0054] FIG. 3 is a flowchart for explaining an operation of an agricultural work vehicle according to one embodiment to create an autonomous work path, and FIG. 4 is a flowchart for explaining an operation of an agricultural work vehicle according to one embodiment to divide a work area into a plurality of sections.

[0055] In operation 310, the agricultural work vehicle (200) can obtain boundary information of the work site (100). For example, when a user drives the agricultural work vehicle (200) to sequentially drive the boundary of the work site (100), the agricultural work vehicle (200) can obtain boundary information of the work site (100) based on the location information detected by the location sensor (210).

[0056] For example, the boundary information of the work site (100) may be the location information of the part where the work site (100) is bent (i.e., a vertex or a corner). If the work site (100) is rectangular, the boundary of the work site (100) may be the GPS coordinates of the four vertices of the rectangle. The user may input the location information of the vertices of the work site (100) by driving the agricultural work vehicle (200) to one vertex of the work site (100) and then pressing a pre-designated button through the HMI (220) to input the GPS coordinates of the corresponding vertex, and repeating the same process for the remaining vertices.

[0057] For example, the boundary information of a work site (100) may be information on the outer path of the work site. A user may input information on the outer path of the work site (e.g., location information measured by a position sensor (210) between two presses of a pre-designated button) by pressing a pre-designated button through an HMI (220), driving an agricultural work vehicle (200) along the outer path of the work site (100), and then pressing the pre-designated button again.

[0058] In operation 320, the agricultural work vehicle (200) may divide the work area (100) into multiple sections based on the boundary information of the work area. Each of the multiple sections may include multiple unit work sections. Below, the detailed process of operation 320 will be described with reference to FIGS. 4, 5a, 5b, and 5c.

[0059] Referring to FIG. 4, in operation 410, the agricultural work vehicle (200) can calculate the total number of workable unit sections based on boundary information of the work area. Here, the unit work section refers to a section that the agricultural work vehicle (200) with the work machine attached can work on at one time, and may also be referred to as a swath.

[0060] As illustrated in FIG. 5A, the agricultural work vehicle (200) can determine the width (w1) of the work site (100) based on the boundary information of the work site (100) acquired in operation 310. For example, the width (w1) of the work site may be the longer of the horizontal length and the vertical length of the work site (100), but is not limited thereto. In this example, the agricultural work vehicle (200) can calculate the horizontal length and the vertical length of the work site (100) based on the position information of the vertices (551, 552, 553, and 554), and determine the longer of the horizontal length and the vertical length as the width (w1) of the work site (100).

[0061] An agricultural work vehicle (200) can determine the width (w2) of a workable area based on the width (i) of a work tool attached to the agricultural work vehicle (200). The workable area can refer to an area excluding a margin for preventing damage to the agricultural work vehicle (200) and work tool in the entire work site (100).

[0062] As an example, an agricultural work vehicle (200) can determine a workable area as an area excluding half (i / 2) of the width (i) of the work tool from both ends in the width direction of the work site (100), and can determine the width (w2) of the workable area by subtracting the width (i) of the work tool from the width (w1) of the work site (100). At this time, the width (i) of the work tool can be stored in advance in the memory (230) or input through the HMI (220).

[0063] As another example, an agricultural work vehicle (200) may determine an area excluding a predetermined length (x) from both ends of the width direction of a work area (100) as a workable area, and may determine the width (w2) of the workable area by subtracting twice the predetermined length (x) from the width (w1) of the work area (100). At this time, the predetermined length (x) may be stored in advance in a memory (230) or input through an HMI (220).

[0064] As another example, an agricultural work vehicle (200) may determine an area where work is possible, excluding the larger length between half (i / 2) of the width (i) of the work vehicle and a predetermined length (x) from both ends in the width direction of the work area (100).

[0065] The agricultural work vehicle (200) can determine the width (s) of the unit work section based on the overlapping width (p) between adjacent unit work sections. For example, the agricultural work vehicle (200) can determine the width (s) of the unit work section by subtracting the overlapping width (p) between adjacent unit work sections from the width (i) of the work machine. At this time, the overlapping width (p) between adjacent unit work sections can be determined in advance in consideration of the work path tracking error of the agricultural work vehicle (200). For example, when the work path tracking error of the agricultural work vehicle (200) is 0.07 m, the overlapping width (p) between adjacent unit work sections may be 0.1 m, but is not limited thereto.

