Target route generation system and target route generation method for work vehicle

Abstract

Provided are a target route generation system and a target route generation method for a work vehicle, the target route generation system being provided with a route generation unit that generates a plurality of straight routes for causing the work vehicle to automatically travel in a field. The path generation unit adjusts the orientation of each of the plurality of linear paths on the basis of the shape of the field.

Description

[0001] This application is a divisional application of the invention patent application with application number 201880079167.8, application date October 12, 2018, and invention name “Target path generation system for work vehicles”. Technical Field

[0002] The present invention relates to a target path generation system for a working vehicle that generates a target path, wherein the target path is used for automatic driving of the following vehicles: riding working vehicles such as tractors, riding rice transplanters, combine harvesters, riding lawn mowers, wheel loaders, and snowplows; and unmanned working vehicles such as unmanned lawn mowers. Background Art

[0003] As a target path generation system for a work vehicle as described above, there is a path generation device (for example, refer to patent document 1), that is, it is configured as follows: for example, based on the work site data such as the size and shape of the field obtained by the tractor (work vehicle) driving along the periphery of the field (work site), the user manually inputs the corner position, turning point and other working area determination locations, work start position, work start direction, work end position and the like of the field according to the user's values, etc. as arbitrary setting data for target path generation, thereby generating a target path for automatic driving based on the input arbitrary setting data and corresponding to the user's values, etc.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-173986 Summary of the invention

[0007] In the target path generation system for a work vehicle described in Patent Document 1, the user inputs all of the arbitrary setting data required to generate the target path. For users who are accustomed to inputting arbitrary setting data, this allows them to input arbitrary setting data based on the user's values, etc., so that the target path generation system can generate a target path that corresponds to the user's values, etc.

[0008] However, users who are not good at inputting arbitrary setting data often need to spend time inputting arbitrary setting data, and therefore, they want to simplify the input. In addition, if arbitrary setting data cannot be properly input based on the user's values, an inappropriate target path that is not conducive to the work based on automatic driving may be generated as a result: for example, a target path in which the work area obtained according to the target path generated by the target path generation system becomes narrower, or a target path in which the non-work driving distance becomes longer in the target path generated by the target path generation system, which does not conform to the user's values.

[0009] In view of this actual situation, the main subject of the present invention is to generate a target route for automatic driving that suits the user's values, etc., without forcing the user to input arbitrary setting data, thereby realizing the benefits of work based on automatic driving.

[0010] The first characteristic structure of the present invention lies in the following aspect, that is, in a target path generation system for a work vehicle, it is provided with: a storage unit, which stores basic data required for generating a target path for automatic driving; a priority item selection unit, which selects priority items related to the generation of the target path; and a target path generation unit, which generates the target path based on the basic data and the selected priority items.

[0011] According to this structure, when the user performs a selection operation of a priority item corresponding to his / her own values ​​in the priority item selection unit, the target path generation unit generates a target path suitable for the user's values ​​based on the basic data stored in the storage unit and the priority item selected by the user.

[0012] Accordingly, even if the user does not input any setting data required to generate a target path, such as multiple work areas to determine the location, work start position, work start direction, work end position, etc., the user can obtain a target path suitable for his or her own values, etc. simply by selecting priority items corresponding to his or her own values, etc.

[0013] That is, without forcing the user to input arbitrary setting data, a target route for automatic driving that is suitable for the user's values ​​and the like can be generated, thereby making the work performed by automatic driving more profitable.

[0014] A second characteristic structure of the present invention resides in that the present invention comprises a path selection unit for selecting one of the plurality of target paths when the target path generation unit generates a plurality of target paths.

[0015] According to this structure, for example, when the target route generation unit generates multiple target routes, the user can select a target route for automatic driving that is more suitable for his or her own values, etc. from the multiple target routes, thereby more effectively realizing the benefits of operations based on automatic driving.

[0016] A third characteristic structure of the present invention resides in that the target route generating unit generates a plurality of target routes for one priority item.

[0017] According to the present structure, for example, even if the user selects a single priority item corresponding to his or her own values, etc. in the priority item selection unit, the target path generation unit can be used to generate multiple target paths corresponding to the priority item. Therefore, the user can select a target path for automatic driving that is more suitable for his or her own values, etc. from the multiple target paths corresponding to the selected single priority item, and can more effectively realize the benefits of operations based on automatic driving.

[0018] The fourth characteristic structure of the present invention lies in the following aspect, that is, it has an arbitrary data input unit, which inputs arbitrary setting data for generating a target path, and the target path generating unit generates a plurality of target paths including a first target path and a second target path, wherein the first target path is generated based on the basic data and the priority item; and the second target path is generated based on the basic data and the arbitrary setting data.

[0019] According to this configuration, when generating a target route for automatic driving, the user can select a simple operation of simply selecting a priority item in the priority item selection unit and a normal operation of arbitrarily inputting all arbitrary setting data required for generating the target route in the arbitrary data input unit.

[0020] According to this, when the user is not good at inputting arbitrary setting data, by performing simple operations, the user can obtain the first target path suitable for his / her own values, etc. without much effort. In addition, when the user is accustomed to inputting arbitrary setting data, by performing normal operations, the user can obtain the second target path generated based on his / her own values, etc.

[0021] As a result, for users who are not good at inputting arbitrary setting data, by performing a simple selection operation, the operation based on automatic driving can be beneficially realized. In addition, for users who are accustomed to inputting arbitrary setting data, by appropriately inputting the arbitrary setting data, the operation based on automatic driving can be more effectively beneficially realized.

[0022] A fifth characteristic structure of the present invention resides in the aspect that a display unit is provided for displaying the target route, and when the target route generation unit generates a plurality of the target routes, the display unit displays a difference between the plurality of the target routes together with the plurality of the target routes.

[0023] According to this configuration, when the target route generation unit generates a plurality of target routes, the user can easily visually check the differences between them, thereby easily selecting a target route that is more suitable for his or her own values ​​and the like.

[0024] A sixth characteristic structure of the present invention resides in the aspect of comprising an arbitrary data input unit for inputting at least a part of arbitrary setting data for generating a target path, and the target path generating unit corrects the target path based on the arbitrary setting data.

[0025] According to this configuration, when the user is dissatisfied with the target route generated by the target route generation unit based on the priority item selected by the user, the user inputs arbitrary setting data suitable for eliminating the dissatisfaction in the arbitrary data input unit. Then, the target route generation unit corrects the target route corresponding to the priority item based on the arbitrary setting data input by the user. Thus, the user can obtain a target route that eliminates the dissatisfaction.

[0026] Specifically, in a case where the user feels dissatisfied that the automatic driving start point and the automatic driving end point of the target path are far from the entrance and exit of the work vehicle in the work site, if the automatic driving start point and the automatic driving end point suitable for eliminating the dissatisfaction are input into any data input unit, the target path generation unit corrects the target path corresponding to the priority item based on the automatic driving start point and the automatic driving end point input by the user. Therefore, the user can obtain the target path in which the automatic driving start point and the automatic driving end point are set at positions close to the entrance and exit of the work vehicle in the work site.

[0027] As a result, the user can obtain a target path that is more suitable for his or her own values, etc. by performing relatively simple operations, and can more effectively realize the benefits of work based on autonomous driving.

[0028] The seventh characteristic structure of the present invention lies in the following aspect, that is, the priority items include: maximization of the working area, minimization of the non-working driving distance, suitability of the surrounding driving path portion along the periphery of the working site, and avoidance of the generation of repeated path portions. At least one of the following.

[0029] According to this configuration, for example, if the priority item is maximization of the work area, the target route generation unit generates a target route that maximizes the work area that can be performed by the automatic travel of the work vehicle based on the priority item.

[0030] For example, if the priority item is minimizing the non-working travel distance, the target route generation unit generates a target route that achieves reduction in fuel consumption required for non-working travel, shortening of working time, etc. during the automatic travel of the work vehicle based on the priority item.

