Route generation system

Abstract

A path generation system is provided. The path generation system includes a path generation unit that generates a travel path for autonomous travel of a work vehicle, the travel path including a plurality of work paths for autonomous work of the work vehicle and a connection path that connects the work paths to each other. In a case where the work path is not orthogonal to the outer periphery of a field, the path generation unit is capable of generating a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path as the connection path, and is capable of generating the straight path parallel to the outer periphery of the field.

Description

[0001] This application is a divisional application of the invention patent application with application number 201880010342.8, application date January 19, 2018, and invention title "Path Generation System". Technical Field

[0002] This invention relates to a path generation system, comprising: a path generation unit that generates a driving path for a work vehicle to drive autonomously. Background Technology

[0003] The path generation system described above is used in autonomous driving systems that enable work vehicles to drive autonomously (see, for example, Patent Document 1). According to the system described in Patent Document 1, in work areas such as fields, the shapes of work areas where work vehicles are used for autonomous work and non-work areas where work vehicles are not used for autonomous work are registered. The path generation unit generates multiple work paths in the work areas and multiple connecting paths that connect the work paths in the non-work areas.

[0004] According to the system described in Patent Document 1, in an area where work is to be carried out, such as a field, a rectangular work area is registered in its central portion, and non-work areas are registered around the work area. The path generation unit generates a straight work path for the work vehicle to travel back and forth within the work area, and generates a curved connecting path for the work vehicle to change its direction of travel in the non-work areas located at both ends of its direction of travel within the work area, thus connecting to the next work path.

[0005] Patent documents

[0006] Patent Document 1: International Publication No. 2015 / 119265 Summary of the Invention

[0007] The work area, such as a field, is not limited to a rectangle. For example, it can have shapes with sloping outer edges, such as a parallelogram, or various other shapes. Therefore, the shapes of the work area and non-work area are not constant but vary depending on the shape of the work area. Thus, if a turning connection path is generated only for the non-work area, the shape of the non-work area may cause part of the connection path to protrude beyond the work area. For example, if the non-work area is sloping relative to the direction of travel of the work vehicle in the work area, sufficient travel distance in the work area in the direction perpendicular to the work vehicle cannot be obtained. Therefore, it cannot be guaranteed that a sufficient turning radius is required to generate the turning connection path, and it may be impossible to generate a turning connection path in the non-work area.

[0008] Therefore, in order to prevent the connecting path from protruding outside the work object area, it is considered to increase the area of ​​the non-work area to ensure a sufficient turning radius. However, if the area of ​​the non-work area is increased, the area of ​​the work area in the work object area will become smaller, which will lead to new problems such as reduced work efficiency.

[0009] In view of the above-mentioned actual situation, the main objective of the present invention is to provide a path generation system that can generate connection paths corresponding to the shape of non-working areas.

[0010] The first aspect of the present invention is characterized by comprising:

[0011] The area registration department registers the shapes of work areas where autonomous operations are carried out using work vehicles and non-work areas where autonomous operations are not carried out using the work vehicles.

[0012] A path generation unit generates a travel path for the work vehicle to autonomously navigate within the work area and the non-work area; and

[0013] A direction setting unit that sets the travel direction of the work vehicle in the work area.

[0014] The path generation unit generates the following paths: multiple work paths for the work vehicle to perform autonomous operations within the work area; and multiple connecting paths for the work vehicle to travel autonomously within non-work areas, connecting the various work paths together.

[0015] The path generation unit can generate a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path as the connecting path, and can generate the straight path in a way that the direction of travel and the straight path are not orthogonal.

[0016] According to this configuration, the path generation unit can generate a path including a first turning path, a straight path, and a second turning path as a connecting path. Therefore, the first turning path, the straight path, and the second turning path can be appropriately combined according to the shape of the non-working area, thereby generating a connecting path corresponding to the shape of the non-working area. Furthermore, the path generation unit generates a straight path in a manner that is not orthogonal to the travel direction of the work vehicle in the working area. Therefore, even if the non-working area is tilted relative to the travel direction of the work vehicle in the working area, sufficient travel distance can be ensured for a straight path, and a connecting path can be generated. Accordingly, an appropriate connecting path corresponding to the shape of the non-working area can be generated within the limited space of the non-working area.

[0017] The second aspect of the present invention is configured as follows, characterized in that,

[0018] The first turning path is set at a position closer to the front side in the direction of travel than the straight path; conversely, the second turning path is set at a position closer to the inside side in the direction of travel than the straight path.

[0019] If the angle formed by the boundary line between the work area and the non-work area and the straight line extending along the direction of travel is acute, the path generation unit sets the turning angle of the work vehicle on the first turning path to an obtuse angle.

[0020] When the angle is obtuse, the turning angle of the work vehicle on the first turning path is set to an acute angle.

[0021] According to this configuration, when the angle formed by the boundary line between the work area and the non-work area and the straight line extending along the travel direction of the work vehicle in the work area is an acute angle, or when the angle is an obtuse angle, the path generation unit can set the turning angle of the work vehicle at the first turning path to an appropriate angle, and can generate a connecting path. Therefore, for example, even if the non-work area has a shape that is inclined relative to the travel direction of the work vehicle in the work area, a connecting path that does not protrude beyond the work target area and does not protrude to the work area side can be appropriately generated.

[0022] The third aspect of the present invention is configured as follows, characterized in that the path generation unit sets the turning radius of the first turning path and the turning radius of the second turning path to the same turning radius, and generates the straight path in such a way that the distance between the straight path and the outer perimeter of the non-working area is shorter than the distance between the straight path and the boundary line.

[0023] According to this configuration, the turning radii of the first and second turning paths are the same. Therefore, when autonomously driving on the first and second turning paths, there is no need for control processes to differentiate the turning radii, thus simplifying the control configuration for autonomous driving. Furthermore, the straight path can be generated as far away from the work area as possible, thus achieving a larger turning radius for the work vehicle on the second turning path. Therefore, during autonomous driving on the second turning path, sufficient time can be ensured for adjusting the position and posture of the work vehicle, allowing autonomous operation to begin on the work path when the position and posture of the work vehicle are stable.