[0066] The agricultural work vehicle (200) can calculate the total number of workable unit work sections based on the width of the workable area (w2) and the width of the unit work section (s). For example, the agricultural work vehicle (200) can calculate the total number of workable unit work sections using mathematical expression 1.

[0067]

[0068] In mathematical expression 1, swathNum is the total number of workable unit work sections, and floor is a function that discards the values ​​after the decimal point of the input value.

[0069] Referring again to FIG. 4, at operation 420, the agricultural work vehicle (200) can determine the minimum number of unit work sections per section based on the minimum turning radius (r) of the agricultural work vehicle (200).

[0070] Referring to Fig. 5b, an example in which the width (s) of a unit work section is 2.2 m, the overlapping width (p) between adjacent unit work sections is 0.1 m, and the minimum turning radius (r) of an agricultural work vehicle (200) is 5 m is described. It should be noted that the width of the unit work section (505) in Fig. 5b is exaggerated compared to the remaining unit work sections (501, 502, 503, 504, 506, 507, 508, 509, 510, 511, 512, and 513) for convenience of explanation.

[0071] When the agricultural work vehicle (200) rotates with the minimum turning radius (r) in the unit work section (501), it moves to a position 11.15 m away from the reference position (i.e., 0 m). Since the position exceeds the center position (i.e., 10.3 m) of the unit work section (505), even if the agricultural work vehicle (200) rotates with the minimum turning radius (r) in the unit work section (501), in order to work the unit work section (505), it must move to the center position of the unit work section (505) through forward and backward movement in the new head section.

[0072] Since this forward and backward movement causes loss of time and fuel, in order to maximize the efficiency of autonomous operation, the agricultural work vehicle (200) should be designed so that the next work target is the closest unit work section among the unit work sections that can be moved from the current unit work section with just one rotation. In the example of Fig. 5b, the closest unit work section among the unit work sections that the agricultural work vehicle (200) can move from the unit work section (501) with just one rotation is the unit work section (506).

[0073] In order for the agricultural work vehicle (200) to move to the next target unit work section with only one turn without needing to move forward or backward in the new head section for the next work, the agricultural work vehicle (200) can calculate the minimum number of unit work sections per section using mathematical expression 2.

[0074]

[0075] In mathematical expression 2, minSwathsPerSection is the minimum number of unit work sections per section, and ceil is a function that rounds up the decimal point of the input value.

[0076] Referring again to FIG. 4, at operation 430, the agricultural work vehicle (200) can calculate the total number of sections based on the total number of workable unit work sections and the minimum number of unit work sections per section.

[0077] For example, an agricultural work vehicle (200) can calculate the total number of sections using mathematical expression 3.

[0078]

[0079] In mathematical expression 3, n is the total number of sections, swathNum is the total number of workable unit work sections, minSwathsPerSection is the minimum number of work unit work sections per section, and floor is a function that discards the values ​​after the decimal point of the input value.

[0080] In operation 440, the agricultural work vehicle (200) can determine the number of unit work sections to be included in each of the plurality of sections based on the minimum number of unit work sections per section and the total number of sections. As described above, the number of unit work sections to be included in each of the plurality of sections must be determined to be greater than or equal to the minimum number calculated by mathematical expression 2.

[0081] To maximize the efficiency of autonomous operation, the agricultural work vehicle (200) may determine that the remaining sections except the last section include the minimum number of unit work sections calculated by mathematical expression 2, and that the last section includes more than the minimum number of unit work sections.

[0082] As shown in Fig. 5c, if the total number of workable unit work sections calculated by Equation 1 is 22, and the minimum number of workable unit work sections per section calculated by Equation 2 is 10, the total number of sections can be calculated as 2, and one section can be determined to include 10 workable unit work sections, and the remaining (i.e., the last) section can be determined to include 12 workable unit work sections.