[0031] For example, if the priority item is the appropriateness of the circumferential driving path portion, based on the priority item, the target path generation unit generates the following target path, that is, in the automatic driving of the work vehicle, the lateral width of the circumferential driving path portion that becomes the non-operated area after driving on the central side of the work site and performing work is the same or approximately the same as an integer multiple of the working width of the work vehicle regardless of the shape of the work site. Accordingly, it is easy to perform circumferential operation driving by the automatic driving or manual driving of the work vehicle. This target path is suitable for the following situation, that is, the tillage work performed by a tractor in the form of tillage as an example of a work vehicle, the planting work performed by a riding rice transplanter, etc., is performed by automatic driving.

[0032] For example, if the priority item is to avoid the generation of repeated path portions, based on the priority item, the target path generation unit generates a target path without repeated path portions. Accordingly, in the automatic driving of the working vehicle, it is possible to avoid the following undesirable situation, that is, the working vehicle repeatedly drives on the same repeated path portion of the target path many times, and the path portion is trampled and difficult to work. The target path is suitable for the following situation, that is, the tillage work performed by a tractor as an example of a tillage vehicle, the planting work performed by a riding field planting machine, etc., is performed by automatic driving.

[0033] That is, a target route corresponding to each priority item can be generated, thereby making it easy to realize the benefits of work based on automatic driving that is suitable for values ​​that differ among users. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is the left side view of the tractor.

[0035] Figure 2 This is a block diagram showing a control structure related to automatic driving of a tractor.

[0036] Figure 3 It is a flow chart of target path generation control.

[0037] Figure 4 This is a diagram showing the determination of the work area and the selection of the reference work direction, etc., performed by the target path generation unit.

[0038] Figure 5 A diagram showing a first example route among target routes generated by a target route generation unit.

[0039] Figure 6 A diagram showing a second example route among the target routes generated by the target route generation unit.

[0040] Figure 7A diagram showing a third example route among the target routes generated by the target route generation unit.

[0041] Figure 8 A diagram showing a fourth example route among the target routes generated by the target route generation unit.

[0042] Fig. 9 A diagram showing a fifth example route among the target routes generated by the target route generation unit.

[0043] Fig.10 It is a diagram showing a sixth example route among the target routes generated by the target route generation unit.

[0044] Fig.11 A diagram showing a seventh example route among the target routes generated by the target route generation unit.

[0045] Fig.12 This is a diagram showing an eighth example path among the target paths generated by the target path generation unit.

[0046] Fig.13 It is a diagram showing a ninth example route among the target routes generated by the target route generation unit.

[0047] Fig.14 FIG. 1 is a diagram showing a tenth example path among the target paths generated by the target path generation unit.

[0048] Fig.15 A diagram showing an eleventh exemplary route among target routes generated by the target route generating unit.

[0049] Fig.16 A diagram showing a twelfth example path among the target paths generated by the target path generation unit.

[0050] Fig.17 It is a diagram showing a thirteenth exemplary route among the target routes generated by the target route generating unit.

[0051] Fig.18 This is a diagram showing a first example path portion of a direction change path portion on a target path generated by a target path generation unit.

[0052] Fig.19 It is a diagram showing a second example path portion of the direction change path portion on the target path generated by the target path generation unit. DETAILED DESCRIPTION

[0053] An embodiment in which the target route generation system for a work vehicle according to the present invention is applied to a tractor which is an example of a work vehicle will be described with reference to the drawings.

[0054] In addition, the target path generation system for work vehicles involved in the present invention can also be applied to riding work vehicles other than tractors, such as riding rice transplanters, combine harvesters, riding lawn mowers, wheel loaders, and snowplows; and unmanned work vehicles such as unmanned lawn mowers.

[0055] like Figures 1-2 As shown, the tractor 1 illustrated in this embodiment can be driven automatically in a field as an example of a work site by using an automatic driving system for a work vehicle. The automatic driving system for a work vehicle includes: an automatic driving unit 2 mounted on the tractor 1; and a portable communication terminal 3 that is set to communicate with the automatic driving unit 2. The portable communication terminal 3 is a tablet-type personal computer or the like having a touch-operable liquid crystal panel (an example of a display unit) 4 or the like.

[0056] The portable communication terminal 3 can be a notebook personal computer, a smartphone, or the like.

[0057] like Figure 1 As shown, a rotary tillage device 6 as an example of a working device is connected to the rear of the tractor 1 via a three-point linkage mechanism 5 so as to be able to be raised and lowered and to be able to be rolled. Thus, the tractor 1 is configured as a rotary tillage type.

[0058] Furthermore, a working device such as a plow, a seeding device, or a spreading device may be connected to the rear portion of the tractor 1 instead of the rotary tillage device 6 .

[0059] like Figures 1-2 As shown, the tractor 1 comprises: left and right front wheels 7 that can be driven and steered; left and right rear wheels 8 that can be driven; a cab that forms a riding-type driving part; an electronically controlled diesel engine (hereinafter referred to as an engine) 10 having a common rail system; an electronically controlled transmission 11 that changes the speed of the power from the engine 10; a fully hydraulic power steering mechanism 12 that steers the left and right front wheels 7; left and right side brakes (not shown) that brake the left and right rear wheels 8; an electronically controlled brake operating mechanism 13 that can hydraulically operate the left and right side brakes; and a brake that can turn the left and right side brakes. An operating clutch (not shown) for switching on and off the power transmission of the tilling device 6; an electronically controlled clutch operating mechanism 14 capable of hydraulically operating the operating clutch; an electronically hydraulically controlled lifting and driving mechanism 15 for lifting and lowering the rotary tilling device 6; an on-board electronic control unit 16 having various control programs related to the automatic driving of the vehicle (tractor) 1; a vehicle speed sensor 17 for detecting the speed of the vehicle 1; a steering angle sensor 18 for detecting the steering angle of the front wheels 7; and a positioning unit 19 for measuring the current position and current orientation of the vehicle 1.

[0060] In addition, the engine 10 may also be an electronically controlled gasoline engine with an electronic governor. The transmission 11 may be a hydraulic mechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), or a belt type continuously variable transmission. The power steering mechanism 12 may also be an electric power steering mechanism with an electric motor.

[0061] like Figure 1 As shown, the interior of the cab 9 is equipped with a steering wheel 20 that can manually steer the left and right front wheels 7 by means of a power steering mechanism 12, and a seat 21 for a user. In addition, although not shown in the figure, it is equipped with a shift lever that can manually operate the speed change device 11; left and right brake pedals that can manually operate the left and right brakes; and a lifting lever that can manually lift the rotary tiller 6.

[0062] like Figure 2 As shown, the vehicle-mounted electronic control unit 16 includes: a transmission control unit 16A for controlling the operation of the transmission device 11; a brake control unit 16B for controlling the operation of the left and right brakes; a working device control unit 16C for controlling the operation of the rotary tilling device 6; a vehicle body data including the minimum turning radius and the working width of the vehicle 1, and a pre-generated target driving path P for automatic driving (for example, referring to Figure 3 and when automatically driving, setting the target steering angle of the left and right front wheels 7 and inputting it into the steering angle setting unit 16E of the power steering mechanism 12, etc.

[0063] like Figure 1-2 As shown, the positioning unit 19 has: a satellite navigation device 22 that uses GPS (Global Positioning System) as an example of a global navigation satellite system (GNSS: Global Navigation Satellite System) to measure the current position and current orientation of the vehicle 1; and an inertial measurement unit (IMU: Inertial Measurement Unit) 23 that has a 3-axis gyroscope and a 3-direction acceleration sensor and measures the posture and orientation of the vehicle 1. Positioning methods using GPS include: DGPS (Differential GPS: relative positioning method), RTK-GPS (Real Time Kinematic GPS: interference positioning method), etc. In this embodiment, RTK-GPS suitable for positioning a mobile body is used. Therefore, a base station 24 that can be positioned using RTK-GPS is set at a known position around the field.

