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

Abstract

Provided are a route generation method, a route generation program, and a route generation system with which it is possible to generate a target route including a turning route in which work can be performed while turning. In an automatic travel system (1), a setting processing unit (212) sets a first reference line that is a reference for generating a target route and includes a plurality of first partial straight lines. The generation processing unit (213) generates a target path by moving each of the plurality of first partial straight lines individually in parallel by a predetermined distance and connecting each of the plurality of second partial straight lines corresponding to each of the plurality of first partial straight lines after the parallel movement.

Description

Technical Field

[0001] The present invention relates to a technique for generating a target path for causing a work vehicle to automatically travel. Background Art

[0002] Conventionally, there has been known a work vehicle that automatically travels along a preset target path in a field. For example, the work vehicle automatically travels along target paths set in an inner peripheral area of a central part of the field and an outer peripheral area (headland area) of an outer peripheral part of the field (see, for example, Patent Document 1).

[0003] Patent Document 1: Japanese Patent No. 7049033

[0004] However, when the work vehicle performs work in the field, there are not only cases where the work vehicle travels in a straight line while performing work, but also cases where the work vehicle travels in a curved line (turns) while performing work. In order for the work vehicle to perform work while turning, it is necessary to set a target path including a turning path that can perform work while turning. However, in the prior art, the case of performing work while turning during automatic travel is not assumed, and it is difficult to generate a target path including a turning path that can perform work while turning. Summary of the Invention

[0005] An object of the present invention is to provide a path generation method, a path generation program, and a path generation system capable of generating a target path including a turning path that can perform work while turning.

[0006] The path generation method according to the present invention is a path generation method for generating a target path for causing a work vehicle to automatically travel in a work area. The path generation method performs: setting a first reference line that serves as a reference when generating the target path and includes a plurality of first partial straight lines; individually parallelly moving each of the plurality of first partial straight lines by a predetermined distance; and connecting each of a plurality of second partial straight lines corresponding to the parallelly moved plurality of first partial straight lines to generate the target path.

[0007] The path generation program according to the present invention is a path generation program for generating a target path for causing a work vehicle to automatically travel in a work area. The path generation program causes one or more processors to execute: setting a first reference line that serves as a reference when generating the target path and includes a plurality of first partial straight lines; individually parallelly moving each of the plurality of first partial straight lines by a predetermined distance; and connecting each of a plurality of second partial straight lines corresponding to the parallelly moved plurality of first partial straight lines to generate the target path.

[0008] The path generation system according to the present invention is a path generation system that generates a target path for automatically driving a work vehicle in a work area. The path generation system includes a setting unit and a generation unit. The setting unit sets a first reference line, which serves as a reference when generating the target path and includes a plurality of first partial straight lines. The generation unit individually translates each of the plurality of first partial straight lines by a predetermined distance in parallel, and connects each of the plurality of second partial straight lines corresponding to the translated plurality of first partial straight lines to generate the target path.

[0009] According to the present invention, it is possible to provide a path generation method, a path generation program, and a path generation system that can generate a target path including a turning path that can perform operations while turning. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a block diagram showing the configuration of the automatic driving system according to the embodiment of the present invention.

[0011] Figure 2 It is an external view showing the configuration of the work vehicle according to the embodiment of the present invention.

[0012] Figure 3 It is a diagram showing an example of a method for registering a field according to the embodiment of the present invention.

[0013] Figure 4 It is a diagram showing an example of a method for registering a field according to the embodiment of the present invention.

[0014] Figure 5 It is a diagram showing an example of a menu screen displayed on an operation terminal according to the embodiment of the present invention.

[0015] Figure 6 It is a diagram showing an example of a method for setting a first reference line and a second reference line according to the embodiment of the present invention.

[0016] Figure 7A It is a diagram showing an example of a method for converting a curve included in a second reference line according to the embodiment of the present invention into a straight line.

[0017] Figure 7B It is a diagram showing an example of a method for converting a curve included in a second reference line according to the embodiment of the present invention into a straight line.

[0018] Figure 7C It is a diagram showing an example of a method for converting a curve included in a second reference line according to the embodiment of the present invention into a straight line.

[0019] Figure 8 This is a diagram showing the problem points that occur when generating a target path by copying the entire first reference line.

[0020] Figure 9 This is a diagram showing an example of a method for generating a target path according to an embodiment of the present invention.

[0021] Figure 10A This is a diagram for explaining the method for generating a target path according to an embodiment of the present invention.

[0022] Figure 10B This is a diagram for explaining the method for generating a target path according to an embodiment of the present invention.

[0023] Figure 10C This is a diagram for explaining the method for generating a target path according to an embodiment of the present invention.

[0024] Figure 11 This is a diagram showing an example of a target path generated by the generation method according to an embodiment of the present invention.

[0025] Figure 12 This is a flowchart showing an example of the steps of the path generation process executed by the automatic driving system according to an embodiment of the present invention.

[0026] Figure 13A This is a diagram showing an example of a method for generating a target path according to another embodiment of the present invention.

[0027] Figure 13B This is a diagram showing an example of a method for generating a target path according to another embodiment of the present invention.

[0028] Figure 14A This is a diagram showing an example of a method for generating a target path according to another embodiment of the present invention.

[0029] Figure 14B This is a diagram showing an example of a method for generating a target path according to another embodiment of the present invention.

[0030] Figure 15A This is a diagram showing an example of a method for generating a target path according to another embodiment of the present invention.

[0031] Figure 15B This is a diagram showing an example of a method for generating a target path according to another embodiment of the present invention.

[0032] Figure 15C This is a diagram showing an example of a method for generating a target path according to another embodiment of the present invention.

[0033] Figure 16 This is a diagram showing another example of the method for setting the first reference line related to the embodiment of the present invention.

[0034] Figure 17A This is a diagram showing an example of the job area registration screen displayed on the operation terminal related to the embodiment of the present invention.

[0035] Figure 17B This is a diagram showing an example of the job area registration screen displayed on the operation terminal related to the embodiment of the present invention.

[0036] Figure 18A This is a diagram showing an example of the method for determining the measurement points of the endpoints of the reference curve related to the embodiment of the present invention.

[0037] Figure 18B This is a diagram showing an example of the method for determining the measurement points of the endpoints of the reference curve related to the embodiment of the present invention.

[0038] Figure 18C This is a diagram showing an example of the method for determining the measurement points of the endpoints of the reference curve related to the embodiment of the present invention.

[0039] Figure 18D This is a diagram showing an example of the method for determining the measurement points of the endpoints of the reference curve related to the embodiment of the present invention.

[0040] Figure 19 This is a diagram showing an example of the method for determining the measurement points of the endpoints of the reference curve related to the embodiment of the present invention.

[0041] Figure 20 This is a diagram showing an example of the job area registration screen displayed on the operation terminal related to the embodiment of the present invention.

[0042] Figure 21A This is a diagram showing another example of the method for generating the first reference line related to the embodiment of the present invention.

[0043] Figure 21B This is a diagram showing another example of the method for generating the first reference line related to the embodiment of the present invention.

[0044] Figure 22 This is a diagram showing an example of the method for extending the first reference line related to the embodiment of the present invention.

[0045] Figure 23 This is a diagram showing another example of the method for generating the job path related to the embodiment of the present invention.

[0046] Figure 24AThis is a diagram showing the state in which the operation path according to the embodiment of the present invention is extended.

[0047] Figure 24B This is a diagram showing an example of a display method of an operation path according to the embodiment of the present invention.

[0048] Figure 24C This is a diagram showing an example of a display method of an operation path according to the embodiment of the present invention.

[0049] Figure 25A This is a diagram showing an example of a display method of an operation path in a headland area according to the embodiment of the present invention.

[0050] Figure 25B This is a diagram showing an example of a display method of an operation path in a headland area according to the embodiment of the present invention.

[0051] Figure 25C This is a diagram showing an example of a display method of an operation path in a headland area according to the embodiment of the present invention.

[0052] Explanation of reference numerals

[0053] 1... Automatic driving system; 10... Work vehicle; 11... Vehicle control device; 14... Working machine; 16... Positioning unit; 20... Operation terminal; 21... Operation control unit; 111... Travel processing unit; 211... Registration processing unit; 212... Setting processing unit; 213... Generation processing unit; 214... Output processing unit; F... Field (operation area); R1... Operation path (target path); Ra... First reference line; Rb... Second reference line; Rmin... Minimum turning radius; Rn... Turning radius. Detailed implementation mode

[0054] The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

[0055] As Figure 1 shown, the automatic driving system 1 according to the embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN. The automatic driving system 1 is an example of the path generation system of the present invention.