[0024] The fourth aspect of the present invention is configured as follows, characterized in that the path generation unit sets the first turning radius of the first turning path and the second turning radius of the second turning path to be different from each other, and the second turning radius is longer than the first turning radius.

[0025] According to this configuration, a larger turning radius of the work vehicle on the second turning path can be obtained. Therefore, during autonomous driving on the second turning path, time can be ensured for adjusting the position and posture of the work vehicle, so that autonomous operation can begin on the work path when the position and posture of the work vehicle are stable.

[0026] The fifth aspect of the present invention is configured as follows, characterized in that,

[0027] The path generation system includes an instruction unit that, when the angle is acute, instructs the path generation unit to generate the straight path in a manner orthogonal to the direction of travel and the straight path.

[0028] When the angle is obtuse, the indicator does not provide the instruction to the path generation unit.

[0029] According to this configuration, when the angle formed by the boundary line between the work area and the non-work area and the straight line extending along the travel direction of the work vehicle in the work area is an acute angle, the user can use the instruction unit to instruct the path generation unit to generate a straight path in a manner where the travel direction of the work vehicle in the work area and the straight path are orthogonal. Thus, a straight path in the work area where the travel direction of the work vehicle and the straight path are orthogonal can be generated according to the user's needs.

[0030] On the other hand, when the angle between the boundary line between the work area and the non-work area and the straight line extending along the direction of travel of the work vehicle in the work area is an obtuse angle, the path generation unit is not instructed by the indicator unit. Therefore, a straight path orthogonal to the direction of travel of the work vehicle in the work area and the straight path will not be generated, thereby properly preventing the generation of a straight path that protrudes outside the work object area. Attached Figure Description

[0031] Figure 1 This is a diagram showing the general structure of an autonomous driving system.

[0032] Figure 2 It is a block diagram representing the general structure of an autonomous driving system.

[0033] Figure 3 It is a diagram showing the work paths within the work areas of a field.

[0034] Figure 4 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0035] Figure 5 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0036] Figure 6 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0037] Figure 7 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0038] Figure 8 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0039] Figure 9 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0040] Figure 10 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0041] Figure 11 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0042] Figure 12 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0043] Figure 13 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0044] Figure 14It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0045] Figure 15 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0046] Figure 16 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0047] Figure 17 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0048] Figure 18 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0049] Figure 19 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0050] Figure 20 It is a diagram used to illustrate the connection paths in the non-working areas of a field.

[0051] Figure 21 It is a diagram used to illustrate the connection paths in the non-working areas of a field. Detailed Implementation

[0052] Based on the accompanying drawings, an implementation of an autonomous driving system using the path generation system of the present invention will be described.

[0053] like Figure 1 As shown, the autonomous driving system includes: a tractor 1 serving as a work vehicle, which autonomously travels along a predetermined driving path; and a wireless communication terminal 2 capable of instructing the tractor 1 with various information. Furthermore, in this embodiment, it is equipped with the ability to send positioning correction information to a base station 4 of the tractor 1 when the tractor 1's location information is obtained.

[0054] Figure 1 In this example, a tractor 1 is shown as a work vehicle. However, in addition to tractors, passenger-type work vehicles such as rice transplanters, combine harvesters, civil engineering work equipment, and snowplows, or hand-held work vehicles, can also be used. Furthermore, regarding the work machine 5 mounted on the tractor 1, although... Figure 1 The example shown is equipped with a tillage device; however, it is not limited to tillage devices and can be used with various other machines such as plows and fertilizer applicators.

[0055] like Figure 2As shown, the tractor 1 includes a vehicle-side wireless communication unit 14, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, and the base station 4 includes a base station-side wireless communication unit 41. Thus, a wireless network system is constructed between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21, and between the vehicle-side wireless communication unit 14 and the base station-side wireless communication unit 41, and is configured to wirelessly transmit and receive various information between the tractor 1 and the wireless communication terminal 2, and between the tractor 1 and the base station 4.

[0056] like Figure 2 As shown, the tractor 1 includes: a positioning antenna 11, a vehicle-side control unit 12, a position information acquisition unit 13, a vehicle-side wireless communication unit 14, and a storage unit (not shown). The vehicle-side control unit 12 is configured to acquire its current position information (the current position of the tractor 1) using the position information acquisition unit 13, and to control various devices included in the tractor 1, such as the adjustment device, transmission device, braking device, and steering device (not shown), thereby enabling the tractor 1 to drive autonomously. Furthermore, the tractor 1 includes an inertial measurement device (not shown) with a 3-axis gyroscope and a 3-direction accelerometer, and its configuration allows the vehicle-side control unit 12 to detect the tractor 1's posture, direction of travel, etc., based on the measurement information from the inertial measurement device.

[0057] As described above, the tractor 1 includes a steering device (not shown), and is configured such that the steering device is controlled by the vehicle-side control unit 12, enabling the tractor 1 to autonomously travel not only along a straight path but also along a turning path. Furthermore, the steering device may include, for example, a device capable of adjusting the rotation angle (steering angle) of the steering wheel, or a device capable of adjusting the steering angle of the front wheels of the tractor 1.

[0058] Furthermore, although not shown in the diagram, the tractor 1 includes a left-side braking device that applies braking force to the left wheel and a right-side braking device that applies braking force to the right wheel. Therefore, by operating only one of the two braking devices via the vehicle-side control unit 12, the tractor 1 can autonomously travel along a turning path, even on a turning path with a small turning radius. Additionally, although not shown in the diagram, the tractor 1 includes a speed-multiplying device that increases the rotational speed of only one of the drive wheels to drive it. Therefore, by controlling the speed-multiplying device via the vehicle-side control unit 12 instead of controlling the braking device, the tractor 1 can autonomously travel along turning paths with a small turning radius.

[0059] like Figure 1As shown, the positioning antenna 11 is configured to receive signals, for example, from a positioning satellite 3 constituting a satellite positioning system (GNSS). The positioning antenna 11 is disposed, for example, on the upper surface of the top of the cab of the tractor 1.