[0064] The tractor 1 and the base station 24 are respectively equipped with: Figure 1 ) and communication modules 28, 29 that can wirelessly communicate various data including positioning data between the tractor and the base station 24. Accordingly, the satellite navigation device 22 can determine the current position and current orientation of the vehicle 1 with high accuracy based on the positioning data obtained by the GPS antenna 26 on the tractor side receiving the radio waves from the GPS satellite 25 and the positioning data obtained by the GPS antenna 27 on the base station side receiving the radio waves from the GPS satellite 25. In addition, since the positioning unit 19 is equipped with the satellite navigation device 22 and the inertial measurement device 23, it can determine the current position, current orientation, and posture angles (yaw angle, roll angle, pitch angle) of the vehicle 1 with high accuracy.

[0065] like Figure 2 As shown, the portable communication terminal 3 includes a terminal electronic control unit 30 and a communication module 31, etc. The terminal electronic control unit 30 has various control programs for controlling the actions of the liquid crystal panel 4, etc., and the communication module 31 can perform wireless communication of various data between it and the communication module 28 on the tractor side.

[0066] The terminal electronic control unit 30 includes: a terminal storage unit (an example of a storage unit) 30A for storing vehicle body data etc. obtained by wireless communication with the tractor side, etc.; a positioning data acquisition unit 30B for acquiring positioning data by wireless communication with the tractor side; a field data acquisition unit 30C for acquiring field data including the size and shape of the field based on the acquired positioning data; and a target path generation unit 30D for generating a target path P for automatic driving, etc. In addition, when the target path generation mode is selected by touch operation on the liquid crystal panel 4, the terminal electronic control unit 30 displays on the liquid crystal panel 4: a path selection unit 32 for selecting the target path P; an arbitrary data input unit 33 for inputting arbitrary setting data for generating the target path; a priority item selection unit 34 for selecting a priority item related to the generation of the target path P; and a generation instruction unit 35 for issuing an instruction to generate the target path P to the target path generation unit 30D, etc. That is, in the present embodiment, the portable communication terminal 3 is used to constitute a target path generation system for generating a target path P for automatically driving the tractor 1.

[0067] The terminal storage unit 30A stores vehicle body data and field data as basic data required for generating the target path P. The arbitrary setting data input to the arbitrary data input unit 33 includes a work area determination point for determining the work area A in the field, an automatic driving start point ps, an automatic driving end point pe, a reference work direction θp, and a turning method. The priority items selected by the priority item selection unit 34 include maximizing the work area, minimizing the non-work driving distance, optimizing the circumferential driving path portion P1 along the periphery of the field, and avoiding the generation of the duplicate path portion P0.

[0068] When the target route generation mode is selected by a touch operation on the liquid crystal panel 4 , the target route generation unit 30D executes the target route generation control.

[0069] The following is based on Figure 3 The flowchart shown in FIG. 1 illustrates the control operation of the target route generation unit 30D under the target route generation control.

[0070] In the target path generation control, the target path generation unit 30D first performs a field data confirmation process (step #1). In the field data confirmation process (step #1), as the target path generation mode is selected, based on the current position of the tractor 1 obtained by the positioning data acquisition unit 30B, it is confirmed whether the corresponding field data is stored in the terminal storage unit 30A.

[0071] When corresponding field data is stored in the field data confirmation process (step #1), a target path confirmation process (step #2) is performed. In this target path confirmation process (step #2), based on the field data and the vehicle body data stored in the terminal storage unit 30A, it is confirmed whether the terminal storage unit 30A has a target path P corresponding to them stored therein.

[0072] If the corresponding target path P is stored in the target path confirmation process (step #2), a storage path selection process (step #3) is performed, in which the stored target path P is read from the terminal storage unit 30A, and the read target path P and the aforementioned path selection unit 32 are displayed on the liquid crystal panel 4, so that the user can select whether to adopt the read target path P. Then, if the user selects to adopt the read target path P, the target path generation control is terminated.

[0073] If the corresponding field data is not stored in the field data confirmation process (step #1), a field data acquisition guidance display process (step #4) is performed. In this field data acquisition guidance display process (step #4), an execution guidance of the field data acquisition travel for acquiring field data is displayed on the liquid crystal panel 4, so that the user can perform the field data acquisition travel in which the tractor 1 travels along the periphery of the field. In addition, the positioning data acquisition unit 30B is caused to perform a positioning data acquisition process (step #5). In this positioning data acquisition process (step #5), the positioning data obtained by the positioning unit 19 of the tractor 1 during the field data acquisition travel is obtained by wireless communication with the tractor side. Then, the field data acquisition unit 30C is caused to perform a field data acquisition process (step #6). In this field data acquisition process (step #6), field data including the size and shape of the field is obtained based on the positioning data obtained by the positioning data acquisition unit 30B. In this way, the field data of the field corresponding to the current position of the tractor 1 is obtained.

[0074] When the corresponding target route P is not stored in the target route confirmation process (step #2), when the user chooses not to adopt the target route P read in the stored route selection process (step #3), or when the field data is acquired in the field data acquisition process (step #6), an operation screen display process (step #7) is performed. In this operation screen display process (step #7), the aforementioned arbitrary data input unit 33, priority item selection unit 34, and generation instruction unit 35 are displayed on the liquid crystal panel 4 together with the shape of the field included in the field data. In this way, the user is prompted to input arbitrary setting data related to the generation of the target route P or select a priority item.

[0075] In the operation screen display process (step #7), when the user does not input any setting data using the arbitrary data input unit 33 but selects a priority item using the priority item selection unit 34 and then uses the generation instruction unit 35 to perform an instruction operation, the first target path generation process (step #8) is performed. In the first target path generation process (step #8), based on the aforementioned vehicle body data, field data and the selected priority item, the first target path corresponding to the priority item is generated as the target path P.

[0076] In the operation screen display process (step #7), when the user does not select a priority item using the priority item selection unit 34 but instead uses the arbitrary data input unit 33 to input each arbitrary setting data and then uses the generation instruction unit 35 to perform an instruction operation, a second target path generation process (step #9) is performed. In the second target path generation process (step #9), a second target path is generated as the target path P based on the aforementioned vehicle body data, field data and the input arbitrary setting data.

[0077] After the target path P is generated through the above-mentioned target path generation processing (steps #8 to 9), a generation path selection processing (step #10) is performed. In this generation path selection processing (step #10), the generated target path P is displayed on the liquid crystal panel 4 together with the shape of the field, the above-mentioned path selection unit 32, etc., so that the user can choose whether to adopt the generated target path P.

[0078] When the user selects to adopt the generated target route P in the generated route selection process (step # 10 ), the target route generation control is terminated.

[0079] If the user chooses not to adopt the generated target path P in the generated path selection process (step #10), the process returns to the operation screen display process (step #7), and the user is again prompted to input arbitrary setting data using the arbitrary data input unit 33, or to select a priority item using the priority item selection unit 34. Furthermore, if the user performs correction operations such as correction input or additional input of arbitrary setting data using the arbitrary data input unit 33, or additional selection of a priority item using the priority item selection unit 34 in the operation screen display process (step #7) at this time, and then performs an instruction operation using the generation instruction unit 35, the process moves to the target path correction process (step #11), and the previously generated target path P is corrected based on the arbitrary setting data input this time or the priority item selected this time, and then the process moves to the generated path selection process (step #10).

[0080] Next, based on Figure 2 , Figures 4 to 19 , generation of the target path P by the first target path generation process or the second target path generation process of the target path generation unit 30D will be described in detail.

[0081] In the first target route generation process, the target route generation unit 30D first automatically selects a shape suitable for the field (for example, Figure 4 A plurality of work area determination locations ( Figure 4 The selected work area determination locations Ap1 to Ap4 and the determined work area A are displayed on the liquid crystal panel 4 together with the shape of the field and the like to inform the user (see Figure 4 ).

[0082] Furthermore, when determining the work area A, if the number of work area determination points is increased, the work area A can be determined that is faithful to the shape of the field, but the control load required to determine the work area A becomes heavier. Furthermore, the work area A determined that is faithful to the shape of the field is not necessarily suitable for generating the target path P for automatically driving the tractor 1, and the work area determination points need to be selected in consideration of the working width of the tractor 1, etc., so as to achieve appropriate simplification of the work area A for the shape of the field. Therefore, the number of selectable work area determination points is limited to a predetermined number (for example, 30 locations) so that the control load can be suppressed from becoming excessive and the work area A suitable for the shape of the field can be determined.