[0056] In this embodiment, the work vehicle 10 is taken as an example of a tractor for description. In addition, as other embodiments, the work vehicle 10 may also be a combine harvester, a transplanter, a construction machine, a snow removal vehicle, or the like. The work vehicle 10 is configured to be able to automatically travel along a preset target path in the field F (refer to Figure 4 ).

[0057] For example, an operator registers the field F of the work object, and sets a target path for the work vehicle 10 to automatically travel with respect to the field F. The work vehicle 10 automatically travels along the target path preset with respect to the field F based on the position information of the current position of the work vehicle 10 obtained by the positioning unit 16. In addition, the work vehicle 10 performs a prescribed operation while automatically traveling in the field F.

[0058] The operation terminal 20 is a portable terminal capable of remotely operating the work vehicle 10, and is constituted by, for example, a tablet terminal, a notebook personal computer, a smart phone, or the like. The operator can perform setting operations on various setting items on the operation terminal 20. For example, the operator operates the operation terminal 20 to register the field F or set a target path in the registered field F. In addition, the operation terminal 20 displays information such as the operation status and the traveling status of the work vehicle 10 during automatic travel. The operator can grasp the operation status and the traveling status on the operation terminal 20.

[0059] In addition, when the work vehicle 10 performs an operation in the field F, there are not only cases where the work is performed while traveling in a straight line, but also cases where the work is performed while traveling in a curved shape (turning). For example, when a part (such as a corner) of the outer shape of the field F is inclined, curved, or non-rectangular, the work vehicle 10 may sometimes perform an operation while turning in a curved shape along the shape of the part. In order to make the work vehicle 10 perform an operation while turning, it is necessary to set a target path including a turning path (a turning path for operation) capable of performing an operation while turning. However, in the prior art, the case of performing an operation while turning during automatic travel is not envisaged, and it is difficult to generate a target path including a turning path capable of performing an operation while turning. In contrast, as described below, the automatic driving system 1 according to the present embodiment has a configuration capable of generating a target path including a turning path capable of performing an operation while turning.

[0060] [Work vehicle 10]

[0061] As Figure 1 and Figure 2As shown, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning unit 16, etc. The vehicle control device 11 is electrically connected to the storage unit 12, the traveling device 13, the work implement 14, the positioning unit 16, etc. In addition, the vehicle control device 11 and the positioning unit 16 can also perform wireless communication.

[0062] The communication unit 15 is a communication interface for connecting the work vehicle 10 to the communication network N1 in a wired or wireless manner and performing data communication with an external device (such as an operation terminal 20) via the communication network N1 according to a specified communication protocol.

[0063] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various information. A control program for causing the vehicle control device 11 to perform various processes is stored in the storage unit 12. For example, the above control program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, read by a specified reading device (not shown), and stored in the storage unit 12. In addition, the above control program can also be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. In addition, data such as a target path generated by the operation terminal 20 is stored in the storage unit 12.

[0064] The traveling device 13 is a driving unit that causes the work vehicle 10 to travel. As Figure 2 shown, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a steering wheel 137, etc. In addition, front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. In addition, the traveling device 13 is not limited to a wheel type having front wheels 132 and rear wheels 133, and may also be a crawler type having crawlers provided on the left and right sides of the work vehicle 10.

[0065] The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven using fuel supplied from a fuel tank (not shown). The traveling device 13 may also include an electric motor as a drive source together with or instead of the engine 131. In addition, a generator (not shown) is connected to the engine 131, and power is supplied from this generator to electrical components such as the vehicle control device 11 and the positioning unit 16 provided in the work vehicle 10 and a battery, etc. In addition, the above battery is charged by the power supplied from the above generator. Moreover, electrical components such as the vehicle control device 11 and the positioning unit 16 provided in the work vehicle 10 can also be driven by the power supplied from the above battery after the engine 131 stops.

[0066] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and is transmitted to the rear wheels 133 via the transmission 134 and the rear axle 136. In addition, the driving force of the engine 131 is also transmitted to the work machine 14 via a PTO shaft (not shown). When the work vehicle 10 travels automatically, the traveling device 13 performs a traveling operation according to the command of the vehicle control device 11. In addition, the traveling device 13 decelerates or stops the work vehicle 10 according to the command of the vehicle control device 11.

[0067] The work machine 14 is, for example, a tiller, a mower, a plow, a fertilizer applicator, a sprayer (chemical spreader), a harrow, or a seeder, etc., and can be loaded and unloaded with respect to the work vehicle 10. Thus, the work vehicle 10 can perform various operations using each work machine 14. In Figure 2 it, the case where the work machine 14 is a tiller is shown. For example, the work machine 14 is mounted behind the work vehicle 10. The work vehicle 10 mounts the work machine 14 at the rear and travels in the field F, thereby performing a tilling operation.

[0068] The work machine 14 can also be supported by a lifting mechanism (not shown) in the work vehicle 10 so as to be able to be lifted and lowered. The vehicle control device 11 can control the above-mentioned lifting mechanism to lift and lower the work machine 14. For example, when the work vehicle 10 travels straight in the forward direction in the field F, the vehicle control device 11 lowers the work machine 14, and when the work vehicle 10 travels straight in the backward direction in the field F and when turning, the vehicle control device 11 raises the work machine 14. In addition, when the work vehicle 10 performs an operation on a turning path, the vehicle control device 11 lowers the work machine 14 when the work vehicle 10 turns on the turning path. In addition, when the vehicle control device 11 receives an operation stop instruction for the operation, the vehicle control device 11 outputs an operation stop command to the work machine 14. For example, when the operator performs a stop instruction operation on the operation terminal 20, the vehicle control device 11 receives the above-mentioned stop instruction from the operation terminal 20. When receiving the operation stop instruction, the vehicle control device 11 stops the drive of the PTO shaft and stops the operation of the work machine 14.

[0069] The steering wheel 137 is an operation unit operated by the operator or the vehicle control device 11. For example, in the traveling device 13, according to the operation of the vehicle control device 11 on the steering wheel 137, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like, and the traveling direction of the work vehicle 10 is changed.

[0070] In addition to the steering wheel 137, the traveling device 13 further includes a shift lever, an accelerator, a brake, etc. (not shown) that are operated by the vehicle control device 11. Moreover, in the traveling device 13, according to the operation of the vehicle control device 11 on the shift lever, the gear position of the transmission device 134 is switched to a forward gear, a reverse gear, etc., and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. In addition, the vehicle control device 11 operates the accelerator to control the rotational speed of the engine 131. In addition, the vehicle control device 11 operates the brake, and uses an electromagnetic brake to brake the rotation of the front wheels 132 and the rear wheels 133.

[0071] The positioning unit 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, a positioning antenna 164 (see Figure 1 ), etc. For example, as Figure 2 shown, the positioning unit 16 is provided on the upper part of the cab 138 where the operator rides. In addition, the installation location of the positioning unit 16 is not limited to the cab 138. In addition, the positioning control unit 161, the storage unit 162, the communication unit 163, and the positioning antenna 164 of the positioning unit 16 may also be dispersedly arranged at different positions in the work vehicle 10. In addition, as described above, the battery is connected to the positioning unit 16, and the positioning unit 16 can also operate during the stop of the engine 131. In addition, for example, a mobile phone terminal, a smart phone, a tablet terminal, a quantum compass, etc. can also be used instead of the positioning unit 16.

[0072] The positioning control unit 161 is a computer system including one or more processors and storage memories such as a non-volatile memory and a RAM. The storage unit 162 is a non-volatile memory or the like that stores a program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. For example, the above program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a prescribed reading device (not shown) and stored in the storage unit 162. In addition, the above program can also be downloaded from a server (not shown) to the positioning unit 16 via the communication network N1 and stored in the storage unit 162.

[0073] The communication unit 163 is a communication interface for connecting the positioning unit 16 to the communication network N1 in a wired or wireless manner, and performing data communication with external devices such as a base station server via the communication network N1 according to a prescribed communication protocol.

[0074] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0075] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received from satellites by the positioning antenna 164. For example, when the work vehicle 10 is automatically driving in the field F, if the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) respectively sent from multiple satellites, the positioning control unit 161 calculates the distances between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distances. In addition, the positioning control unit 161 may perform positioning based on the real-time kinematic method (RTK-GNSS positioning method (RTK method)). The positioning based on the real-time kinematic method uses correction information corresponding to a base station (reference station) close to the work vehicle 10 to calculate the current position of the work vehicle 10. In this way, the work vehicle 10 automatically drives using the positioning information based on the RTK method. In addition, the current position of the work vehicle 10 may be the same position as the positioning position (for example, the position of the positioning antenna 164), or may be a position deviated from the positioning position. In addition, the positioning control unit 161 may also use a quantum compass to calculate (position) the current position of the work vehicle 10.