[0083] In contrast, if 22 workable unit work sections are divided into two sections each containing 10 unit work sections and one section containing 2 unit work sections, the agricultural work vehicle (200) cannot move between the unit work sections with just one rotation in order to work on the two adjacent unit work sections included in the last section, but must repeat forward and backward movements in the new head section, thereby reducing the efficiency of autonomous work.

[0084] Referring again to FIG. 3, at operation 330, the agricultural work vehicle (200) can determine the work order of a plurality of unit work sections included in each of a plurality of sections.

[0085] For example, an agricultural work vehicle (200) can determine the work order of a plurality of unit work sections included in each of a plurality of sections so that it can move between unit work sections of adjacent work orders with only one rotation.

[0086] To this end, the agricultural work vehicle (200) can determine the start and end unit work sections using mathematical expression 4 for a section including an even number of unit work sections, and can determine the start and end unit work sections using mathematical expression 5 for a section including an odd number of unit work sections. Since the last section includes a minimum number of unit work sections calculated by mathematical expression 2 or more, it may include an even number of unit work sections or an odd number of unit work sections.

[0087]

[0088]

[0089] In mathematical expressions 4 and 5, StartSwath is the starting unit work section, EndSwath is the ending unit work section, and N is the number of unit work sections included in the section.

[0090] As illustrated in FIG. 5c, the start and end positions of a section including 10 unit work sections can be determined as unit work sections (505) and unit work sections (506), respectively, and the work order can be determined in the order of unit work sections (505), unit work sections (510), unit work sections (504), unit work sections (509), unit work sections (503), unit work sections (508), unit work sections (502), unit work sections (507), unit work sections (501), and unit work sections (506) so that movement between unit work sections of adjacent work sequences can be possible with only one rotation.

[0091] Likewise, the start and end positions of a section including 12 unit work sections can be determined as unit work sections (516) and unit work sections (517), respectively, and the work order can be determined in the order of unit work sections (516), unit work sections (522), unit work sections (515), unit work sections (521), unit work sections (514), unit work sections (520), unit work sections (513), unit work sections (519), unit work sections (512), unit work sections (518), unit work sections (511), and unit work sections (517) so that movement between unit work sections of adjacent work sequences can be possible with only one rotation.

[0092] Referring back to FIG. 3, at operation 340, the agricultural work vehicle (200) may generate a straight path and a rotary path based on the determined work sequence. Here, the straight path is the centerline of each unit work section, and the rotary path is a path for moving between straight paths of adjacent work sequences. For example, the rotary path may include a path for moving between straight paths within a section, and a path for moving from the straight path of the last work sequence of the previous section to the straight path of the first work sequence of the next section.

[0093] The embodiments of the present disclosure described above may be implemented in the form of a recording medium containing computer-executable instructions, such as program modules, executed by a computer. Computer-readable media may include any volatile and nonvolatile media, removable and non-removable media that can be accessed by a computer. Furthermore, computer-readable media may include computer storage media and communication media. Computer storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Communication media may include computer-readable instructions, data structures, or other data in a modulated data signal, such as program modules.

[0094] The above description of the present disclosure is provided for illustrative purposes only, and those skilled in the art will readily appreciate that the present disclosure can be readily modified into other specific forms without altering the technical spirit or essential characteristics of the present disclosure. Therefore, the above descriptions should be understood as illustrative and not limiting. For example, components described in a single form may be implemented in a distributed manner, and similarly, components described in a distributed manner may be implemented in a combined manner.

[0095] The scope of the present disclosure is indicated by the claims set forth below rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present disclosure.

Claims

1. A method for generating an autonomous work path of an agricultural work vehicle (200), Step (310) of obtaining boundary information of worksheet (100); A step (320) of dividing the work sheet (100) into a plurality of sections based on boundary information of the work sheet (100), wherein each of the plurality of sections includes a plurality of unit work sections; A step (330) of determining the work order of the plurality of unit work sections included in each of the plurality of sections; and A step (340) of generating a straight path and a rotation path based on the determined work order, wherein the straight path is a center line of each unit work section, and the rotation path is a path for moving between straight paths of adjacent work orders. A method for generating an autonomous work path of an agricultural work vehicle (200).