[0083] Next, the reference working direction θp, the automatic driving start point ps, and the automatic driving end point pe are automatically selected in consideration of the priority items, and the selected reference working direction θp, the automatic driving start point ps, and the automatic driving end point pe are displayed on the liquid crystal panel 4 together with the working area A, etc., and notified to the user (refer to Figure 4 ).

[0084] Then, based on the determined working area A, the selected reference working direction θp, the automatic driving starting point ps and the automatic driving ending point pe, the first target path is generated as the target path P corresponding to the priority item, and the generated first target path is displayed on the LCD panel 4 together with the working area A, etc. to inform the user.

[0085] The target path generation unit 30D is generated by the user using the arbitrary data input unit 33 (see Figure 2 ) is touched to select the input of the work area determination point for determining the work area A and a plurality of work area determination points are arbitrarily input ( Figure 4 In the case where the work area determination locations Ap1 to Ap4 are input for the four locations, the work area A is determined based on the arbitrarily input work area determination locations Ap1 to Ap4, and the arbitrarily input work area determination locations Ap1 to Ap4 and the determined work area A are displayed on the liquid crystal panel 4 together with the shape of the field, etc., to inform the user (refer to Figure 4 ).

[0086] When the user selects the input of the reference working direction θp by performing a touch operation using the arbitrary data input unit 33 and arbitrarily inputs the reference working direction θp, the arbitrarily input reference working direction θp is displayed on the liquid crystal panel 4 together with the working area A and the like to inform the user (see FIG. Figure 4 ).

[0087] Furthermore, when the user selects the input of the automatic driving start point ps and the automatic driving end point pe by performing a touch operation using the arbitrary data input unit 33 and arbitrarily inputs the automatic driving start point ps and the automatic driving end point pe, the arbitrarily input automatic driving start point ps and the automatic driving end point pe are displayed on the liquid crystal panel 4 together with the work area A and the like to inform the user (see FIG. Figure 4 ).

[0088] Furthermore, when the user generates the instruction unit 35 (see Figure 2 ) is operated and receives an instruction from the generation instruction unit 35, the determined work area A and the second target path are generated through the second target path generation processing. The second target path is a target path P generated based on any input reference work direction θp, automatic driving start point ps and automatic driving end point pe, and the generated second target path is displayed on the liquid crystal panel 4 together with the work area A and so on to inform the user.

[0089] The target path generation unit 30D generates a target path through the user's Figures 5-6 The operation screen displays the rectangular field as shown in the figure. Figure 5 As shown in FIG. 1 , a plurality of work area determination points ( 100 , 101 , 102 , 103 , 104 , 105 , 106 , 107 , 108 , 109 , 110 , 111 , 112 , 113 , 114 , 115 , 116 , 117 , 118 , 119 , 120 , 121 , 122 , 123 , 124 , 125 , 126 , 127 , 128 , 129 , 130 , 131 , 132 , 133 , 134 , 135 , 136 , 137 , 138 , 139 , 140 , 141 , 142 , 143 , 144 , 145 , 146 , 147 , 148 , 149 , 150 , 151 , 152 , 153 , 154 , 155 , 156 , 157 , 158 , 159 , 160 , 161 , 162 , 163 , 164 , 165 , 166 , 167 , 168 , 169 , 170 , 171 , 172 , 173 , 174 , 175 Figures 5-6 In the state where the automatic driving start point ps and the automatic driving end point pe are arbitrarily input in a manner corresponding to the entrance and exit of the field, and the reference working direction θp is arbitrarily input as a direction along the short side of the working area A, when receiving an instruction from the generation instruction unit 35, the second target path generation processing is performed to generate Figure 5 The second target route shown is used as the target route P. Then, the generated second target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 and the like through the generated route selection process, so that the user can select whether to adopt the generated second target route.

[0090] Figure 5 The second target path shown has: a plurality of first straight working path portions P2a, which have the same length as the short side of the working area A and are arranged in parallel with a certain distance corresponding to the working width; and a plurality of direction change path portions P3, which extend from the terminal point to the starting point of adjacent first straight working path portions P2a, thereby enabling the tractor 1 to automatically travel from the automatic driving starting point ps arbitrarily input by the user to the automatic driving ending point pe.

[0091] The target path generation unit 30D generates a target path through the user's Figures 5-6 The operation screen displays the rectangular field as shown in the figure. Figure 6 As shown in FIG. 1 , a plurality of work area determination points ( 100 , 101 , 102 , 103 , 104 , 105 , 106 , 107 , 108 , 109 , 110 , 111 , 112 , 113 , 114 , 115 , 116 , 117 , 118 , 119 , 120 , 121 , 122 , 123 , 124 , 125 , 126 , 127 , 128 , 129 , 130 , 131 , 132 , 133 , 134 , 135 , 136 , 137 , 138 , 139 , 140 , 141 , 142 , 143 , 144 , 145 , 146 , 147 , 148 , 149 , 150 , 151 , 152 , 153 , 154 , 155 , 156 , 157 , 158 , 159 , 160 , 161 , 162 , 163 , 164 , 165 , 166 , 167 , 168 , 169 , 170 , 171 , 172 , 173 , 174 , 175 Figures 5-6 In this state, when receiving an instruction from the generation instruction unit 35, the second target path generation process is performed to generate the target path. Figure 6 The second target route shown is used as the target route P. Then, the generated second target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 and the like through the generated route selection process, so that the user can select whether to adopt the generated second target route.

[0092] Figure 6 The second target path shown has: a plurality of second straight working path portions P2b, which have the same length as the long side of the working area A and are arranged in parallel with a certain distance corresponding to the working width; and a plurality of direction change path portions P3, which extend from the terminal point to the starting point of adjacent second straight working path portions P2b, thereby enabling the tractor 1 to automatically travel from the automatic driving starting point ps arbitrarily input by the user to the automatic driving ending point pe.

[0093] and, Figure 6 The second target path shown is the same as Figure 5 Compared with the second target path shown in FIG. 1 , the number of direction change path portions P3 is smaller, and the travel distance of the tractor 1 is shorter, thereby achieving a reduction in fuel consumption, a reduction in working time, etc. In addition, the number of path portions constituting the target path P is smaller, so the load required to generate the target path P can be reduced.

[0094] The target path generation unit 30D generates a target path through the user's Figures 5-6 In the state where the optimization of the roundabout driving route portion P1 is selected as the priority item by operating in the operation screen display processing of the rectangular field as shown, when receiving the instruction from the generation instruction unit 35, as shown in FIG. Figures 5-6 As shown, through the first target path generation process, a plurality of work area determination locations ( Figures 5-6In the process, the work area of ​​the four parts is determined by the location Ap1~Ap4), the automatic driving start location ps, the automatic driving end location pe, etc., and the Figures 5-6 The first target routes of the two systems shown are used as the target routes P corresponding to the optimization of the circumferential driving route portion P1. Then, through the generated route selection process, the generated first target routes of the two systems are displayed on the liquid crystal panel 4 together with the aforementioned route selection unit 32, etc., so that the user can select whether to adopt the generated first target routes of the two systems.

[0095] Figure 5 The first target path shown includes the plurality of first straight working path portions P2a and the plurality of direction change path portions P3, thereby enabling the tractor 1 to automatically travel from the automatic travel start point ps determined by the target path generation unit 30D to the automatic travel end point pe.

[0096] Figure 6 The first target path shown includes the plurality of second straight working path portions P2b and the plurality of direction change path portions P3, thereby enabling the tractor 1 to automatically travel from the automatic travel start point ps determined by the target path generation unit 30D to the automatic travel end point pe.

[0097] In this case, the user can use the route selection unit 32 to select whether to adopt the first target routes of the two systems as the target route P. Furthermore, when any of these first target routes is selected as the target route P, the lateral width of the surrounding travel route portion P1 composed of the unworked area, which is the area remaining around the working area A after the tillage work is performed by the automatic driving of the tractor 1 in the working area A on the center side of the field, can be made equal to or substantially equal to an integral multiple of the working width. As a result, it is easy to make the tractor 1 perform the surrounding work by manual driving or automatic driving of the tractor 1.