[0076] The vehicle control device 11 includes control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit that pre-stores control programs such as BIOS and OS for causing the CPU to execute various arithmetic processes. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory for various processes executed by the CPU. Moreover, the vehicle control device 11 controls the work vehicle 10 by the CPU executing various control programs pre-stored in the ROM or the storage unit 12.

[0077] Specifically, as Figure 1 shown, the vehicle control device 11 includes various processing units such as a travel processing unit 111. In addition, the vehicle control device 11 functions as the various processing units by the CPU executing various processes according to the control program. In addition, part or all of the above processing units may be constituted by electronic circuits. In addition, the control program may also be a program for causing multiple processors to function as the processing units.

[0078] The travel processing unit 111 controls the travel of the work vehicle 10. For example, when the travel mode of the work vehicle 10 is autonomous travel (autonomous travel mode), the travel processing unit 111 causes the work vehicle 10 to perform autonomous travel based on the position information (positioning information) indicating the current position of the work vehicle 10 obtained by the positioning unit 16. For example, if the work vehicle 10 satisfies the start condition for autonomous travel and receives an operation start instruction from the operator, the travel processing unit 111 starts the autonomous travel of the work vehicle 10 based on the above positioning information. In addition, the travel processing unit 111 causes the work vehicle 10 to autonomously travel from the travel start position to the travel end position along a target path pre-generated and set in the operation terminal 20. For example, the travel processing unit 111 causes the work vehicle 10 to travel along multiple work paths that cause the work vehicle 10 to perform a prescribed operation and multiple non-work paths connecting between the work paths included in the target path.

[0079] In addition, when the travel mode of the work vehicle 10 is manual travel (manual travel mode), the work vehicle 10 can be manually traveled based on the operation of the operator (manual steering operation). For example, the travel processing unit 111 obtains operation information corresponding to driving operations such as a steering wheel operation, a shift operation, a travel direction switching operation, and a braking operation performed by the operator, and causes the travel device 13 to perform a travel action based on the operation information. For example, when registering the field of the work object, the operator rides on the work vehicle 10 and manually travels (teaching travel) along the outer peripheral portion of the area of the work object in a prescribed area. In addition, while the operator is teaching the work vehicle 10 to travel, the work implement 14 may be lowered to perform a prescribed operation (for example, tilling operation).

[0080] [Operation terminal 20]

[0081] As Figure 1 shown, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, and the like. The operation terminal 20 may be composed of a portable terminal such as a tablet terminal or a smart phone.

[0082] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the communication network N1 in a wired or wireless manner and performing data communication with one or more external devices such as the work vehicle 10 via the communication network N1 according to a prescribed communication protocol.

[0083] The operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. An operator can operate the operation unit in the operation screen displayed on the display unit to register various information (operation vehicle information, field information, operation information, etc., described later). In addition, the operator can operate the operation unit to give an operation start instruction, a travel stop instruction, etc. to the operation vehicle 10. In addition, the operator can, at a location separated from the operation vehicle 10, grasp the travel state of the operation vehicle 10 automatically traveling along a target path in the field F based on the travel trajectory and the captured image of the camera displayed on the operation terminal 20.

[0084] The storage unit 22 is a non-volatile storage unit such as an HDD or an SSD that stores various information. In the storage unit 22, a path generation program for causing the operation control unit 21 to execute a path generation process (refer to Figure 12 ) and control programs for various control processes are stored. For example, the above path generation program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a prescribed reading device (not shown) and stored in the storage unit 22. In addition, the above path generation program may be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22.

[0085] The operation control unit 21 includes control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit that pre-stores control programs such as BIOS and OS for causing the CPU to execute various arithmetic processes. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory (operation area) for various processes executed by the CPU. Moreover, the operation control unit 21 controls the operation terminal 20 by the CPU executing various control programs pre-stored in the ROM or the storage unit 22.

[0086] As Figure 1 shown, the operation control unit 21 includes various processing units such as a registration processing unit 211, a setting processing unit 212, a generation processing unit 213, and an output processing unit 214. In addition, the operation control unit 21 functions as the various processing units by the CPU executing various processes according to the above path generation program. In addition, a part or all of the above processing units may be constituted by electronic circuits. In addition, the above path generation program may be a program for causing a plurality of processors to function as the above processing units.

[0087] The registration processing unit 211 registers various setting information for causing the work vehicle 10 to perform autonomous driving. Specifically, the registration processing unit 211 registers information related to the work vehicle 10 (hereinafter referred to as work vehicle information). The registration processing unit 211 registers information such as the type (model) of the work vehicle 10, the position where the positioning antenna 164 is installed in the work vehicle 10, the type of the work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the vehicle speed and engine speed during the operation of the work vehicle 10, and the vehicle speed and engine speed during the turning of the work vehicle 10 through an operation registered by the operator on the operation terminal 20.

[0088] For example, the registration processing unit 211 causes the operation display unit 23 to display Figure 5 the menu screen D1 shown. The operator, for example, selects "Work implement registration" on the menu screen D1 to register work implement information related to the work implement 14.

[0089] In addition, the registration processing unit 211 registers information related to the field F (hereinafter referred to as field information). The registration processing unit 211 registers information such as the position and shape of the field F, the travel start position where the operation starts and the travel end position where the operation ends, and the operation direction through an operation registered on the operation terminal 20. In addition, the operation direction refers to the direction in which the work vehicle 10 travels while performing an operation using the work implement 14 in the operation area from which the non-operation area has been removed from the field F. For example, the operator selects "Field registration" on the menu screen D1 to register the field information.

[0090] Information on the position and shape of the field F can be automatically obtained, for example, by the operator boarding the work vehicle 10 and driving along the outer periphery of a specified area AR (refer to Figure 3 ) in a circular manner and recording the change in the position information of the positioning antenna 164 at this time.

[0091] Specifically, the registration processing unit 211 obtains the position information of the current position of the work vehicle 10 based on the positioning information positioned by the positioning unit 16. When the registration processing unit 211 obtains the above position information, it registers it in the storage unit 22. For example, when the operator manually drives (teach drive) the work vehicle 10 in the specified area AR during the registration of the field (refer to Figure 3 ), the registration processing unit 211 obtains the position information of the work vehicle 10 at a specified sampling interval. Figure 3 The black dots shown correspond to the position information of each positioning point.

[0092] In addition, while the operator is causing the work vehicle 10 to perform teaching driving, the work implement 14 can also be lowered to perform a prescribed work. During the teaching driving of the work vehicle 10, the registration processing unit 211 sequentially registers the position information of the work vehicle 10.

[0093] When the teaching driving is completed, the registration processing unit 211 registers the field based on the above-mentioned position information. For example, as Figure 4 shown, the registration processing unit 211 obtains an approximate straight line connecting the driving tracks (plotting) of the work vehicle 10, generates intersection points (supplementary points a1 to a6) of the extension lines of adjacent approximate straight lines, and registers the area surrounded by the straight line connecting the generated supplementary points a1 to a6 as the field F. In addition, the operator can change the positions of the supplementary points or add supplementary points. In this way, the registration processing unit 211 registers the field F as the work target area based on the position information obtained through the manual driving operation of the work vehicle 10 by the operator.

[0094] In addition, the registration processing unit 211 registers information related to how to perform the work specifically (hereinafter referred to as work information). The registration processing unit 211 is configured to be able to register the presence or absence of cooperative work between the unmanned work vehicle 10 and the manned work vehicle 10, the number of work paths skipped when the work vehicle 10 makes a U-turn at the end of the field, that is, the skip number, the width of the end of the field, and the width of the non-work area, etc., as work information. For example, the operator selects "Path Creation" on the menu screen D1 to register the information of the driving path.

[0095] The setting processing unit 212 sets a reference line (first reference line Ra) that is a reference for generating the target path of the work vehicle 10. Specifically, the setting processing unit 212 sets the first reference line Ra including a plurality of first partial straight lines (straight line segments) based on the plurality of position information obtained when registering the field. For example, the setting processing unit 212 sets the first reference line Ra based on the position information indicating the driving track of the work vehicle 10 obtained through the manual driving operation (teaching driving operation) of the operator when registering the field. Hereinafter, in Figure 4 the shown field F, an example of the method for generating the target path corresponding to the area A1 where work is performed while turning is given for explanation.