[0060] As a positioning method that uses a satellite positioning system, the following positioning methods can be applied, namely, such as... Figure 1 As shown, a base station 4 is set at a predetermined reference point. Positioning correction information from this base station 4 is used to correct the satellite positioning information of the tractor 1 (mobile station), thereby determining the current position of the tractor 1. For example, various positioning methods such as DGPS (Differential GPS positioning) and RTK (Real-Time Kinematic) positioning can be applied. Furthermore, regarding the positioning method, a separate positioning system can be used without the base station 4.

[0061] In this implementation, RTK positioning is used, therefore, as Figure 1 and Figure 2 As shown, in addition to the positioning antenna 11 on the mobile station side, i.e., the tractor 1, a base station 4 is also provided. The location of the base station 4, i.e., the location information of the reference point, is preset and known. The base station 4 is configured at a location (reference point) that will not obstruct the movement of the tractor 1, such as around a field. The base station 4 includes a base station-side wireless communication unit 41 and a base station positioning antenna 42.

[0062] In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 3 is measured using both a base station 4 located at a reference point and the positioning antenna 11 of the mobile station side of the tractor 1, which is used to obtain the location information. At the base station 4, whenever the positioning satellite 3 measures the satellite positioning information, or whenever a set period has elapsed, positioning correction information is generated, including the measured satellite positioning information and the reference point's location information. This positioning correction information is then transmitted from the base station-side wireless communication unit 41 to the vehicle-side wireless communication unit 14 of the tractor 1. The tractor 1's location information acquisition unit 13 uses the positioning correction information sent from the base station 4 to correct the satellite positioning information measured by the positioning antenna 11, thereby determining the tractor 1's current location information. The location information acquisition unit 13 determines, for example, latitude and longitude information, as the tractor 1's current location information.

[0063] The wireless communication terminal 2 is composed of, for example, a tablet computer-type personal computer with a touch panel. It can display various information on the touch panel and input various information by operating the touch panel. The user can carry the wireless communication terminal 2 to the outside of the tractor 1 for use, or it can be mounted on the side of the driver's seat of the tractor 1 for use.

[0064] like Figure 2As shown, the wireless communication terminal 2 includes: a terminal-side wireless communication unit 21, a region registration unit 22, a path generation unit 23, a direction setting unit 24, an indicator unit 25, and a display unit (touch panel). The path generation unit 23 is configured to generate a driving path for the tractor 1 to drive autonomously. Additionally, the wireless communication terminal 2 includes a storage unit (not shown), which stores various information, such as information registered by the user.

[0065] To enable autonomous driving of tractor 1, the following steps are performed: registering field information related to the work area, i.e., field H, and generating a driving path for tractor 1 to drive autonomously. The user operates the wireless communication terminal 2 to control the field H (refer to...) that enables tractor 1 to drive autonomously. Figure 3 The path generation unit 23 registers field information related to field H, such as its shape. Furthermore, it generates driving paths for the registered fields H. Thus, when multiple fields H exist, field information related to each field H is registered, and various driving paths are generated for each field.

[0066] When tractor 1 is driving autonomously, the user operates the wireless communication terminal 2 to select the field H for this operation and choose a driving path from the driving paths generated for field H. After selecting the field H and the driving path, the autonomous driving start condition is met, and the user is in a state where the start of autonomous driving can be indicated using the wireless communication terminal 2. Then, the user operates the wireless communication terminal 2 to instruct tractor 1 to start autonomous driving, and tractor 1 can begin autonomous driving.

[0067] Since the path generation unit 23 of the wireless communication terminal 2 generates a driving path, it is necessary to send path information related to this driving path from the wireless communication terminal 2 to the tractor 1. Therefore, the wireless communication terminal 2 sends the path information to the tractor 1 at a predetermined time, either before or after autonomous driving begins. Thus, in the tractor 1, the vehicle-side control unit 12 uses the position information acquisition unit 13 to obtain the current position information of the tractor 1, and, based on the path information sent from the wireless communication terminal 2, enables the tractor 1 to drive autonomously along the driving path. Furthermore, the current position information of the tractor 1 obtained by the position information acquisition unit 13 can be sent from the tractor 1 to the wireless communication terminal 2 in real time (e.g., at a period of several hundred milliseconds) not only before autonomous driving begins but also after autonomous driving begins, and the current position of the tractor 1 is displayed on the display unit of the wireless communication terminal 2.

[0068] The path generation system involved in this invention will be described below.

[0069] This path generation system displays various images on the display unit (touch panel) of the wireless communication terminal 2, and, by operating the wireless communication terminal 2, generates a driving path for the tractor 1 to autonomously travel within the work area, i.e., the field H. Therefore, as... Figure 2 As shown, the wireless communication terminal 2 includes: a region registration unit 22, a path generation unit 23, a direction setting unit 24, an instruction unit 25, etc.

[0070] like Figure 3 As shown, the area registration unit 22 is configured to register the shapes of the work area R1 (where the tractor 1 is used for autonomous work) and the non-work area R2 (where the tractor 1 is not used for autonomous work) based on registered field information, work vehicle information related to the tractor 1, and other input information. The work area R1 is an area where the tractor 1 drives autonomously and the work machine 5 mounted on the tractor 1 is used for actual operations such as tilling. In contrast, the non-work area R2 is an area where the work machine 5 mounted on the tractor 1 is not used for work during autonomous driving; for example, autonomous driving is performed only with the work machine 5 raised, or even no autonomous driving is performed at all. Figure 3 As shown, within field H, the area registration unit 22 registers the work area R1 in its central part and registers the non-work area R2 in a manner that surrounds the work area R1.

[0071] The direction setting unit 24 is configured to set the travel direction of the tractor 1 in the work area R1. For example... Figure 3 As shown, within the work area R1, the direction setting unit 24 sets the travel direction X of the tractor 1 in a manner, for example, by the tractor 1 reciprocating in the vertical direction of the field H.