[0098] Here, in response to Figures 5-6 If the user wishes to swap the positions of the automatic driving start point ps and the automatic driving end point pe based on the relationship with the entrance and exit of the tractor 1 in the field, the user uses the route selection unit 32 to select not to adopt the first target route. Figures 5-6 After the input correction of the arbitrary setting data for exchanging the positions of the automatic driving start point ps and the automatic driving end point pe is performed, if the command operation is performed by the generation command unit 35, the target path generation unit 30D performs the target path correction processing based on this, and can generate a target path in Figures 5-6 The first target route shown is the first target route obtained by reversing the positions of the automatic driving start point ps and the automatic driving end point pe.

[0099] The target path generation unit 30D generates a target path through the user's Figures 5-6 In the state where the operation screen display processing of the rectangular field as shown in the figure is operated and the maximization of the working area and the optimization of the surrounding driving path are selected as the priority items, when receiving the instruction from the generation instruction unit 35, the first target path generation processing is also performed to generate Figures 5-6 The two systems of first target routes shown are used as the target route P. Then, through the generated route selection process, the two systems of first target routes generated are displayed on the liquid crystal panel 4 together with the route selection unit 32 and the like, so that the user can select whether to adopt the two systems of first target routes generated.

[0100] The target path generation unit 30D generates a target path through the user's Figures 5-6 In the state where the operation screen display processing of the rectangular field as shown is performed and the minimization of the non-operation travel distance and the optimization of the roundabout travel route are selected as the priority items, when an instruction is received from the generation instruction unit 35, as shown in FIG. Figure 6 As shown, through the first target path generation processing, a plurality of work area determination locations ( Figures 5-6 In the above, the working areas of the four parts are determined by determining the locations Ap1 to Ap4), the automatic driving starting location ps, the automatic driving ending location pe, the reference working direction θp, etc., thereby generating Figure 6 The first target route shown is used as the target route P. Then, the generated first target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 and the like through the generated route selection process, so that the user can select whether to adopt the generated first target route.

[0101] Figure 6 The first target path shown includes the plurality of second straight working path portions P2b and the plurality of direction change path portions P3, thereby enabling the tractor 1 to automatically travel from the automatic travel start point ps determined by the target path generation unit 30D to the automatic travel end point pe.

[0102] In this case, Figure 6 The first target path shown is the same as Figure 5Compared with the first target path shown in FIG. 1 , the number of direction change path portions P3 is smaller, thereby minimizing the non-operating travel distance. In addition, the lateral width of the surrounding travel path portion P1 composed of the non-operating area, which is the area remaining around the working area A after the tillage work is performed by the automatic driving of the tractor 1 in the working area A on the central side of the field, can be made equal to or substantially equal to an integral multiple of the working width. As a result, it is possible to reduce fuel consumption and shorten the working time due to the shortening of the non-operating travel distance, and it is easy to make the tractor 1 perform the surrounding work travel by manual driving or automatic driving of the tractor 1.

[0103] The target path generation unit 30D generates a target path through the user's Figures 5-6 In the state where the operation screen display processing of the rectangular field as shown in the figure is operated and the maximization of the working area, the minimization of the non-working driving distance and the optimization of the surrounding driving route are selected as the priority items, when receiving the instruction from the generation instruction unit 35, the first target route generation processing is also performed to generate Figure 6 The first target route shown is used as the target route P. Then, the generated first target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 and the like through the generated route selection process, so that the user can select whether to adopt the generated first target route.

[0104] The target path generation unit 30D generates a target path through the user's Figures 7-8 The operation screen of the concave field with the extension 36 shown in FIG. Figure 7 As shown in FIG. 1 , a plurality of work area determination points ( Figure 7 In the state where the automatic driving start point ps and the automatic driving end point pe are arbitrarily input in a manner corresponding to the entrance and exit of the field, and the reference working direction θp is arbitrarily input as a direction along the long side of the working area A, when receiving an instruction from the generation instruction unit 35, the second target path generation processing is performed to generate Figure 7 The second target route shown is used as the target route P. Then, the generated second target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 and the like through the generated route selection process, so that the user can select whether to adopt the generated second target route.

[0105] Figure 7The second target path shown has: the aforementioned multiple second straight working path portions P2b; a detour working path portion P4, which has a detour path portion Pa that interrupts the tillage operation and bypasses the extension portion 36 and is adjacent to the final second straight working path portion P2b; and multiple direction change path portions P3, which extend from the terminal points of the adjacent second straight working path portions P2b and the detour working path portion P4 to the starting points, thereby enabling the tractor 1 to automatically travel from the automatic driving starting point ps arbitrarily input by the user to the automatic driving ending point pe.

[0106] In this case, in the final second straight work path portion P2b, the path portion adjacent to the detour path portion Pa is stepped on when the tractor 1 automatically travels on the detour path portion Pa and becomes a non-worked portion Pb, thereby narrowing the final work area.

[0107] The target path generation unit 30D generates a target path through the user's Figures 7-8 In the operation screen display process of the concave field with the protruding portion 36 shown in the figure, when the maximization of the working area is selected as the priority item, when receiving the instruction from the generation instruction unit 35, the first target path generation process is performed to first obtain the cause. Figure 7 The difference in working area caused by the presence or absence of the detour working path portion P4 is shown.

[0108] Furthermore, when the working area becomes wider due to the presence of the detour working path portion P4, as shown in FIG. Figure 7 As shown, a plurality of work area determination locations ( Figure 7 The work area of ​​8 parts is determined by the location Ap1~Ap8), the automatic driving start location ps, the automatic driving end location pe, the reference work direction θp, etc., thereby generating Figure 7 The first target route shown is used as the target route P. Then, the generated first target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 and the like through the generated route selection process, so that the user can select whether to adopt the generated first target route.

[0109] On the contrary, when the working area becomes narrower due to the presence of the detour working path portion P4, as shown in FIG. Figure 8 As shown, a plurality of work area determination locations ( Figure 8 The work area of ​​the four parts is determined by the location Ap1~Ap4), the automatic driving start location ps, the automatic driving end location pe, the reference work direction θp, etc., thereby generating Figure 8 The first target route shown is used as the target route P. Then, the generated first target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 and the like through the generated route selection process, so that the user can select whether to adopt the generated first target route.

[0110] Figure 7 The first target path shown includes the plurality of second straight working path portions P2b, the roundabout working path portion P4, and the plurality of direction change path portions P3, thereby enabling the tractor 1 to automatically travel from the automatic travel start point ps determined by the target path generation unit 30D to the automatic travel end point pe.

[0111] Figure 8 The first target path shown includes the plurality of second straight working path portions P2b and the plurality of direction change path portions P3, thereby enabling the tractor 1 to automatically travel from the automatic travel start point ps determined by the target path generation unit 30D to the automatic travel end point pe.

[0112] The target path generation unit 30D generates a target path through the user's Figures 7-8 In the operation screen display process of the concave field with the protruding portion 36 shown in the figure, when the shortest non-operation travel distance is selected as the priority item, when receiving the instruction from the generation instruction unit 35, the first target path generation process is performed to generate a Figure 8 The first target route not including the detour route portion P4 is set as the target route P. Then, the generated first target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 and the like through the generated route selection process, so that the user can select whether to adopt the generated first target route.

[0113] That is, the target path generation unit 30D Figures 7-8 When the first target path generation process generates the first target path (target path P) in the concave field having the protruding portion 36 shown in FIG. 1 , at the stage of determining the work area A, a wide work area A (see FIG. 1 ) having a concave shape and requiring a detour work path portion P4 is determined. Figure 7 ) is better, or it is better to determine a rectangular narrower working area A (refer to Figure 8 ) is better to judge, and in the case where it is better to determine a concave-shaped wider working area A, a large number of working area determination locations required for the determination are selected ( Figure 7 After determining the working area locations Ap1 to Ap8 for the eight parts in the figure, the first target path is generated as described above. On the contrary, when it is better to determine a rectangular narrow working area A, after selecting a small number of working area determination locations ( Figure 8 After determining locations Ap1 to Ap4 for the four work areas, the first target path is generated as described above.