[0096] First, the setting processing unit 212 sets a second reference line Rb including partial curves (curve segments) based on the plurality of position information obtained when registering the field. Specifically, as Figure 6 shown, the setting processing unit 212 sets the second reference line Rb by connecting the driving tracks (plotting) corresponding to the position information of the work vehicle 10 obtained in the teaching driving (refer to Figure 3 ) with approximate straight lines and approximate curves. Figure 6The plotting points included in the second reference line Rb shown represent the connection points of the partial straight lines (x1, x2) that approximate a straight line and the partial curves (y1, y2) that approximate a curve. For example, when connecting three consecutive plotted points with two straight lines, if the angle formed by the two straight lines is greater than or equal to a specified angle, the three points are approximated as a straight line, and if the angle formed by the two straight lines is less than the specified angle, the three points are approximated as a curve.

[0097] Next, the setting processing unit 212 sets the first reference line Ra based on the second reference line Rb. Specifically, the setting processing unit 212 converts the curve (turning path) included in the second reference line Rb into a straight line based on the turning angle. In Figure 6 the example shown, the setting processing unit 212 converts the partial curve y1 (curve segment) into one or more partial straight lines based on the turning angles corresponding to the first partial straight line x1 and the first partial straight line x2. Hereinafter, a specific example of the method for converting a partial curve into a partial straight line will be described.

[0098] For example, as Figure 7A shown, when the turning angle θ at the first partial straight line x1 and the first partial straight line x2 is less than the first specified angle (e.g., 3 degrees) (in other words, when the angle (180 degrees - θ) formed by the first partial straight line x1 and the first partial straight line x2 is 177 degrees or more), the setting processing unit 212 obtains the intersection point x0 of the extension line of the first partial straight line x1 and the extension line of the first partial straight line x2. Then, the setting processing unit 212 deletes the partial curve y1 and replaces it with the first partial straight line x1 and the first partial straight line x2 connected at the intersection point x0. That is, the setting processing unit 212 replaces the first partial straight line x1, the partial curve y1, and the first partial straight line x2 with the two extended first partial straight lines x1, x2.

[0099] In addition, for example, as Figure 7B shown, when the turning angle θ at the first partial straight line x1 and the first partial straight line x2 is greater than or equal to the first specified angle (e.g., 3 degrees) and less than the second specified angle (e.g., 6 degrees), the setting processing unit 212 replaces the partial curve y1 with a supplementary line (the first partial straight line x12). That is, the setting processing unit 212 replaces the first partial straight line x1, the partial curve y1, and the first partial straight line x2 with three first partial straight lines x1, x12, x2.

[0100] In addition, for example, as Figure 7CAs shown, when the turning angle θ at the first part of the straight line x1 and the first part of the straight line x2 is greater than a second specified angle (for example, 6 degrees), the setting processing unit 212 replaces the partial curve y1 with a plurality of supplementary lines. Specifically, the setting processing unit 212 uses the value obtained by dividing the turning angle θ by the setting angle as the number of supplementary points, and arranges the calculated number of supplementary points on the partial curve y1 at equal intervals. In Figure 7C , the setting processing unit 212 arranges two supplementary points on the partial curve y1, and replaces the partial curve y1 with three first part straight lines x121 to x123. The setting processing unit 212 replaces the first part straight line x1, the partial curve y1, and the first part straight line x2 with five first part straight lines x1, x121, x122, x123, and x2.

[0101] The setting processing unit 212 converts each partial curve included in the second reference line Rb into a partial straight line by the above method. Then, as Figure 6 shown, the setting processing unit 212 sets the first reference line Ra composed of a plurality of straight lines (first part straight lines) based on the second reference line Rb. For Figure 6 the first reference line Ra shown, the partial curve y1 of the second reference line Rb is converted into the first part straight lines x11 to x13, and the partial curve y2 of the second reference line Rb is converted into the first part straight lines x21 to x23. The first reference line Ra is composed of eight partial straight lines.

[0102] As described above, the setting processing unit 212 sets the first reference line Ra based on the second reference line Rb including the partial curves generated according to a plurality of position information. In addition, the setting processing unit 212 sets the second reference line Rb including partial straight lines and partial curves based on a plurality of position information, converts the partial curves into one or more partial straight lines according to the angle formed by two partial straight lines (or turning angle), and connects the partial straight lines included in the second reference line Rb with the partial straight lines obtained by converting the partial curves included in the second reference line Rb, thereby setting the first reference line Ra. In addition, the operation control unit 21 determines the number of the above partial straight lines for converting the partial curves based on the angle (turning angle) formed by two first part straight lines.

[0103] The generation processing unit 213 generates a target path for the work vehicle 10 to automatically travel in the field F. When the operator selects "Path Making" on the menu screen D1 (refer to Figure 5 ) and accepts the generation instruction of the target path, the generation processing unit 213 executes the generation processing of the target path. Specifically, the generation processing unit 213 generates a target path based on the first reference line Ra.

[0104] Here, a method of generating a target path by copying (parallelly moving) the entire first reference line Ra can be considered, but the following problems occur in this method. Specifically, as Figure 8 shown, when the entire first reference line Ra is parallelly moved by a distance corresponding to the working width W1 to generate a working path R1 (target path), the following problems occur: The worked area B1 when traveling and working on the first reference line Ra overlaps with the worked area B2 when traveling and working on the working path R1 (the overlapping area of part Bx), or a gap (the unworked area of part By) is generated between the worked areas B1 and B2.

[0105] In contrast, the generation processing unit 213 according to the present embodiment has the following structure: Each of the plurality of first partial straight lines constituting the first reference line Ra is individually parallelly moved by a specified distance, and each of the plurality of second partial straight lines corresponding to the parallelly moved plurality of first partial straight lines is connected to generate a target path. According to the above structure, as shown below, the above Figure 8 shown problems can be solved.

[0106] Specifically, as Figure 9 shown, the generation processing unit 213 parallelly moves the first partial straight line x1 of the first reference line Ra by the working width W1 to generate a second partial straight line x31, parallelly moves the first partial straight line x11 by the working width W1 to generate a second partial straight line x32, parallelly moves the first partial straight line x12 by the working width W1 to generate a second partial straight line x33, parallelly moves the first partial straight line x13 by the working width W1 to generate a second partial straight line x34, parallelly moves the first partial straight line x2 by the working width W1 to generate a second partial straight line x35, parallelly moves the first partial straight line x21 by the working width W1 to generate a second partial straight line x36, parallelly moves the first partial straight line x22 by the working width W1 to generate a second partial straight line x37, and parallelly moves the first partial straight line x23 by the working width W1 to generate a second partial straight line x38. Then, the generation processing unit 213 connects the plurality of parallelly moved second partial straight lines x31 to x38 to generate a working path R1 (target path).

[0107] Use Figures 10A to 10C to explain the detailed content of the steps of the above target path generation method. Figure 10A Represents a first reference line Ra composed of four first partial straight lines xa1 to xa4. First, as Figure 10A shown, the generation processing unit 213 parallelly moves each of the first partial straight lines xa1 to Xa4 by the working width W1. Next, the generation processing unit 213 extends each of the parallelly moved straight lines xa11 to xa14. Next, as Figure 10BAs shown, the generation processing unit 213 obtains the intersection points p1 to p3 of the extended straight lines xa11 to xa14. In addition, the generation processing unit 213 obtains the intersection point pa of the orthogonal line La, which is orthogonal to the straight line L0 connecting the start point and the end point of the first reference line Ra and passes through the start point, and the straight line xa11, and obtains the intersection point pb of the orthogonal line Lb, which is orthogonal to the straight line L0 and passes through the end point, and the straight line xa14. Then, as Figure 10C shown, the generation processing unit 213 generates a target path (operation path R1) composed of a second partial straight line xb1 connecting the intersection points pa and p1, a second partial straight line xb2 connecting the intersection points p1 and p2, a second partial straight line xb3 connecting the intersection points p2 and p3, and a second partial straight line xb4 connecting the intersection points p3 and pb.

[0108] By generating the target path using the above method, the problems of overlap and gap between the above-mentioned operation widths can be solved (refer to Figure 8 ). Figure 11 Indicates the operation path R1 (target path) generated based on the first reference line Ra. As Figure 11 shown, since the worked area B1 corresponding to the first reference line Ra and the worked area B2 corresponding to the operation path R1 do not overlap and there is no gap between the worked areas B1 and B2, the operation accuracy in the turning operation can be improved.

[0109] When generating the target path of the work vehicle 10, the generation processing unit 213 registers the target path in association with the field F. In addition, the generation processing unit 213 can generate and register multiple target paths corresponding to the work content for one field F.

[0110] The output processing unit 214 outputs the path data of the target path to the work vehicle 10. For example, when the operator selects a desired target path on the operation screen and gives an operation start instruction, the output processing unit 214 outputs the path data of the selected target path to the work vehicle 10.

[0111] The work vehicle 10 is configured such that the path data of the target path generated at the operation terminal 20 is transmitted to the work vehicle 10 and stored in the storage unit 12, and it can autonomously travel along the target path while detecting the current position of the work vehicle 10 through the positioning antenna 164. In addition, the current position of the work vehicle 10 can usually coincide with the position of the positioning antenna 164.