[0072] The path generation unit 23 is configured to generate paths including: multiple job paths P (refer to...) Figure 3 These are the paths for tractor 1 to perform autonomous operations within the work area R1; and multiple connecting paths Q (refer to...). Figure 4 , Figure 5 These are driving paths (etc.) for the tractor 1 to drive autonomously within the non-operation area R2, and they connect the various operation paths P.

[0073] like Figure 3 As shown, the path generation unit 23 generates a path within the work area R1 from the work start position S (refer to...). Figure 3 Reaching the end position E (reference) Figure 3The work path P is generated in a manner that allows the tractor 1 to travel back and forth along the direction of travel X of the tractor 1 set by the direction setting unit 24 between one end of the tractor 1 in the field H (the side where the work start position S is set) and the other end. Multiple work paths P are generated in a state where they are arranged in parallel at certain intervals throughout the work area R1.

[0074] Path generation unit 23 targets non-operational area R2a (refer to) within non-operational area R2, which serves as the starting point of the work area. Figure 3 To generate the connection path Q (refer to) Figure 4 , Figure 5 (etc.), where the field head is also the field head adjacent to both ends of the work area R1 in the travel direction X of tractor 1. The connecting path Q is: a path in the non-work area R2a used to reverse the travel direction X of tractor 1 and connect the adjacent work paths P.

[0075] When generating a connection path Q in the non-working area R2a, since the shape of the non-working area R2a differs from the shape of the field H, it is necessary to generate a connection path Q that corresponds to the shape of the non-working area R2a. For example, as shown... Figure 3 As shown, the field H is a parallelogram in shape. Therefore, the area registration unit 22 registers the parallelogram-shaped work area R1 in the center of the field H, and registers the non-work area R2 around the work area R1. Thus, the non-work area R2 is slanted relative to the travel direction X of the tractor 1 in the work area R1, making it difficult to achieve sufficient travel distance in a direction orthogonal to the travel direction X of the tractor 1 in the work area R1. Therefore, as... Figure 4 and Figure 5 As shown, the path generation unit 23 generates a path including a first turning path Q1, a straight path Q2, and a second turning path Q3 as a connecting path Q, rather than generating a simple turning path. The straight path Q2 is positioned between the first turning path Q1 and the second turning path Q3. The first turning path Q1 is positioned closer to the tractor 1 in the direction of travel than the straight path Q2, and the second turning path Q3 is positioned further inwards in the direction of travel than the straight path Q2.

[0076] The following is based on Figures 4 to 21 The generation of the connection path Q using the path generation unit 23 will be explained. Figures 4 to 21 The text shows: indicating from Figure 3 This diagram illustrates how to extract two job paths P from multiple job paths P and connect these two job paths P using a connection path Q. Figure 4 and Figure 5 This shows the basic pattern of the connecting path Q. Figures 6 to 21 The following are shown: the connection path Q generated by the path generation unit 23, which is configured to generate connection paths Q corresponding to various conditions.

[0077] Figures 4 to 21 In the diagram, the work path P on the left is the preliminary work path P1 for tractor 1 to perform autonomous work before autonomous driving on connecting path Q. A straight line extending along this preliminary work path P1 (the second straight line K2) is also shown. Similarly, the work path P on the right is the subsequent work path P2 for tractor 1 to perform autonomous work after autonomous driving on connecting path Q. A straight line extending along this subsequent work path P2 is also shown. Figures 4 to 21 In the diagram, at least two circles, the first circle E1 and the second circle E2, are represented by dashed lines. However, the first circle E1 is a circle tangent to the straight line (the second straight line K2) extending along the preceding operation path P1, and the second circle E2 is a circle tangent to the straight line extending along the following operation path P2.

[0078] As a connection path Q, such as Figure 4 and Figure 5 As shown, there are two patterns, so we will first explain the pattern.

[0079] When the path generation unit 23 generates the connecting path Q, it can generate: Figure 4 The forward turning pattern shown, and Figure 5 The connecting path Q of the two patterns shown is the reverse turn pattern. In the forward turn pattern, as... Figure 4 As shown, the first turning path Q1 is a path where tractor 1 moves forward and turns simultaneously; the straight path Q2 immediately following the first turning path Q1 is a straight path where tractor 1 reverses and then moves forward again; and the second turning path Q3 immediately following the straight path Q2 is a path where tractor 1 moves forward and turns simultaneously. In the reverse turning pattern, as shown... Figure 5 As shown, the first turning path Q1 is a path where tractor 1 reverses and turns simultaneously; the straight path Q2 immediately following the first turning path Q1 is a straight path where tractor 1 reverses and then moves forward again; and the second turning path Q3 immediately following the straight path Q2 is a path where tractor 1 moves forward and turns simultaneously. Therefore, according to... Figure 4 The forward turning pattern shown, and Figure 5 The reverse turning pattern shown is formed differently depending on whether the tractor 1 moves forward or backward when turning in the first turning path Q1.

[0080] and, Figures 6 to 21 The connection paths Q shown are respectively from Figure 4The forward turning pattern shown and Figure 5 It is generated from any of the backward turning patterns shown. Figure 6 , Figure 7 , Figure 10 , Figure 11 , Figure 14 , Figure 15 , Figure 18 , Figure 19 It shows: by Figure 4 The forward turning pattern shown is used to generate the connecting path Q. Figure 8 , Figure 9 , Figure 12 , Figure 13 , Figure 16 , Figure 17 , Figure 20 , Figure 21 It shows: by Figure 5 The backward turning pattern shown is used to generate the connection path Q.

[0081] When the path generation unit 23 generates the connecting path Q, there are two possible scenarios: Figure 6 As shown, the angle α formed by the boundary line K1 (hereinafter referred to as the first boundary line K1) between the working area R1 and the non-working area R2a, and the straight line K2 extending along the direction of travel X (hereinafter referred to as the second straight line K2) is an acute angle; and as shown in the figure. Figure 7 As shown, this is the case where the angle α between the first boundary line K1 and the second straight line K2 is an obtuse angle. Figure 3 In the non-operational area R2a adjacent to the upper side of the operation area R1, angle α is an acute angle, and in the non-operational area R2a adjacent to the lower side of the operation area R1, angle α is an obtuse angle. Furthermore, the angle α formed by the first boundary line K1 and the second straight line K2 is the angle on the side of the next autonomous operation path P (following operation path P2) and on the side of the operation area R1.