[0114] The target path generation unit 30D generates a target path through the user's Figures 9 to 12 In a state where the optimization of the circumferential driving path portion is selected as a priority item by operating in the operation screen display processing of the substantially rectangular field having the protruding portion 37 shown in FIG. 1 , when receiving an instruction from the generation instruction unit 35, a plurality of work area determination locations ( 100 ) are automatically determined by the first target path generation processing in such a manner that a rectangular work area A that can ensure the circumferential driving path portion (circumferential driving area) P1 between the outer periphery of the field can be obtained. Figures 9 to 12 In the example, the work area of ​​the four parts is determined by the location Ap1 to Ap4), the automatic driving start location ps, the automatic driving end location pe, etc., thereby generating Fig. 9 The first target route shown is used as the target route P corresponding to the optimization of the circumferential driving route portion P1. Then, through the generated route selection process, the generated first target route is displayed on the liquid crystal panel 4 together with the aforementioned route selection unit 32, so that the user can select whether to adopt the generated first target route.

[0115] Here, for Fig. 9 The first target path shown in FIG. 1 is used when the user wishes to change the automatic driving end point pe from the position indicated in FIG. 1 to the position indicated in FIG. 1 according to the relationship between the entrance and exit of the tractor 1 in the field. Fig. 9 The position shown is changed to Figures 10-12 In the case of the position shown in FIG. 1 , the path selection unit 32 selects not to use Fig. 9 After the first target path shown, the reference working direction θp is set to the direction along the short side of the working area A and the position of the automatic driving end point pe is changed to Figures 10-12 The input correction of the arbitrary setting data of the position shown in the figure, and then, if the command operation is performed by the generation command unit 35, the target path generation unit 30D performs the target path correction processing based on this, and can generate, for example Figures 10-12 The three systems of first target routes shown are used as the first target routes corresponding to the automatic driving end point pe after the change.

[0116] Fig.10The first target path shown has: the aforementioned multiple first straight working path portions P2a; a roundabout moving path portion P5, which has a roundabout path portion Pa that bypasses the extension portion 37 and is adjacent to the final first straight working path portion P2a; and multiple direction change path portions P3, which extend from the terminal points of the adjacent first straight working path portions P2a and the roundabout moving path portions P5 to the starting points, thereby enabling the tractor 1 to automatically travel from the automatic driving starting point ps determined by the target path generating unit 30D to the automatic driving ending point pe obtained by the user's correction input.

[0117] Fig.11 The first target path shown has: the aforementioned multiple first straight working path portions P2a; multiple direction change path portions P3, which extend from the terminal point to the starting point of the adjacent first straight working path portions P2a; and a surrounding driving path portion P1, which extends from the terminal point of the final first straight working path portion P2a to the automatic driving end point pe, thereby enabling the tractor 1 to automatically drive from the automatic driving start point ps determined by the target path generating unit 30D to the automatic driving end point pe obtained by the user's correction input.

[0118] Fig.12 The first target path shown comprises: the aforementioned multiple first straight working path portions P2a; multiple direction change path portions P3, which extend from the terminal position to the starting position of the adjacent first straight working path portions P2a; a single return direction change path portion P6, which extends from the terminal position of the final first straight working path portion P2a to the starting position of the second-to-last first straight working path portion P2a adjacent to the final first straight working path portion P2a; and a moving path portion P7, which extends from the terminal position of the second-to-last first straight working path portion P2a to the automatic driving end position pe, thereby enabling the tractor 1 to automatically drive from the automatic driving start position ps determined by the target path generating portion 30D to the automatic driving end position pe obtained by the correction input by the user by performing the path setting of the first moving travel and the second working travel in the second-to-last first straight working path portion P2a.

[0119] In this case, the user can select whether to adopt the first target routes of the three systems as the target route P by using the route selection unit 32 through the generated route selection processing of the target route generation unit 30D.

[0120] In choosing Fig.10When the first target path shown is used as the target path P, the non-operation travel distance in the target path P is relatively short, so that the fuel consumption and the operation time can be reduced due to the reduction of the non-operation travel distance. On the contrary, in the final first straight operation path portion P2a, the path portion adjacent to the detour path portion Pa is stepped on when the tractor 1 automatically travels on the detour path portion Pa and becomes a non-operation portion Pb, thereby narrowing the final operation area.

[0121] In the selection Fig.11 When the first target path shown is used as the target path P, the work can be performed in the entire work area A, and the following disadvantages can be avoided: the tractor 1 repeatedly travels on the same path portion of the target path P for many times, so that the path portion is trampled and it is difficult to work. On the contrary, due to the presence of the circular travel path portion P1, the non-operation travel distance in the target path P becomes longer, thereby increasing fuel consumption and prolonging the operation time.

[0122] In the selection Fig.12 When the first target path shown is used as the target path P, the entire working area A can be worked, and the non-working travel distance in the target path P is shortened, so that the fuel consumption and the working time can be reduced due to the shortening of the non-working travel distance. On the contrary, the following undesirable situation may occur: the second to last first straight working path portion P2a is trampled and it is difficult to work because the tractor 1 repeatedly travels on the second to last first straight working path portion P2a twice.

[0123] The target path generation unit 30D generates a target path through the user's Figures 9 to 12 The operation screen display process of the substantially rectangular field with the extension portion 37 shown in FIG. Fig.10 As shown, a plurality of work area determination points ( Fig.10 In the state where the automatic driving start point ps and the automatic driving end point pe are arbitrarily input in a manner corresponding to the entrance and exit of the field, and the reference working direction θp is arbitrarily input as a direction along the short side of the working area A, when receiving an instruction from the generation instruction unit 35, the second target path generation processing is performed to generate a target path. Fig.10 The second target route shown is used as the target route P. Then, the generated second target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 and the like through the generated route selection process, so that the user can select whether to adopt the generated second target route.

[0124] Here, in response to Fig.10 If the user is dissatisfied with the occurrence of the unworked portion Pb in the final first straight work path portion P2a, for example, the user selects not to adopt the second target path using the path selection unit 32. Fig.10 After the second target path shown in FIG. 1 is obtained, the maximization of the working area is selected as the priority item for correction. After that, if the instruction operation is performed using the generation instruction unit 35, the target path correction processing is performed based on this by the target path generation unit 30D, and it is possible to generate, for example, Figures 11-12 The second target paths of the two systems shown are used as the second target paths corrected based on the maximization of the work area.

[0125] In addition, as mentioned above, Fig.10 If the second target route shown is not satisfactory, for example, the route selection unit 32 selects not to adopt the target route. Fig.10 After the second target path shown in FIG. 1 is obtained, maximizing the working area and avoiding the generation of the repeated path portion P0 are selected as the priority items for correction. After that, if the generation instruction unit 35 is used to perform an instruction operation, the target path correction processing is performed by the target path generation unit 30D based on this, and it is possible to generate, for example, Fig.11 The second target path shown is the second target path corrected based on maximization of the work area and avoidance of generation of the overlapping path portion P0.

[0126] In addition, as mentioned above, Fig.10 If the second target route shown is not satisfactory, for example, the route selection unit 32 selects not to adopt the target route. Fig.10 After the second target path shown in FIG. 1 is shown, the maximization of the working area and the minimization of the non-working travel distance are selected as the priority items for correction. After that, if the instruction operation is performed using the generation instruction unit 35, the target path correction processing is performed based on this by the target path generation unit 30D, and it is possible to generate, for example, Fig.12 The second target route shown is the second target route corrected based on maximization of the work area and minimization of the non-work travel distance.

[0127] The target path generation unit 30D generates a target path through the user's Figures 13-15 The operation screen of the concave field with the extension 38 shown in FIG. Fig.13 As shown, a plurality of work area determination points ( Fig.13In the state where the automatic driving start point ps and the automatic driving end point pe are arbitrarily input in a manner corresponding to the entrance and exit of the field, and the reference working direction θp is arbitrarily input as the direction along the long side of the working area A, when receiving the instruction from the generation instruction unit 35, the second target path generation processing is performed to generate Fig.13 The second target route shown is used as the target route P. Then, the generated second target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 and the like through the generated route selection process, so that the user can select whether to adopt the generated second target route.