[0112] When the operation start condition is satisfied and the operator presses the operation start button on the operation screen to give an operation start instruction, the work vehicle 10 starts automatic driving by the driving processing unit 111 and starts by the working machine 14 (refer to Figure 2)Operations performed. For example, the operation control unit 21 permits the automatic driving of the work vehicle 10 on the condition that the current position of the work vehicle 10 is within a specified distance from the start position of travel and the vehicle orientation is within a specified orientation. In addition, the start conditions for permitting the automatic driving of the work vehicle 10 are not limited to the above conditions.

[0113] The travel processing unit 111 of the work vehicle 10 automatically travels the work vehicle 10 from the start position of travel to the end position of travel in accordance with the target path acquired from the operation terminal 20.

[0114] In addition, the operation terminal 20 may also be able to access a website (agricultural support website) of an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 executes a browser program through the operation control unit 21, whereby it can function as an operation terminal for the above server. Moreover, the above server includes the above respective processing units and executes each process.

[0115] [Path generation processing]

[0116] Hereinafter, with reference to Figure 12 An example of the above path generation processing executed by the automatic driving system 1 will be described.

[0117] In addition, the present invention can be understood as an invention of a path generation method that executes one or more steps included in the above path generation processing. In addition, one or more steps included in the above path generation processing described here may be appropriately omitted. In addition, the execution order of each step in the above path generation processing may be different within the range that produces the same effect. In addition, the case where the operation control unit 21 executes each step in the above path generation processing is described here as an example, but as another embodiment, a path generation method in which one or more processors separately execute each step in the above path generation processing may also be considered.

[0118] In step S1, the operation control unit 21 determines whether to start field registration. For example, when the operator selects "field registration" on the menu screen D1 (refer to Figure 5 ), the operation control unit 21 determines that field registration is to be started and moves the process to step S2. The operation control unit 21 stands by until the selection operation of "field registration" is accepted (S1: No).

[0119] In step S2, the operation control unit 21 acquires information on the travel trajectory of the work vehicle 10 based on the manual travel of the operator. For example, when the operator selects "field registration", the operator boards the work vehicle 10 and drives around the outer periphery of a specified area AR in a circular manner (teaching travel) (refer to Figure 3)。During the operation of the work vehicle 10, the operation control unit 21 acquires the positioning information (position information of the current position of the work vehicle 10) located by the positioning unit 16. In addition, when the operator manually drives the work vehicle 10 and raises and lowers the working machine 14, the operation control unit 21 can also acquire the information on the position where the working machine 14 is raised and lowered at the same time.

[0120] Next, in step S3, the operation control unit 21 registers the field. Specifically, when the teaching run is completed, the operation control unit 21 registers the field based on the position information (positioning points) of the above-mentioned travel locus. For example, as Figure 4 shown, the operation control unit 21 obtains an approximate straight line connecting the travel locus (plot) of the work vehicle 10, generates intersection points (supplementary points a1 to a6) between the extension lines of adjacent approximate straight lines, and registers the area surrounded by the straight line connecting the generated supplementary points a1 to a6 as the field F.

[0121] When registering the field, the operation control unit 21 generates a path (target path) for the work vehicle 10 to perform automatic driving. Specifically, first, in step S4, the operation control unit 21 sets a second reference line Rb including partial curves based on the above-mentioned travel locus (plot) (refer to Figure 6 ). For example, the operation control unit 21 sets the second reference line Rb by connecting the travel locus corresponding to the position information of the work vehicle 10 obtained in the teaching run (refer to Figure 3 ) with approximate straight lines and approximate curves.

[0122] Next, in step S5, the operation control unit 21 sets a first reference line Ra based on the second reference line Rb. Specifically, the operation control unit 21 converts the partial curves (turning paths) included in the second reference line Rb into partial straight lines based on the turning angle, and sets the first reference line Ra composed of multiple partial straight lines (first partial straight lines). For example, the operation control unit 21 Figures 7A to 7C converts the curve into one or more straight lines by the above method shown.

[0123] Next, in step S6, the operation control unit 21 separately translates each of the multiple first partial straight lines included in the first reference line Ra by a specified distance. Specifically, as Figure 9 shown, the operation control unit 21 separately translates each of the first partial straight lines x1, x11 to x13, x2, x21 to x23 included in the first reference line Ra by the working width W1.

[0124] Next, in step S7, the operation control unit 21 generates a target path based on the translated partial straight lines. Specifically, as Figure 9As shown, the operation control unit 21 connects the second partial straight lines x31 to x38 obtained by parallelly moving the first partial straight lines x1, x11 to x13, x2, x21 to x23 by the operation width W1 to generate an operation path R1 (target path). In addition, the operation control unit 21 generates the second partial straight lines x31 to x38 by connecting the extension lines of the respective first partial straight lines through parallelly moving the first partial straight lines x1, x11 to x13, x2, x21 to x23. The operation control unit 21 generates a plurality of operation paths R1 to Rn based on the first reference line Ra. The target path includes a plurality of operation paths R1 to Rn. In addition, the first reference line Ra may or may not be included in the operation path.

[0125] Finally, in step S8, the operation control unit 21 registers the generated target path. Specifically, the operation control unit 21 registers the target path including a plurality of operation paths in association with the field F. As described above, the operation control unit 21 executes the above path generation process.

[0126] When the work vehicle 10 automatically travels along the generated target path, the operator gives an operation start instruction on the operation screen of the operation terminal 20. Thereby, the vehicle control device 11 acquires the operation start instruction from the operation terminal 20 and starts the automatic travel of the work vehicle 10.

[0127] As described above, the automatic travel system 1 according to the present embodiment generates a target path for automatically traveling the work vehicle 10 in the field F (operation area). In addition, the automatic travel system 1 sets a first reference line Ra, which serves as a reference when generating the above target path and includes a plurality of first partial straight lines. The automatic travel system 1 individually parallelly moves each of the plurality of first partial straight lines by a predetermined distance, and connects each of the plurality of second partial straight lines corresponding to the parallelly moved plurality of first partial straight lines to generate the above target path. For example, the automatic travel system 1 sets a second reference line Rb including partial curves based on the position information indicating the travel locus when the work vehicle 10 is taught to travel during field registration, and converts the partial curves of the second reference line Rb into partial straight lines (refer to Figures 7A to 7C ), thereby setting the first reference line Ra composed of a plurality of partial straight lines. Then, the automatic travel system 1 individually parallelly moves each of the plurality of partial straight lines (first partial straight lines) included in the first reference line Ra by a predetermined distance, and connects each of the plurality of second partial straight lines corresponding to the parallelly moved plurality of first partial straight lines to generate the above target path (refer to Figure 6 ).

[0128] According to the above structure, a target path including a turning path that can perform operations while turning can be generated. In addition, in adjacent operation paths, the operated areas do not overlap, and no gaps are generated between the operated areas (refer to Figure 8 ), so the operation accuracy in the turning operation can be improved (refer to Figure 11 ).

[0129] [Other Embodiments]

[0130] The present invention is not limited to the above-described embodiments. Hereinafter, other embodiments of the present invention will be described.

[0131] In the above embodiment, the operation control unit 21 sets the second reference line Rb including a partial curve based on the position information of the travel trajectory obtained at the time of field registration, and converts the partial curve of the second reference line Rb into a partial straight line to set the first reference line Ra. As another embodiment, the operation control unit 21 may omit the setting process of the second reference line Rb. Specifically, the operation control unit 21 may also set the first reference line Ra based on the position information of the travel trajectory obtained at the time of field registration, which is composed of a plurality of partial straight lines (first partial straight lines). For example, as Figure 16 shown, the operation control unit 21 may also connect the respective positioning points with straight lines and repeatedly perform the following process to set the first reference line Ra, that is: when the angle d formed by two adjacent straight lines is equal to or greater than a specified angle, the two straight lines are replaced with one straight line, and when the included angle d is less than the specified angle, the two straight lines are left. That is, for the plurality of partial straight lines (first partial straight lines) constituting the travel trajectory of the work vehicle 10 obtained by the manual travel operation of the user when registering the work area, the operation control unit 21 may also set the first reference line Ra by merging or dividing the partial straight lines according to the azimuths of the adjacent partial straight lines.