[0082] Therefore, the path generation unit 23 generates a connection path Q that is different from the case where the angle α formed by the first boundary line K1 and the second straight line K2 is an acute angle and the case where the angle α is an obtuse angle. Figure 6 , Figure 8 , Figure 10 , Figure 12 , Figure 14 , Figure 16 , Figure 18 , Figure 20 The diagram shows the connection path Q generated when the angle α between the first boundary line K1 and the second straight line K2 is an acute angle. Figure 7 , Figure 9 , Figure 11 , Figure 13 , Figure 15 , Figure 17 , Figure 19 , Figure 21 The diagram shows the connection path Q generated when the angle α between the first boundary line K1 and the second straight line K2 is an obtuse angle.

[0083] When the tractor 1 is driven autonomously, as described above, the vehicle-side control unit 12 controls the braking device or the speed multiplier device, enabling the tractor 1 to drive autonomously along a turning path with a smaller turning radius. Therefore, the path generation unit 23 is configured to generate a connecting path Q where the turning radii of the first turning path Q1 and the second turning path Q3 are the same, or to generate a connecting path Q where the turning radii of the first turning path Q1 and the second turning path Q3 are different.

[0084] Figures 6 to 13 The diagram shows a connecting path Q generated by making the turning radii of the first turning path Q1 and the second turning path Q3 the same. Figures 14-21 This illustrates a connecting path Q generated by setting the turning radii of the first turning path Q1 and the second turning path Q3 to be different. Additionally, Figures 6-9 This illustrates the case where the turning radii of the first turning path Q1 and the second turning path Q3 are the same as the turning radii when turning without the control of the braking device or the speed multiplier device. Figures 10-13 This illustrates the case where the turning radii of the first turning path Q1 and the second turning path Q3 are the same as the turning radii when the braking device or the speed multiplier device is controlled to make the turn. Figures 14-17 The diagram illustrates a scenario where the turning radius of the first turning path Q1 is the turning radius when the braking device or speed-multiplying device is controlled, and the turning radius of the second turning path Q3 is the turning radius when the braking device or speed-multiplying device is not controlled. Figures 18-21 The diagram illustrates a scenario where the turning radius of the first turning path Q1 is the same as the turning radius when turning without control of the braking device or the speed multiplier, and the turning radius of the second turning path Q3 is the same as the turning radius when turning with control of the braking device or the speed multiplier.

[0085] As described above, the path generation unit 23 is configured to generate... Figures 6 to 21 The connection path Q shown is used as the connection path Q. In the... Figures 6 to 21 When explaining the connection path Q shown separately, according to its category Figure 4 The forward turning pattern shown and Figure 5 The diagram showing the backward turning pattern, and whether the angle formed by the first boundary line K1 and the second straight line K2 is acute or obtuse, are explained in four groups.

[0086] (Group 1)

[0087] Belonging to Figure 4 The forward turning pattern shown, and the angle α formed by the first boundary line K1 and the second straight line K2 (refer to...) Figure 6 Let's explain the first group of acute angles. The angles belonging to this first group are: Figure 6 , Figure 10 , Figure 14 , Figure 18 The connection paths Q are shown respectively.

[0088] right Figure 6 The connection path Q is illustrated below. The first turning path Q1 is a path where tractor 1, starting from the point of tangency between the second straight line K2 (an extension of the preceding work path P1) and the first circle E1, moves along the first circle E1 towards the side approaching the following work path P2 while turning. Furthermore, since the angle α formed by the first boundary line K1 and the second straight line K2 is acute, the turning angle β on the first turning path Q1 is set to an obtuse angle. The straight path Q2 is a straight path that continues from the end position of the first turning path Q1, where tractor 1 temporarily reverses away from the following work path P2, and then moves forward again towards the side approaching the following work path P2. The straight path Q2 is generated on a tangent line tangent to the first circle E1 and the second circle E2. Furthermore, Figures 4 to 21 In order to make the straight path Q2 easier to understand, the straight path Q2 is shown at a position slightly offset from the tangent lines that are tangent to the first circle E1 and the second circle E2. Figure 6 The straight path Q2 shown is generated parallel to the first boundary line K1 and the outer perimeter T of the field H, and is not orthogonal to the tractor 1's direction of travel X (the second straight line K2). The second turning path Q3 is a path in which the tractor 1, starting from the end position of the straight path Q2 (the position where the straight path Q2 is tangent to the second circle E2), moves along the second circle E2 towards the subsequent work path P2 while turning. In addition, on the straight line extending along the subsequent work path P2, the straight path portion from the point tangent to the second circle E2 to the intersection with the first boundary line K1 (the portion shown by the solid arrow in the figure) is also generated as the connecting path Q.

[0089] Here, as described above, the first circle E1 is a circle tangent to the straight line (second straight line K2) extending along the preceding work path P1. Therefore, a first turning path Q1 is generated along the first circle E1, allowing the tractor 1 to perform autonomous work on the preceding work path P1 (autonomous driving while working with the work machine 5) and then immediately perform autonomous driving on the first turning path Q1 (autonomous driving without working with the work machine 5). Furthermore, the second circle E2 is a circle tangent to the straight line extending along the following work path P2. Therefore, a second turning path Q3 is generated along the second circle E2, allowing the tractor 1 to perform autonomous driving on the second turning path Q3 and then immediately perform autonomous work on the following work path P2.

[0090] like Figures 6 to 21 As shown, the path generation unit 23 generates a first turning path Q1 along the first circle E1 and a second turning path Q3 along the second circle E2. Therefore, regardless of... Figures 6 to 21 On any of the connecting paths Q shown, tractor 1 can perform autonomous work on the first working path P1 and then autonomously drive on the first turning path Q1, and can perform autonomous driving on the second turning path Q3 and then autonomously work on the subsequent working path P2.