[0128] Fig.13 The second target path shown has: the aforementioned multiple second straight working path portions P2b; two detour working path portions P4, which have a common detour path portion Pa that bypasses the extension portion 38; and multiple direction change path portions P3, which extend from the terminal points of the adjacent first straight working path portions P2a and the detour working path portions P4 to the starting points, thereby enabling the tractor 1 to automatically travel from the automatic driving starting point ps arbitrarily input by the user to the automatic driving ending point pe.

[0129] In this case, the common detour path portion Pa becomes a repeated path portion P0 on which the tractor 1 repeatedly travels during the automatic travel of the tractor 1 . This may cause a problem in which the detour path portion Pa is treaded down by the repeated travel of the tractor 1 , making it difficult to perform work.

[0130] The target path generation unit 30D generates a target path through the user's Figures 13-15 In a state where the optimization of the circumferential travel path portion is selected as a priority item by operating in the operation screen display processing of the concave field having the protruding portion 38 shown in FIG. 1 , when receiving an instruction from the generation instruction unit 35, a plurality of work area determination locations ( 100 ) are automatically determined by the first target path generation processing in such a manner that a concave work area A that can ensure the circumferential travel path portion (circumferential travel area) P1 between the outer periphery of the field can be obtained. Figures 13-14 The locations Ap1 to Ap8 are determined for the 8 working areas. Fig.15 The automatic driving start point ps, the automatic driving end point pe, etc. are generated. Fig.13 The first target route shown is used as the target route P corresponding to the optimization of the circumferential driving route portion P1. Then, through the generated route selection process, the generated first target route is displayed on the liquid crystal panel 4 together with the aforementioned route selection unit 32, so that the user can select whether to adopt the generated first target route.

[0131] Here, in response to Fig.13 If the user is dissatisfied with the existence of the repeated path portion P0, for example, the path selection unit 32 selects not to adopt the first target path. Fig.13 After the first target path shown in FIG. 1 is generated, avoiding the generation of the repeated path portion P0 is selected as a priority item for correction. After that, if the generation instruction unit 35 is used to perform an instruction operation, the target path correction processing is performed by the target path generation unit 30D based on this, and it is possible to generate, for example Figures 14-15 The first target routes of the two systems shown are first target routes corrected based on the generation of the overlap-avoiding route portion P0.

[0132] The target path generation unit 30D generates Fig.15 When following the first target path shown in the figure, 9 working areas are selected to determine locations Ap1 to Ap9, and the concave working area A is automatically divided into two areas, namely, a wider L-shaped first area A1 and a narrower rectangular second area A2, and the starting and ending locations of travel in the first area A1 and the second area A2 are automatically determined.

[0133] Fig.14 The first target path shown has: the aforementioned plurality of second straight working path portions P2b; two detour working path portions P4, which have detour path portions Pa that bypass the extension portion 38; and a plurality of direction change path portions P3, which extend from the terminal locations of the adjacent first straight working path portions P2a and the detour working path portions P4 to the starting locations, thereby enabling the tractor 1 to automatically travel from the automatic travel starting location ps determined by the target path generation unit 30D to the automatic travel ending location pe. In other words, Fig.14 The first target path shown has two detour operation path portions P4, so there is no Fig.13 The repeated path portion P0 on which the tractor 1 repeatedly travels generated in the first target path shown can avoid the occurrence of a problem in which the repeated path portion P0 is trampled and becomes difficult to work.

[0134] Fig.15The first target path shown has: the aforementioned multiple second straight working path portions P2b, which are generated in the wide area portion of the first area A1; multiple third straight working path portions P2c, which are generated in the narrow area portion of the first area A1 by the same configuration setting as the second straight working path portion P2b; the fourth straight working path portion P2d, which is generated in the second area A2 by the same configuration setting as the second straight working path portion P2b; multiple direction change path portions P3, which are from the terminal point to the starting point of the adjacent first straight working path portion P2a to the fourth straight working path portion P2d; and a single detour moving path portion P8, which has a detour path portion Pa that bypasses the extension portion 38 and goes from the driving terminal point in the first area A1 to the driving start point in the second area A2, thereby enabling the tractor 1 to automatically drive from the automatic driving start point ps determined by the target path generation unit 30D to the automatic driving end point pe. In other words, Fig.15 The first target path shown has a single detour path portion P8, so there is no Fig.13 The repeated path portion P0 on which the tractor 1 repeatedly travels in the first target path shown can avoid the occurrence of a problem in which the repeated path portion P0 is trampled and becomes difficult to work.

[0135] The target path generation unit 30D generates a target path through the user's Figures 16-17 The operation screen of the trapezoidal field shown in the figure is displayed during the operation. Fig.16 As shown, a plurality of work area determination points ( Fig.16 In the state where the automatic driving start point ps and the automatic driving end point pe are arbitrarily input in a manner corresponding to the entrance and exit of the field, and the reference working direction θp is arbitrarily input as a direction along the long side of the working area A, when receiving an instruction from the generation instruction unit 35, the second target path generation processing is performed to generate Fig.16 The second target path shown is used as the target path P.

[0136] Fig.16 The second target path shown has: the aforementioned multiple second straight working path portions P2b; and multiple direction change path portions P3, which extend from the terminal point to the starting point of the adjacent second straight working path portions P2b, thereby enabling the tractor 1 to automatically travel from the automatic driving starting point ps arbitrarily input by the user to the automatic driving ending point pe.

[0137] The target path generation unit 30D generates a target path through the user's Figures 16-17The operation screen of the trapezoidal field shown in the figure is displayed during the operation. Fig.17 In a state where the optimization of the circling travel path portion P1 is selected as a priority item as shown in the figure, when receiving an instruction from the generation instruction unit 35, a plurality of work area determination locations ( Fig.17 The work area of ​​the four parts is determined by the location Ap1~Ap4), the automatic driving end point pe, the work width, etc., thereby generating Fig.17 The first target path shown is used as the target path P.

[0138] Fig.17 The first target path shown has: the aforementioned multiple second straight working path portions P2b; and multiple direction change path portions P3, which extend from the terminal point to the starting point of the adjacent second straight working path portions P2b, thereby enabling the tractor 1 to automatically travel from the automatic driving starting point ps determined by the target path generating unit 30D to the automatic driving ending point pe.

[0139] for Fig.17 For the multiple second straight working path portions P2b in the first target path shown, based on the fact that the working area A is a trapezoid, the orientation of each second straight working path portion P2b is set to have a different adjustment angle θa relative to the reference working direction θp, so that when the tractor 1 automatically travels on the second straight working path portion P2b, the repetition amount of the working width gradually changes according to the trapezoidal working area A.

[0140] According to this, the lateral width of the circular travel path portion P1 composed of the non-operated area, which is the area remaining around the working area A after the tillage work is performed by the automatic driving of the tractor 1 in the working area A on the central side of the field, can be made equal to or substantially equal to an integral multiple of the working width. As a result, the tractor 1 can be easily driven manually or automatically to perform circular work.

[0141] The target path generation unit 30D inputs a switchback method suitable for a case where the minimum turning radius is larger than half the working width by the user, for example, in the operation screen display process. Fig.19 The zigzag turn shown in the figure is used as the turning method instead of the usual turning radius which is applicable to the case where the minimum turning radius is less than half of the working width. Fig.18 In the state where the U-turn shown is used as the turning method, the second target path generation process is performed to generate a path having Fig.19The tractor 100 uses the second target path of the second direction change path section P3b for zigzag turning as the target path P. After that, when receiving an instruction from the instruction generation section 35 in a state where maximization of the working area is selected as the priority item for correction, the tractor 100 uses the target path correction process to first determine whether a zigzag turn is suitable based on the minimum turning radius and working width of the tractor 1 included in the vehicle body data. If a zigzag turn is suitable, the zigzag turn inputted at random is used. Fig.19 The above-mentioned direction change path portion P3 is generated in the second direction change path portion P3b for the zigzag turn shown in FIG. In addition, when the zigzag turn is not suitable, the turning method is changed from the zigzag turn inputted arbitrarily to a U-turn. Fig.18 The above-mentioned direction change path section P3 is generated in the first direction change path section P3a for U-turn shown in the figure. Moreover, by changing the turning method, the non-working area A3 on the ridge side that must be ensured in the field for the zigzag turn using the zigzag path section Pc with a larger working width can be eliminated, thereby maximizing the working area.