2. In paragraph 1, The step (320) of dividing the above worksheet (100) into multiple sections is as follows: Step (410) of calculating the total number of workable unit work sections based on the boundary information of the above work sheet (100); A step (420) of determining the minimum number of unit work sections per section based on the minimum turning radius (r) of the agricultural work vehicle (200), and A step (430) of calculating the total number of the sections based on the total number of workable unit work sections and the minimum number of unit work sections per section, and A step (440) of determining the number of unit work sections to be included in each of the plurality of sections based on the minimum number of unit work sections per section and the total number of sections, A method for generating an autonomous work path of an agricultural work vehicle (200).

3. In paragraph 2, The step (410) of calculating the total number of workable unit work sections is as follows: A step of determining the width (w1) of the work sheet (100) based on the boundary information of the work sheet (100), A step of determining the width (w2) of the workable area based on the width (i) of the work tool attached to the agricultural work vehicle (200). A step of determining the width (s) of a unit work section based on the overlap width (p) between predetermined adjacent unit work sections, and Comprising a step of calculating the total number of workable unit work sections based on the width (w2) of the workable area and the width (s) of the unit work section, A method for generating an autonomous work path of an agricultural work vehicle (200).

4. In paragraph 3, The step (410) of calculating the total number of workable unit work sections is as follows: The mathematical formula below The total number of workable unit work sections is calculated using Here, swathNum is the total number of workable unit work sections, and floor is a function that discards the values ​​after the decimal point of the input value. A method for generating an autonomous work path of an agricultural work vehicle (200).

5. In paragraph 3, The step (420) of determining the minimum number of unit work sections per the above section is: The mathematical formula below Use the above to determine the minimum number of unit work sections per section, Here, minSwathsPerSection is the minimum number of unit work sections per section, ceil is a function that rounds up the decimal point of the input value, r is the minimum turning radius of the agricultural work vehicle (200), and s is the width of the unit work section. A method for generating an autonomous work path of an agricultural work vehicle (200).

6. In paragraph 2, The step (430) of calculating the total number of the above sections is: The mathematical formula below Calculate the total number of the above sections using Here, n is the total number of sections, swathNum is the total number of workable unit sections, minSwathsPerSection is the minimum number of unit sections per section, and floor is a function that discards the decimal places of the input values. A method for generating an autonomous work path of an agricultural work vehicle (200).

7. In paragraph 2, The step (440) of determining the number of unit work sections to be included in each of the above multiple sections is: The number of unit work sections to be included in each of the plurality of sections is determined so that the remaining sections except the last section among the plurality of sections include the minimum number of unit work sections per section, and the last section includes the unit work sections greater than the minimum number of unit work sections per section. A method for generating an autonomous work path of an agricultural work vehicle (200).

8. In paragraph 1, The step (330) of determining the work order of the above multiple unit work sections is: A step of determining a start unit work section and an end unit work section among the above multiple unit work sections, and It includes a step of determining the work order of the remaining unit work sections other than the start unit work section and the end unit work section among the above multiple unit work sections, The step (330) of determining the work order of the above multiple unit work sections determines that the agricultural work vehicle (200) can move between unit work sections of adjacent work orders with only one rotation. A method for generating an autonomous work path of an agricultural work vehicle (200).

9. In paragraph 8, The step of determining the starting unit work section and the ending unit work section among the above multiple unit work sections is: For sections containing an even number of unit work sections, the following mathematical formula Using this, the start unit work section and the end unit work section are determined, For sections containing an odd number of unit work sections, the following mathematical formula Using this, the above starting unit work section and the above ending unit work section are determined, Here, N is the number of unit work sections included in the above section. A method for generating an autonomous work path of an agricultural work vehicle (200).

10. In agricultural work vehicles (200), Position sensor (210); a memory (230) storing one or more commands; and Contains a processor (240), When the above one or more commands are executed by the processor (240), the agricultural work vehicle (200) performs the method of any one of claims 1 to 9. Agricultural work vehicles (200).

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