[0091] right Figure 10 The connection path Q shown is explained. Figure 10 The connection path Q shown is... Figure 6 Compared to the connecting path Q shown, the difference lies in that the turning radius of the first turning path Q1 and the second turning path Q3 is reduced, and the straight path Q2 is generated orthogonally to the travel direction X of the tractor 1 (the second straight line K2). Furthermore, the straight section extending along the following work path P2, from the point tangent to the second circle E2 to the intersection with the first boundary line K1 (the section indicated by the solid arrow in the figure), is also generated as the connecting path Q.

[0092] like Figure 2 As shown, the wireless communication terminal 2 includes an instruction unit 25, which can instruct the path generation unit 23 to generate a straight path Q2 in such a way that the path generation unit 23 generates a straight path Q2 in a manner that the traveling direction X (second straight line K2) of the tractor 1 is orthogonal to the straight path Q2. Figure 10 The connection path Q shown illustrates a scenario where the instruction unit 25 issues an instruction to the path generation unit 23. Furthermore, by operating the wireless communication terminal 2, the user can use the instruction unit 25 to issue an instruction to the path generation unit 23. Therefore, the path generation unit 23 can not only... Figure 6As shown, the straight path Q2 is generated in a way that the tractor 1's direction of travel X (the second straight line K2) and the straight path Q2 are not orthogonal. It can also be done as follows: Figure 10 As shown, the tractor 1's travel direction X (second straight line K2) and straight path Q2 are generated orthogonally to each other by the user's operation, etc.

[0093] Furthermore, the instruction unit 25 can issue instructions to the path generation unit 23, causing the path generation unit 23 to... Figure 10 As shown, the straight path Q2 is generated only when the angle α between the first boundary line K1 and the second straight line K2 is acute, with the tractor 1's travel direction X (the second straight line K2) orthogonal to the straight path Q2. Thus, as... Figure 7 As shown, when the angle α between the first boundary line K1 and the second straight line K2 is an obtuse angle, the instruction unit 25 will not instruct the path generation unit 23 even if there is an operation by the user.

[0094] Figure 14 The connection path Q shown is... Figure 6 Compared to the connecting path Q shown, in addition to reducing the turning radius of the first turning path Q1, the straight path Q2 is not parallel to the outer perimeter T of the field H and the first boundary line K1, resulting in a different angle for the straight path Q2. Furthermore, the straight section extending along the subsequent work path P2, from the point tangent to the second circle E2 to the intersection with the first boundary line K1 (the section indicated by the solid arrow in the figure), is also generated as the connecting path Q.

[0095] Figure 18 The connection path Q shown is... Figure 6 Compared to the connecting path Q shown, the only difference is that the turning radius of the second turning path Q3 is reduced. In addition, the straight section extending along the subsequent work path P2, from the point tangent to the second circle E2 to the intersection with the first boundary line K1 (the part shown by the solid arrow in the figure), is also generated as the connecting path Q.

[0096] (Group 2)

[0097] Belonging to Figure 4 The forward turning pattern shown, and the angle α formed by the first boundary line K1 and the second straight line K2 (refer to...) Figure 7 The second group, where the angle is obtuse, will be explained. The angle belonging to this second group is... Figure 7 , Figure 11 , Figure 15 , Figure 19 The connection paths Q are shown respectively.

[0098] Figure 7The connection path Q shown is related to the first group Figure 6 Compared to the connecting path Q shown, the difference lies in that: since the angle α formed by the first boundary line K1 and the second straight line K2 is an obtuse angle, the turning angle β at the first turning path Q1 is set to an acute angle. Furthermore, on the second straight line K2, the straight path portion from the intersection with the first boundary line K1 to the point tangent to the first circle E1 (the portion indicated by the solid arrow in the figure) is also generated as the connecting path Q.

[0099] Figure 11 The connection path Q shown is related to the second group. Figure 7 Compared to the shown connecting path Q, the only difference is that the turning radii of the first turning path Q1 and the second turning path Q3 are reduced. In addition, on the second straight line K2, the straight path portion from the intersection with the first boundary line K1 to the part tangent to the first circle E1 (the portion shown by the solid arrow in the figure) is also generated as the connecting path Q.

[0100] Figure 15 The connection path Q shown is related to the second group. Figure 7 Compared to the connecting path Q shown, in addition to reducing the turning radius of the first turning path Q1, the straight path Q2 is not parallel to the outer perimeter T of the field H and the first boundary line K1, resulting in a different angle for the straight path Q2. Furthermore, on the second straight line K2, the straight path portion from the intersection with the first boundary line K1 to the part tangent to the first circle E1 (the portion shown by the solid arrow in the figure) is also generated as the connecting path Q.

[0101] Figure 19 The connection path Q shown is related to the second group. Figure 7 Compared to the shown connecting path Q, the only difference is that the turning radius of the second turning path Q3 is reduced. Furthermore, the straight path portion on the second straight line K2 from the intersection with the first boundary line K1 to the point tangent to the first circle E1 (shown by the solid arrow in the figure), and the straight path portion on the straight line extending along the subsequent working path P2 from the point tangent to the second circle E2 to the intersection with the first boundary line K1 (shown by the solid arrow in the figure) are also generated as connecting paths Q.

[0102] (Group 3)

[0103] Belonging to Figure 5 The reverse turning pattern shown, and the angle α formed by the first boundary line K1 and the second straight line K2 (refer to) Figure 8 The third group of acute angles will be explained. Which of the following belong to this third group? Figure 8 , Figure 12 , Figure 16 , Figure 20The connection paths Q are shown respectively.