[0132] In addition, as another embodiment of setting the first reference line Ra, the operation control unit 21 may also set the first reference line Ra based on a registration reference line connecting arbitrary points registered by the operator. For example, the operator performs registration operations at arbitrary multiple positions while manually driving the work vehicle 10 in the field F. When the operation control unit 21 sets the registration reference line obtained by connecting the registered multiple positions with a straight line, it sets the first reference line Ra based on the registration reference line. Thus, for example, when the operator registers points A, B, and C, the operation control unit 21 can generate a target path corresponding to the turning operation of the turning part corresponding to the angle formed by the two straight lines by setting the first reference line Ra composed of the straight line connecting point A and point B and the straight line connecting point B and point C.

[0133] In the above-described embodiment, the first reference line Ra is composed of a plurality of straight lines (first partial straight lines). However, as another embodiment, the first reference line Ra may also be composed of a straight line and a curve. When the first reference line Ra includes a curve, the operation control unit 21 separately translates the straight line (first partial straight line) and the curve by a predetermined distance, and performs a process of correcting the radius of curvature (turning radius) for the curve. For example, when translating a curve that bulges to the right included in the first reference line Ra to the right, the operation control unit 21 corrects the radius of curvature of the translated curve to a value larger than the radius of curvature of the curve of the first reference line Ra. On the other hand, when translating a curve that bulges to the left included in the first reference line Ra to the right, the operation control unit 21 corrects the radius of curvature of the translated curve to a value smaller than the radius of curvature of the curve of the first reference line Ra. In this way, the first reference line Ra may also be configured to include a curve.

[0134] In addition, in each of the above-described embodiments, when generating a target path based on the first reference line Ra, for a turning path included in the target path, the turning radius may sometimes be smaller than the minimum turning radius at which the work vehicle 10 can turn. In Figure 13A FIG. 5, the adjacent first reference line Ra and the work path R1 are schematically shown. Here, when the turning radius of the turning path included in the first reference line Ra is the minimum turning radius Rmin, the turning radius Rn of the turning path of the work path R1 may sometimes become a value smaller than the minimum turning radius Rmin (Rn < Rmin). In this case, there is a problem that the work vehicle 10 cannot turn and travel on the work path R1.

[0135] Therefore, in order to solve the above problem, when the operation control unit 21 connects two adjacent partial straight lines (second partial straight lines), if the turning radius when turning and traveling along these two partial straight lines is smaller than the minimum turning radius at which the work vehicle 10 can turn, the operation control unit 21 may move the turning center corresponding to these two partial straight lines. Specifically, as Figure 13B shown, for the turning path of the work path R1, the operation control unit 21 sets the turning radius Rn to the minimum turning radius Rmin (Rn = Rmin), and moves the turning center from the position C1 to the position C2. In addition, the operation control unit 21 may also set the turning center at a position where the turning radius Rn is equal to or greater than the minimum turning radius Rmin. In this way, when the turning radius Rn of the work vehicle 10 is smaller than the minimum turning radius Rmin, the operation control unit 21 performs a process of correcting the turning path. Hereinafter, a specific example of the method for correcting the turning path will be described.

[0136] In Figure 14AThe first reference line Ra, the operation path R1 before correction, and the connection points of the partial straight lines at the turning parts of the respective paths are shown. First, the operation control unit 21 determines the partial straight lines of the turning path that need to be corrected.

[0137] For example, in the method shown in Figures 7A to 7C (the method of converting a curve into a straight line), the operation control unit 21 creates supplementary lines in the number obtained by dividing the turning angle by a first specified angle (for example, 3 degrees). In this case, the maximum turning angle θ of the two straight lines is 4.5 degrees. For example, when there are two supplementary lines and the remainder of the division calculation is infinitely close to 3 degrees, the maximum turning angle θ becomes (3 + 2.999··· / 2) degrees. Therefore, when the turning angle θ of the two straight lines is 4.5 degrees or more, the operation control unit 21 determines that the turning path composed of the two straight lines needs to be corrected.

[0138] As another method, for example, through the conversion to a straight line shown in Figures 7A to 7C , as shown in Figure 15A , the end points of the straight lines at the turning part can be considered to exist on the turning circle Cb. Therefore, when creating a circle Ca with the minimum turning radius Rmin and the next straight line exists inside the circle Ca, it can be determined that the circle Cb is smaller than the circle Ca with the minimum turning radius Rmin. The schematic diagrams showing the case where a straight line exists on the circle Ca with the minimum turning radius Rmin are shown in Figure 15B and Figure 15C . When the angular deviation between the two straight lines is less than 3 degrees, the operation control unit 21 calculates the azimuth deviation between the straight lines as θ (refer to Figure 15B ), and when the angular deviation between the two straight lines is 3 degrees or more, the operation control unit 21 calculates the azimuth deviation between the straight lines as 2θ (refer to Figure 15C ). Specifically, the operation control unit 21 obtains the minimum length L of the straight line at the turning part by the following formula.

[0139] L = 2Rmin·cos(90 - |θ|)

[0140] L = 2Rmin·sin(|θ|)

[0141] Thus, when the length S of the target straight line (the partial straight line of the turning path) is less than the minimum length L (S < L), the operation control unit 21 determines that the turning path composed of this straight line needs to be corrected.

[0142] In Figure 14AIn the example shown, the operation control unit 21 determines a partial straight line on a circle Cb with a turning radius Rn smaller than the minimum turning radius Rmin as the partial straight line that needs to be corrected. When the operation control unit 21 determines the partial straight line that needs to be corrected on the turning path by the above method, it then obtains a circle Cc with the minimum turning radius Rmin that is inscribed in the two partial straight lines before and after the turning path (refer to Figure 14B ). Then, the operation control unit 21 sets a turning start point p10 and a turning end point p20 on the obtained circle Cc, and generates a turning path from the turning start point p10 to the turning end point p20. Specifically, the operation control unit 21 determines a circle Cc with the minimum turning radius Rmin among the circles inscribed in each of the two partial straight lines, and sets the connection points (turning start point p10 and turning end point p20) of the two partial straight lines on the arc of the determined circle Cc. In addition, the operation control unit 21 generates the above turning path as multiple partial straight lines.

[0143] In this way, when the turning path included in the generated target path has a turning radius smaller than the minimum turning radius, the operation control unit 21 corrects the turning radius corresponding to the turning path. Thereby, the problem that the work vehicle 10 cannot make a turning drive on the work path R1 can be solved.

[0144] In addition, when the turning radius is corrected, there may be a gap with the already-worked area corresponding to the adjacent turning path. Therefore, the operation control unit 21 can either notify the operator that a gap has occurred between the already-worked areas or ask the operator whether to allow the occurrence of the gap.

[0145] [Example of generation of reference curve (first reference line Ra)]

[0146] An example of the steps for generating the first reference line Ra will be described. Here, an example of the steps for generating the first reference line Ra based on the positioning points (measurement points) obtained by teaching driving will be described.

[0147] In Figure 17A , a work area registration screen D2 for registering the work area is shown. For example, after the registration of the field based on the above measurement points is completed, when the operator selects "Work Area Registration" on the menu screen D1 (refer to Figure 5 ) and selects the target field, the operation control unit 21 causes Figure 17AThe displayed work area registration screen D2 shows. The operator performs an operation of setting the work area on the work area registration screen D2. For example, the operator selects the vertices at the corners that form the outer shape of the work area among the measurement points. In addition, the operator can select the measurement points located at the corners or the measurement points outside the corners. When the operator selects a measurement point outside the corner, the operation control unit 21 sets a supplementary point that becomes the endpoint of the outer shape edge. In Figure 17B it shows the state where the operator has selected 4 points on the work area registration screen D2.

[0148] The operation control unit 21 sets and displays the straight lines (edges) connecting the points selected by the operator. Additionally, in Figure 17B the displayed work area registration screen D2, the operation control unit 21 accepts the operation of selecting the edge for curve operation among the set edges. When the operator has an edge for which curve operation is desired among the edges, the operator selects that edge (click on the edge on the screen (refer to Figure 17B ), and when there is no edge for which curve operation is desired (in the case of straight line operation in the entire area), the operator selects "Next". When the operator selects the right edge for which curve operation is desired (refer to Figure 17B ), the operation control unit 21 generates a driving trajectory (reference curve) of the curve based on the measurement points corresponding to the right edge (the measurement points between the right endpoints of the upper side and the lower side).

[0149] Here, a method for discriminating the measurement points corresponding to the selected edge (the measurement points that become the endpoints of the curve) will be described. For example, the operation control unit 21 determines the point P corresponding to the endpoints of the selected edge according to the following steps, and generates a curve based on the measurement points between the points P.

[0150] (Step 1)

[0151] In Step 1, as Figure 18A shown, the operation control unit 21 determines whether the vertices (selected points) of the work area are included in the driving trajectory (measurement points). When the vertices of the work area are included in the driving trajectory, the operation control unit 21 sets the point P at the position of the vertex, and when the vertices of the work area are not included in the driving trajectory, it proceeds to Step 2.