[0142] Although not shown in the figure, when generating a plurality of target paths P, the target path generating unit 30D performs a calculation process to obtain the difference in the working area, non-working travel distance, etc. formed based on these target paths P, and performs the following difference display process, that is, the difference in the working area, non-working travel distance, etc. obtained by the calculation process is displayed together with the generated plurality of target paths P on the liquid crystal panel 4 to inform the user.

[0143] With this, when the target route generation unit 30D generates a plurality of target routes P, the user can easily visually check the differences between the target routes P and can easily select a target route P that is more suitable for his or her own values ​​and the like.

[0144] The target route generation unit 30D stores the generated target route P in the terminal storage unit 30A as route data associated with the vehicle body data, field data, and the like.

[0145] Thus, the target route generating unit 30D can perform the aforementioned field data confirmation process based on the current position of the tractor 1 acquired by the positioning data acquiring unit 30B and the aforementioned target route confirmation process based on the field data and the vehicle body data.

[0146] Although omitted from the illustration, when the target path generation unit 30D cannot generate the target path P based on any setting data because any setting data input by the user during the operation on the operation screen display process is inappropriate, the target path generation unit 30D performs the following processing: error display processing in which the situation in which the target path P cannot be generated and the reason thereof are displayed on the liquid crystal panel 4 to inform the user, and solution display processing in which a solution is displayed on the liquid crystal panel 4 to provide suggestions to the user.

[0147] For example, when the work area A determined based on the plurality of work area determination locations input by the user through operation in the operation screen display process is too narrow to generate the target path P, first, in the error display process, error messages such as "Error in generating the target path" and "Cannot generate the target path because the work area is too narrow" are displayed on the liquid crystal panel 4 to inform the user. Then, in the solution display process, the shape of the field to be worked on, the work area A suitable for the shape of the field, and a message for confirming that the setting is changed to the suitable work area A are displayed on the liquid crystal panel 4 to inform the user.

[0148] For example, when the shape of the work area determined by the plurality of work area determination points input by the user in the operation screen display process is too complex to generate the target path P, first, in the error display process, error messages such as "Error in generating the target path" and "Cannot generate the target path because the work area is too complex" are displayed on the liquid crystal panel 4 to inform the user. Then, in the solution display process, the shape of the field to be worked on, the work area A simplified appropriately for the shape of the field, and a message for confirming the setting change to the simplified work area A are displayed on the liquid crystal panel 4 to inform the user.

[0149] For example, when the reference working direction θp input by the user through the operation in the operation screen display process is inappropriate and the target path P cannot be generated, first, in the error display process, error messages such as "Error in generating the target path" and "Cannot generate the target path due to inappropriate reference working direction" are displayed on the liquid crystal panel 4 to inform the user. Then, in the solution display process, the shape of the field to be worked, the reference working direction θp appropriate for the shape of the field, and a message for confirming that the setting is changed to the appropriate reference working direction θp are displayed on the liquid crystal panel 4 to inform the user.

[0150] Based on the above, according to the target path generation system, when generating a target path P for automatic driving, the user can choose: the normal operation of arbitrarily inputting all arbitrary setting data required to generate the target path P in the arbitrary data input unit 33, and the simple operation of selecting priority items corresponding to his own values ​​in the priority item selection unit 34.

[0151] According to this, when the user is accustomed to the input operation of arbitrary setting data, the target path P (second target path) can be obtained based on the user's values, etc. by performing normal operations. In addition, when the user is not good at the input operation of arbitrary setting data, the target path P (first target path) suitable for the user's values, etc. can be obtained without taking any effort by performing simple operations. Moreover, when the user is dissatisfied with the generated target path P, the user can perform correction input or additional input of arbitrary setting data using the arbitrary data input unit 33, or additional selection of priority items using the priority item selection unit 34 as a correction operation for eliminating the dissatisfaction, thereby obtaining the target path P that eliminates the dissatisfaction.

[0152] [Other implementation methods]

[0153] Other embodiments of the present invention will be described.

[0154] In addition, the configuration of each embodiment described below is not limited to being applied independently, and can also be applied in combination with the configuration of other embodiments.

[0155] (1) The target route generation system for a work vehicle may be included in the work vehicle 1 .

[0156] (2) The structure of the work vehicle 1 can be modified in various ways.

[0157] For example, the work vehicle 1 may be configured as a hybrid type including the engine 10 and an electric motor for traveling, or may be configured as an electric type including an electric motor for traveling instead of the engine 10 .

[0158] For example, the work vehicle may be configured as a rear-wheel steering type in which the left and right rear wheels 8 function as steering wheels.

[0159] For example, the work vehicle 1 may be configured as a half-crawler type including left and right crawler tracks instead of the left and right rear wheels 8 .

[0160] For example, the work vehicle 1 may be configured as a full crawler type including left and right crawler tracks instead of the left and right front wheels 7 and the left and right rear wheels 8 .

[0161] (3) The target path generating unit 30D may be configured to automatically generate a first target path based on a priority item when generating a second target path based on arbitrary setting data as the target path P, and to display the second target path and the first target path on the display unit 4, and to display a difference between the second target path and the first target path based on the priority item.

[0162] (4) The target path generation unit 30D may be configured to automatically generate first target paths based on other priority items when generating the first target path based on the selected priority item as the target path P, and to display these first target paths on the display unit 4, and to display the differences between these first target paths based on the priority items.

[0163] (5) The priority item selection unit 34 may be configured to include a reduction in fuel consumption, a reduction in work time, or a reduction in the number of path sections in the target path P as the priority items described above.

[0164] (6) The path selection unit 32, the arbitrary data input unit 33, and the priority item selection unit 34 may be configured by, for example, a keyboard having key switches.

[0165] Possibility of industrial application

[0166] The present invention can be applied to a target path generation system for a work vehicle that generates a target path, and the target path is used for automatic driving of the following vehicles: riding work vehicles such as tractors, riding rice transplanters, combine harvesters, riding lawn mowers, wheel loaders, and snowplows that are configured to be able to drive automatically; and unmanned work vehicles such as unmanned lawn mowers.

[0167] Description of Reference Numerals

[0168] 4Display unit

[0169] 30A Storage

[0170] 30D Target Path Generation Unit

[0171] 32 Path selection unit

[0172] 33 Arbitrary data input unit

[0173] 34 Priority Project Selection Department

[0174] P Target Path

Claims

1. A target path generation system for a work vehicle, A path generation unit is provided, the path generation unit generating a plurality of straight paths for the working vehicle to automatically travel in the field, The path generation unit adjusts the orientation of each of the plurality of linear paths based on the shape of the field.

2. The target path generation system for a work vehicle according to claim 1, characterized in that: The path generating unit generates the plurality of straight paths based on a reference working direction, and when a non-parallel outer edge which is an outer edge of the field and is not parallel to the reference working direction is located in a direction in which the plurality of straight paths are arranged, the orientation of each of the plurality of straight paths is adjusted based on the reference working direction and the non-parallel outer edge.

3. The target path generation system for a work vehicle according to claim 2, characterized in that: The path generation unit adjusts the orientation of each of the plurality of linear paths so that the orientation of a linear path having a shorter distance to the non-parallel outer edge among the plurality of linear paths is closer to the non-parallel outer edge.

4. A method for generating a target path for a work vehicle, comprising: The step of generating a plurality of straight line paths for automatically driving a work vehicle in a field; as well as The step of adjusting the orientation of each of the plurality of linear paths based on the shape of the field.

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