[0104] right Figure 8 The connection path Q is illustrated below. The first turning path Q1 is: the tractor 1 moves backward and turns while reversing from the point of tangency between the second straight line K2 (an extension of the preceding work path P1) and the first circle E1, along the first circle E1 towards the side away from the following work path P2. Furthermore, since the angle α formed by the first boundary line K1 and the second straight line K2 is acute, the turning angle β on the first turning path Q1 is set to an obtuse angle. The straight path Q2 is: a straight path continuous with the end position of the first turning path Q1, causing the tractor 1 to move towards the side approaching the following work path P2. The straight path Q2 is generated on the tangent line tangent to the first circle E1 and the second circle E2, and is not orthogonal to the tractor 1's direction of travel X (the second straight line K2). The second turning path Q3 is: the tractor 1 moves forward and turns while moving along the second circle E2 towards the following work path P2 from the end position of the straight path Q2 (the position where the straight path Q2 is tangent to the second circle E2). In addition, the straight path portion on the second straight line K2 from the intersection with the first boundary line K1 to the part tangent to the first circle E1 (the part shown by the solid arrow in the figure), and the straight path portion on the straight line extending along the subsequent operation path P2 from the part tangent to the second circle E2 to the intersection with the first boundary line K1 (the part shown by the solid arrow in the figure) are also generated as connecting paths Q.

[0105] Figure 12 The connection path Q shown is... Figure 8 Compared to the shown connecting path Q, the only difference is that the turning radii of the first turning path Q1 and the second turning path Q3 are reduced. Furthermore, the straight path portion on the second straight line K2 from the intersection with the first boundary line K1 to the point tangent to the first circle E1 (shown by the solid arrow in the figure), and the straight path portion on the straight line extending along the subsequent working path P2 from the point tangent to the second circle E2 to the intersection with the first boundary line K1 (shown by the solid arrow in the figure) are also generated as connecting path Q.

[0106] Figure 16 The connection path Q shown is... Figure 8Compared to the shown connecting path Q, the only difference is that the turning radius of the first turning path Q1 is reduced. Furthermore, the straight path portion on the second straight line K2 from the intersection with the first boundary line K1 to the point tangent to the first circle E1 (shown by the solid arrow in the figure), and the straight path portion on the straight line extending along the subsequent working path P2 from the point tangent to the second circle E2 to the intersection with the first boundary line K1 (shown by the solid arrow in the figure) are also generated as connecting paths Q.

[0107] Figure 20 The connection path Q shown is... Figure 8 Compared to the shown connecting path Q, the only difference is that the turning radius of the second turning path Q3 is reduced. Furthermore, the straight path portion on the second straight line K2 from the intersection with the first boundary line K1 to the point tangent to the first circle E1 (shown by the solid arrow in the figure), and the straight path portion on the straight line extending along the subsequent working path P2 from the point tangent to the second circle E2 to the intersection with the first boundary line K1 (shown by the solid arrow in the figure) are also generated as connecting paths Q.

[0108] (Group 4)

[0109] Belonging to Figure 5 The reverse turning pattern shown, and the angle α formed by the first boundary line K1 and the second straight line K2 (refer to) Figure 9 The fourth group, where the angle is obtuse, will be explained. The angles belonging to this fourth group are: Figure 9 , Figure 13 , Figure 17 , Figure 21 The connection paths Q are shown respectively.

[0110] right Figure 9The connection path Q is illustrated below. The path generation unit 23 generates: a first turning path Q1, a straight path Q2, a second turning path Q3, and an intermediate turning path Q4, as the connection path Q. The intermediate turning path Q4 is located between the first turning path Q1 and the straight path Q2. The first turning path Q1 is: a path where the tractor 1, starting from the point of tangency between the second straight line K2 (an extension of the preceding work path P1) and the first circle E1, turns while reversing along the first circle E1 towards the side away from the following work path P2. The intermediate turning path Q4 is: a path where the tractor 1, starting from the point of tangency between the first circle E1 and the third circle E3, turns while reversing along the third circle E3 towards the side away from the following work path P2. Here, the radius of the third circle E3 is the same as the radius of the first circle E1 and the second circle E2, and it is a circle tangent to the first circle E1. The straight path Q2 is a straight path that continues from the end of the intermediate turning path Q4, allowing tractor 1 to move towards the side approaching the subsequent work path P2. The straight path Q2 is generated on the tangent line to the third circle E3 and the second circle E2, and is not orthogonal to the tractor 1's direction of travel X (the second straight line K2). The second turning path Q3 is a path where tractor 1 moves from the end of the straight path Q2 (the position where the straight path Q2 is tangent to the second circle E2) along the second circle E2 towards the subsequent work path P2, turning as it goes. Furthermore, the straight path portion on the second straight line K2 from the intersection with the first boundary line K1 to the point tangent to the first circle E1 (shown by the solid arrow in the figure), and the straight path portion on the straight line extending along the subsequent work path P2 from the point tangent to the second circle E2 to the intersection with the first boundary line K1 (shown by the solid arrow in the figure) are also generated as connecting paths Q.

[0111] Figure 13On the connecting path Q shown, the first turning path Q1 is: the tractor 1 moves backward and turns while reversing from the point of tangency between the second straight line K2 (an extension of the preceding work path P1) and the first circle E1 along the first circle E1 toward the side away from the following work path P2. The straight path Q2 is: a straight path that is continuous with the end position of the first turning path Q1, where the tractor 1 temporarily moves backward toward the side away from the following work path P2, and then moves forward toward the side closer to the following work path P2. The straight path Q2 is generated on the tangent line tangent to the first circle E1 and the second circle E2, and is not orthogonal to the tractor 1's direction of travel X (the second straight line K2). The second turning path Q3 is: the tractor 1 moves forward and turns while moving along the second circle E2 toward the following work path P2 from the end position of the straight path Q2 (the position where the straight path Q2 is tangent to the second circle E2). Furthermore, in the second straight line K2, the straight path portion (shown by the solid arrow in the figure) from the intersection with the first boundary line K1 to the part tangent to the first circle E1 is also generated as the connecting path Q.

[0112] Figure 17 The connection path Q shown is... Figure 13 Compared to the connecting path Q shown, the only difference is that the turning radius of the second turning path Q3 is increased. In addition, on the second straight line K2, the straight path portion from the intersection with the first boundary line K1 to the part tangent to the first circle E1 (the portion shown by the solid arrow in the figure) is also generated as the connecting path Q.