[0152] (Step 2)

[0153] In Step 2, as Figure 18BAs shown, the operation control unit 21 determines whether the travel trajectory is included within a range of a specified distance X (m) from the vertex (supplementary point) of the work area. When the travel trajectory is included within the range of the specified distance X from the vertex of the work area, the operation control unit 21 deletes the travel trajectory within the range and sets point P at the deleted position. When the travel trajectory is not included within the range of the specified distance X from the vertex of the work area, the operation control unit 21 proceeds to step 3.

[0154] (Step 3)

[0155] In step 3, as Figure 18C shown, when it is the vertex of the sides that are curves, the operation control unit 21 sets the nearest point as point P within the range of (the minimum length from the vertex to the side) / 2 and within the range from the angle bisector of the side to (the threshold value) / 2. In addition, the above-mentioned threshold value used in the omission determination of the measurement points is set to 0.1 m, for example. The operation control unit 21 omits the point when the distance between the measurement points is below the above-mentioned threshold value. When the operation control unit 21 does not find a point that satisfies the above conditions, it assumes the case where the start point and the end point are separated, and thus sets the start point as point P.

[0156] In addition, in step 3, as Figure 18D shown, when it is the vertex of a curved side and a straight side, the operation control unit 21 sets the point first found within the range of (the threshold value) / 2 from the straight side as point P. According to this method, it is possible to correspond to the Figure 19 shown travel trajectory of the curve.

[0157] As described above, the operation control unit 21 determines point P (both end points) and generates a curved path for one side based on the travel trajectory (measurement points) between the points P. When generating the curved path, the operation control unit 21, as Figure 20 shown, replaces the selected side (refer to Figure 17B ) with a curve and displays it.

[0158] In addition, the operation control unit 21 can generate one such curved path based on the straight line portion connecting multiple measurement points located between point P1 by the method shown in the above-mentioned embodiment ( Figures 6 to 16 ). That is, the above-mentioned curved path is generated by connecting straight path segments of a specified length. In addition, the operation control unit 21 can also set the above-mentioned curved path as the first reference line Ra.

[0159] Next, other generation methods of the first reference line Ra will be described. Specifically, the operation control unit 21 generates the first reference line Ra based on at least any one of the path length, the azimuth deviation between adjacent paths, and the deviation (distance) between the measurement point and the path. For example, the operation control unit 21 generates a partial straight line such that the path length is equal to or greater than a first specified length (e.g., 1 m) (the first condition). In addition, the operation control unit 21 generates a partial straight line such that the path length is less than a second specified length (e.g., 5 m) (the second condition). In addition, the operation control unit 21 generates a partial straight line such that the azimuth deviation between adjacent paths is less than 3 degrees (the angle formed by adjacent paths is 177 degrees or more) (the third condition). In addition, the operation control unit 21 generates a partial straight line such that the deviation between the measurement point and the path is less than 10 cm (the fourth condition).

[0160] The operation control unit 21 may also set the priorities of the above first to fourth conditions to generate the first reference line Ra. For example, the operation control unit 21 may set the above first condition to the first priority level and set the above second to fourth conditions to the second priority level.

[0161] In Figure 21A an example of a partial straight line that satisfies the above first condition, the above second condition, and the above third condition is shown. Figure 21A The θ in Figure 21B represents the azimuth deviation between adjacent paths. In Figure 21B an example of a partial straight line that satisfies the above first condition, the above second condition, and the above fourth condition is shown.

[0162] In addition, when priorities are set for the above conditions, there is a possibility of generating a path that does not satisfy the conditions with a lower priority. To prevent the generation of such unexpected paths, the operation control unit 21 may also set an error determination condition that sets an unacceptable path as an error. For example, as the above error determination condition, “the azimuth deviation between adjacent paths is 10 degrees or more (the angle formed by adjacent paths is less than 170 degrees)”, “the deviation between the measurement point and the path is 30 cm or more” are set. When it is determined as an error by satisfying the above error determination condition, the operation control unit 21 interrupts the generation of the curved path and displays a path generation error screen (not shown).

[0163] In addition, in the path generation error screen, when the operator permits a path determined to be in error, the operation control unit 21 may also set the path as a curved path (the first reference line Ra).

[0164] In addition, in the screen where a path generation error occurs, when the operator gives an instruction to correct the path, the operation control unit 21 can also correct the path so that it no longer satisfies the above error determination condition, and regenerate the curved path. In addition, it can also be that the operator can set in a preset screen whether to execute the path correction process when a path generation error occurs.

[0165] In addition, when the operation control unit 21 corrects the path, it can also display the path before correction and the path after correction side by side, accept the selection operation of the operator, and set the selected path as the curved path (the first reference line Ra).

[0166] [Extension of the first reference line Ra]

[0167] The operation control unit 21 can also extend the generated first reference line Ra (curved path). Specifically, the operation control unit 21 generates a straight line (extension line) obtained by extending the starting straight path (partial straight line) and the final straight path (partial straight line) that form the first reference line Ra to the outside. The length of the extension line is set to 1 km, for example. In addition, the operation control unit 21 can also display the extended part (extension line) in a recognizable manner. By extending the path, for example, the work vehicle 10 can automatically drive to the field boundary (the edge of the ridge).

[0168] In Figure 22 An example of the path with the first reference line Ra extended is shown. For example, the operation control unit 21 sets an extension line Rs1 obtained by extending the starting straight path Rs and an extension line Rg1 obtained by extending the final straight path Rg on the curved path (the first reference line Ra) from the starting point Ps (the starting point of the starting straight path Rs that forms the curved path (the first reference line Ra)) to the ending point Pg (the ending point of the final straight path Rg that forms the curved path).

[0169] In addition, as Figure 23 shown, the operation control unit 21 copies the generated curved path (the first reference line Ra) in the left - right direction to generate the work path R1. At this time, the extended path (extension line) can also be excluded from the copying target. Specifically, in the same way as the method shown in Figures 10A to 10C the operation control unit 21 copies by moving each straight path (partial straight line) that forms the curved path in the vertical direction at equal intervals in parallel. In addition, the parallel movement distance is set based on the setting information of the working machine 14 (such as the working width, overlap width, etc.). The operation control unit 21 can also perform the above - mentioned path extension process (refer to Figure 22)。In addition, the number of copied paths can also be set by the operator. For example, when the operator designates 10 paths, the operation control unit 21 copies 10 paths to the left of the first reference line Ra and 10 paths to the right, for a total of 20 copied curved paths.

[0170] In addition, as Figure 24A shown, the operation control unit 21 can also extend and display the operation path R1 copied (generated) based on the first reference line Ra on the operation screen. In addition, each operation path R1 is composed of multiple straight paths (partial straight lines), but the operation control unit 21 displays it as a single curved path on the operation screen. In addition, the operation control unit 21 can display the extension line in a recognizable manner, can also omit the display of the extension line, or can switch the display / non-display of the extension line according to the operator's operation. In Figure 24A , the extension line is represented by a dashed line.

[0171] In addition, the operation control unit 21 can also search (path search) for an operation path R1 that can start autonomous driving and display the searched operation path R1 in a recognizable manner. Specifically, the operation control unit 21 searches for one or more operation paths R1 included in a range in a specified direction from the current position of the work vehicle 10 and highlights the operation paths R1 included in that range. In Figure 24B , a state of highlighting three operation paths R1 included in the above range on the operation screen is shown.

[0172] In addition, as Figure 24C shown, when one operation path R1 that is the object of the autonomous driving path has been determined, the operation control unit 21 can also highlight that operation path R1. In addition, the operation control unit 21 can also highlight the above-mentioned one operation path R1 during autonomous driving.

[0173] [Display method of operation path R1]

[0174] The operation control unit 21 can also display the operation path R1 (target path) and the outer shape edge of the field F on the operation screen at the same time. For example, as Figure 25A shown, the operation control unit 21 can be configured to display each operation path R1 as a single curved path and to display each operation path R1 only inside the field F and not outside the field F. Specifically, as Figure 25A shown, the operation control unit 21 does not display the start-end side and the terminal side portions of each operation path R1 including the extension line (refer to Figure 24A ) that are outside the field F, and only displays the portions that are inside the field F. In addition, the operation control unit 21 can also extend a straight path outside the field F and display it ( Figure 25Athe path shown by the dashed line).

[0175] In addition, as Figure 25B shown, the operation control unit 21 can also display a predetermined amount of operation paths R1 in the headland area and make a part of the operation paths R1 displayed outside the field F. For example, the operation control unit 21 can also display eight operation paths R1 in the headland area, make six of the operation paths R1 displayed inside the field F, and make the remaining two operation paths R1 displayed outside the field F. In addition, the operation control unit 21 can also make the operation paths R1 in the number set by the operator displayed inside and outside the field F.