[0113] Figure 21 The connection path Q shown is... Figure 13 Compared to the shown connecting path Q, the only difference is that the turning radius of the first turning path Q1 is increased. Furthermore, the straight path portion on the second straight line K2 from the intersection with the first boundary line K1 to the point tangent to the first circle E1 (shown by the solid arrow in the figure), and the straight path portion on the straight line extending along the subsequent working path P2 from the point tangent to the second circle E2 to the intersection with the first boundary line K1 (shown by the solid arrow in the figure) are also generated as connecting paths Q.

[0114] exist Figure 6 and Figure 7On the connecting path Q shown, the path generation unit 23 sets the turning radius of the first turning path Q1 and the turning radius of the second turning path Q3 to be the same. Furthermore, the path generation unit 23 makes the distance W2 between the straight path Q2 and the outer perimeter T of the non-working area R2a shorter than the distance W1 between the straight path Q2 and the first boundary line K1. Therefore, the straight path Q2 can be generated on the side furthest from the first boundary line K1. This allows for a larger turning radius of the second turning path Q3 immediately following the straight path Q2, or a longer travel distance to the starting point of the subsequent working path P2. This ensures sufficient time for adjusting the position or posture of the tractor 1, enabling autonomous operation on the subsequent working path P2 to begin in a stable position or posture.

[0115] Figures 14-17 On the connecting path Q shown, the path generation unit 23 sets the first turning radius V1 of the first turning path Q1 and the second turning radius V2 of the second turning path Q3 to be different from each other. Furthermore, the path generation unit 23 sets the second turning radius V2 to be longer than the first turning radius V1. This results in a larger second turning radius V2 for the second turning path Q3, ensuring sufficient time for adjusting the position or posture of the tractor 1, thereby enabling the tractor 1 to begin autonomous operation on the subsequent work path P2 in a stable position or posture.

[0116] As described above, the path generation unit 23 can generate different connection paths Q according to various conditions; however, for example, it can make... Figures 6 to 21 The connection path Q shown is displayed on the display unit of the wireless communication terminal 2. The user operates the wireless communication terminal 2 to... Figures 6 to 21 Choose any one of the connection paths Q shown.

[0117] In addition, the path generation unit 23 can set two turning radii as the turning radii of the first turning path Q1 and the second turning path Q3. However, it is not limited to two turning radii, and can also set three or more turning radii.

[0118] Industrial availability

[0119] This invention can be applied to various path generation systems, which have a path generation unit that generates driving paths for autonomous driving of work vehicles.

[0120] Symbol Explanation

[0121] 1. Tractor (operating vehicle)

[0122] 22 Regional Registration Department

[0123] 23 Path Generation Department

[0124] 24 Direction Setting Section

[0125] 25. Instruction Department

[0126] K1 Boundary line between the work area and the non-work area (first boundary line)

[0127] K2 is a straight line extending along the direction of travel of the tractor in the work area (the second straight line).

[0128] P Job Path

[0129] Q Connection Path

[0130] Q1 First Turning Path

[0131] Q2 Straight Path

[0132] Q3 Second Turn Path

[0133] R1 work area

[0134] R2 Non-working area

[0135] T Outer perimeter of non-working area

[0136] V1 First turning radius of the first turning path

[0137] V2 Second Turning Radius of Second Turning Path

[0138] X The direction of travel of the tractor

Claims

1. A path generation system, characterized in that, The path generation system includes a path generation unit that generates driving paths for the work vehicle to drive autonomously. The driving paths include multiple work paths for the work vehicle to perform autonomous operations, as well as connecting paths that connect the work paths to each other. When the work path is not orthogonal to the perimeter of the field, the path generation unit can generate a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path as the connecting path. Furthermore, it can generate the straight path parallel to the perimeter of the field so that the connecting path does not protrude beyond the work object area.

2. The path generation system according to claim 1, characterized in that, When the first turning path is forward, the path generation unit can generate the first turning path and the second turning path in a manner that also makes the second turning path forward.

3. The path generation system according to claim 1, characterized in that, When the first turning path is backward, the path generation unit can generate the first turning path and the second turning path in a way that makes the second turning path forward.

4. The path generation system according to any one of claims 1 to 3, characterized in that, The path generation system includes a display unit that displays the plurality of connection paths generated by the path generation unit. The display unit can display multiple connection paths in a selectable manner.

5. A path generation system, characterized in that, The path generation system includes a path generation unit that generates driving paths for the work vehicle to drive autonomously. The driving paths include multiple work paths for the work vehicle to perform autonomous operations, as well as connecting paths that connect the work paths to each other. The path generation unit can generate a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path, as the connecting path. The path generation unit is capable of generating the first turning path in such a way that the work vehicle travels from the starting position of the first turning path toward a side away from the subsequent work path where the work vehicle performs autonomous work after autonomous driving on the connecting path. The first turning path and the second turning path can be generated in such a way that the first turning path is backward and the second turning path is forward.

6. A path generation system, characterized in that, The path generation system includes a path generation unit that generates driving paths for the work vehicle to drive autonomously. The driving paths include multiple work paths for the work vehicle to perform autonomous operations, as well as connecting paths that connect the work paths to each other. The path generation unit can generate a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path as the connecting path. Furthermore, it can generate the straight path in a way that the work path and the straight path are not orthogonal, so that the connecting path does not protrude outside the work object area.

7. A path generation system, characterized in that, The path generation system includes a path generation unit that generates driving paths for the work vehicle to drive autonomously. The driving paths include multiple work paths for the work vehicle to perform autonomous operations, as well as connecting paths that connect the work paths to each other. The path generation unit can generate a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path, as the connecting path. The path generation unit can generate the first turning path in such a way that the connecting path does not protrude outside the work object area and that the work vehicle travels from the starting position of the first turning path toward a side away from the subsequent work path where the work vehicle performs autonomous work after autonomous driving on the connecting path.

Images