[0176] In addition, as Figure 25C shown, it can also be that the operation control unit 21 can lock (fix to the start object path of automatic driving) the curved edge (the first reference line Ra) among the outer shape edges of the field F. Figure 25C represents the state where the curved edge is locked. For example, when the operator clicks on the curved edge in the operation screen, the operation control unit 21 locks the curved edge. In addition, for example, it can also be that when the work vehicle 10 is in a state of facing the same or an approximate azimuth as the azimuth of the curved operation path R1 and the operator clicks on the lock icon in the operation screen, the operation control unit 21 locks the curved edge. As another embodiment, the operation control unit 21 can also, when no edge is locked, display (highlight) the path of the edge close to the current azimuth of the work vehicle 10 in a recognizable manner.

[0177] In each of the above embodiments, the automatic driving system 1 corresponds to the path generation system according to the present invention. However, the path generation system according to the present invention can be constituted by the operation terminal 20 alone, can also be constituted by combining the work vehicle 10 and the operation terminal 20, or can be constituted by a server (not shown) alone.

[0178] [Supplementary Note of the Invention]

[0179] Hereinafter, a summary of the invention extracted from each of the above embodiments is appended. In addition, each structure and each processing function described in the following supplementary notes can be selected and arbitrarily combined.

[0180] <Supplementary Note 1>

[0181] A path generation method for generating a target path for a work vehicle to perform automatic driving in an operation area,

[0182] The above path generation method performs:

[0183] Set a first reference line, which serves as a reference when generating the above target path and includes a plurality of first partial straight lines;

[0184] Individually translate each of the multiple first - part straight lines by a specified distance; and

[0185] Connect each of the multiple second - part straight lines corresponding to the translated first - part straight lines to generate the target path.

[0186] <Supplementary Note 2>

[0187] According to the path generation method described in Supplementary Note 1,

[0188] Based on the position information representing the travel trajectory of the work vehicle obtained through the manual travel operation of the user when registering the work area, set the first reference line.

[0189] <Supplementary Note 3>

[0190] According to the path generation method described in Supplementary Note 1 or 2,

[0191] Translate each of the multiple first - part straight lines by the specified distance corresponding to the working width of the work vehicle.

[0192] <Supplementary Note 4>

[0193] According to the path generation method described in any one of Supplementary Notes 1 - 3,

[0194] When two adjacent second - part straight lines are connected, if the turning radius during turning along these two second - part straight lines is less than the minimum turning radius that the work vehicle can turn, move the turning center corresponding to these two second - part straight lines.

[0195] <Supplementary Note 5>

[0196] According to the path generation method described in Supplementary Note 4,

[0197] Set the turning center at a position where the turning radius of the work vehicle is greater than or equal to the minimum turning radius.

[0198] <Supplementary Note 6>

[0199] According to the path generation method described in Supplementary Note 4 or 5,

[0200] Determine the circle with the minimum turning radius among the circles inscribed in each of the two second - part straight lines,

[0201] Set the connection point of the two second - part straight lines on the arc of the determined circle.

[0202] <Supplementary Note 7>

[0203] According to the path generation method described in any one of Supplementary Notes 1 to 6,

[0204] Based on the position information indicating the travel trajectory of the work vehicle obtained through the manual travel operation of the user when registering the work area, a second reference line including partial curves is set, and the first reference line is set based on the second reference line.

[0205] <Supplementary Note 8>

[0206] According to the path generation method described in Supplementary Note 7,

[0207] Based on the plurality of pieces of position information, the second reference line including partial straight lines and partial curves is set,

[0208] According to the angle formed by two of the partial straight lines, the partial curves disposed between the two partial straight lines are converted into one or more partial straight lines, and the partial straight lines included in the second reference line are connected to the partial straight lines obtained by converting the partial curves, thereby setting the first reference line.

[0209] <Supplementary Note 9>

[0210] According to the path generation method described in Supplementary Note 8,

[0211] Based on the angle formed by the two partial straight lines, the number of the partial straight lines for converting the partial curves is determined.

[0212] <Supplementary Note 10>

[0213] According to the path generation method described in any one of Supplementary Notes 1 to 6,

[0214] Based on the azimuths of adjacent partial straight lines among the plurality of partial straight lines constituting the travel trajectory of the work vehicle obtained through the manual travel operation of the user when registering the work area, the partial straight lines are combined or divided, thereby setting the first reference line.

[0215] <Supplementary Note 11>

[0216] A path generation program that generates a target path for automatically traveling a work vehicle in a work area,

[0217] The path generation program causes one or more processors to execute:

[0218] Set a first reference line that serves as a reference when generating the target path and includes a plurality of first partial straight lines;

[0219] Individually parallel-shift each of the plurality of first partial straight lines by a specified distance; and

[0220] Connect each of the plurality of second partial straight lines corresponding to the plurality of first partial straight lines after parallel translation to generate the target path.

[0221] <Note 12>

[0222] A path generation system that generates a target path for an operating vehicle to automatically travel in an operating area.

[0223] The path generation system includes:

[0224] A setting processing unit that sets a first reference line, which serves as a reference when generating the target path and includes a plurality of first partial straight lines; and

[0225] A generation processing unit that individually translates each of the plurality of first partial straight lines parallel by a specified distance, and connects each of the plurality of second partial straight lines corresponding to the plurality of first partial straight lines after parallel translation to generate the target path.

Claims

1. A path generation method for generating a target path for an operating vehicle to automatically travel in an operating area, The path generation method is characterized by performing: Setting a first reference line, which serves as a reference when generating the target path and includes a plurality of first partial straight lines; Individually parallelly moving each of the plurality of first partial straight lines by a specified distance; and Connecting each of a plurality of second partial straight lines corresponding to the parallelly moved plurality of first partial straight lines to generate the target path.

2. The path generation method according to claim 1, characterized in that Based on the position information representing the travel trajectory of the operating vehicle obtained by the user's manual travel operation when registering the operating area, the first reference line is set.

3. The path generation method according to claim 1, characterized in that Each of the plurality of first partial straight lines is parallelly moved by the specified distance corresponding to the operating width of the operating vehicle.

4. The path generation method according to claim 1, characterized in that When two adjacent second partial straight lines are connected, if the turning radius when turning along these two second partial straight lines is less than the minimum turning radius that the operating vehicle can turn, the turning center corresponding to these two second partial straight lines is moved.

5. The path generation method according to claim 4, characterized in that The turning center is set at a position where the turning radius of the operating vehicle is equal to or greater than the minimum turning radius.

6. The path generation method according to claim 4, characterized in that Determine the circle with the minimum turning radius among the circles inscribed in each of the two second partial straight lines, Set the connection point of the two second partial straight lines on the arc of the determined circle.

7. The path generation method according to any one of claims 1 to 5, characterized in that Based on the position information representing the travel trajectory of the operating vehicle obtained by the user's manual travel operation when registering the operating area, a second reference line including partial curves is set, and the first reference line is set based on this second reference line.

8. The path generation method according to claim 7, characterized in that Based on the plurality of position information, a second reference line including partial straight lines and partial curves is set, According to the angle formed by two partial straight lines, the partial curve disposed between these two partial straight lines is converted into one or more partial straight lines, and the partial straight lines included in the second reference line are connected to the partial straight lines obtained by converting the partial curve, thereby setting the first reference line.

9. The path generation method according to claim 8, characterized in that Based on the angle formed by the two partial straight lines, determine the number of partial straight lines for converting the partial curve.

10. The path generation method according to any one of claims 1 to 5, characterized in that Based on the orientations of adjacent partial straight lines among multiple partial straight lines that constitute the travel trajectory of the work vehicle obtained through the manual travel operation of the user when registering the work area, the partial straight lines are merged or divided, thereby setting the first reference line.

11. A path generation program that generates a target path for automatically driving a work vehicle in a work area, The path generation program is characterized in that it is used to cause one or more processors to execute: setting a first reference line that serves as a reference when generating the target path and includes multiple first partial straight lines; individually parallelly moving each of the multiple first partial straight lines by a specified distance; and connecting each of the multiple second partial straight lines corresponding to the parallelly moved multiple first partial straight lines to generate the target path.

12. A path generation system that generates a target path for automatically driving a work vehicle in a work area, The path generation system is characterized by comprising: a setting processing unit that sets a first reference line that serves as a reference when generating the target path and includes multiple first partial straight lines; and a generation processing unit that individually parallelly moves each of the multiple first partial straight lines by a specified distance, and connects each of the multiple second partial straight lines corresponding to the parallelly moved multiple first partial straight lines to generate the target path.

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