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

Abstract

Provided are a route generation method, a route generation program, and a route generation system for generating a target route, whereby it is possible to easily generate a target route for a work vehicle to automatically travel in a non-rectangular work area. The setting processing unit (212) sets a first reference line that serves as a reference when a target route for the work vehicle (10) to automatically travel is generated, and a second reference line that differs from the first reference line in shape or orientation. The generation processing unit (213) generates a target route for the work vehicle (10) to automatically travel on the basis of the shape or orientation of the first reference line, and sets the shape or orientation of one or more first work routes among a plurality of work routes included in the target route on the basis of the shape or orientation of the second reference line.

Description

Technical Field

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

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

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

[0004] However, the work field of the work object is not limited to a rectangular field, and there are non-rectangular fields such as a field having a part of its outer shape (corner portion, etc.) with an inclined shape and a field having a part of its outer shape with a curved shape. In the case of such a non-rectangular field, it is difficult to generate a target path for causing a work vehicle to travel automatically. 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 that can easily generate a target path for causing a work vehicle to travel automatically in a non-rectangular work area.

[0006] The path generation method according to the present invention is a method for generating a target path for causing a work vehicle to travel automatically in a work area. The above path generation method performs: setting a first reference line that serves as a reference when generating the above target path, and a second reference line having a shape or orientation different from that of the first reference line; generating the above target path for causing the work vehicle to travel automatically based on the shape or orientation of the first reference line; and setting the shape or orientation of one or more first work paths included in the above target path based on the shape or orientation of the second reference line.

[0007] The path generation program according to the present invention is a program for generating a target path for causing a work vehicle to travel automatically in a work area. The above path generation program causes one or more processors to execute: setting a first reference line that serves as a reference when generating the above target path, and a second reference line having a shape or orientation different from that of the first reference line; generating the above target path for causing the work vehicle to travel automatically based on the shape or orientation of the first reference line; and setting the shape or orientation of one or more first work paths included in the above target path based on the shape or orientation of the second reference line.

[0008] The path generation system related to the present invention is a system that generates a target path for an operation vehicle to automatically travel in an operation area, and includes a setting processing unit and a generation processing unit. The setting processing unit sets a first reference line that serves as a reference when generating the target path, and a second reference line having a different shape or orientation from the first reference line. The generation processing unit generates the target path for the operation vehicle to automatically travel based on the shape or orientation of the first reference line, and sets the shape or orientation of one or more first operation paths included in the target path based on the shape or orientation of the second reference line.

[0009] According to the present invention, it is possible to provide a path generation method, a path generation program, and a path generation system for generating a target path that can easily generate a target path for an operation vehicle to automatically travel in a non-rectangular operation area. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

[0015] Figure 6 It is a diagram showing an example of the generation method of the target path according to the embodiment of the present invention.

[0016] Figure 7 It is a diagram showing an example of the generation method of the target path according to the embodiment of the present invention.

[0017] Figure 8 It is a diagram showing an example of the generation method of the target path according to the embodiment of the present invention.

[0018] Figure 9 It is a diagram showing an example of the generation method of the target path according to the embodiment of the present invention.

[0019] Figure 10It 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.

[0020] Figure 11 It is a diagram showing an example of a method for generating a target path according to another embodiment of the present invention.

[0021] Figure 12 It is a diagram showing an example of a method for setting a target path and an operation direction according to another embodiment of the present invention.

[0022] Figure 13 It is a diagram showing an example of a method for setting a target path and an operation direction according to another embodiment of the present invention.

[0023] Figure 14 It is a diagram showing an example of a method for setting a target path and an operation direction according to another embodiment of the present invention.

[0024] Figure 15 It is a diagram showing an example of a method for setting a target path and an operation direction according to another embodiment of the present invention.

[0025] Figure 16 It is a diagram showing an example of a method for setting a target path and an operation direction according to another embodiment of the present invention.

[0026] Figure 17 It is a diagram showing an example of a method for setting a target path and an operation direction according to another embodiment of the present invention.

[0027] Figure 18 It is a diagram showing an example of a method for setting a target path and an operation direction according to another embodiment of the present invention.

[0028] Figure 19 It is a diagram showing an example of a method for setting a target path and an operation direction according to another embodiment of the present invention.

[0029] Description of Reference Numerals

[0030] 1...Automatic driving system; 10...Work vehicle; 11...Vehicle control device; 12...Storage unit; 13...Travel device; 14...Work implement; 15...Communication unit; 16...Positioning unit; 20...Operation terminal; 21...Operation control unit; 22...Storage unit; 23...Operation display unit; 24...Communication 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); F1...Inner peripheral area; F2...Headland area; R11...Curve reference line (first reference line); R12...Straight reference line (second reference line); R21...Straight reference line (first reference line); R22...Straight reference line (second reference line); Ra...Target path; Rb...Target path; Ra1...Operation path; Ra2...Operation path; Ra3...Operation path. Detailed implementation mode

[0031] The following implementation mode is an example that concretizes the present invention and does not limit the technical scope of the present invention.

[0032] As Figure 1 shown, the automatic driving system 1 according to the implementation mode 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 the 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.

[0033] In the present implementation mode, the case where the work vehicle 10 is a tractor is taken as an example for description. In addition, as other implementation modes, the work vehicle 10 may also be a combine harvester, a rice transplanter, a construction machine, a snowplow, or the like. The work vehicle 10 has a structure capable of automatically traveling along a target path preset in the field F (refer to Figure 4 ).

[0034] For example, an operator registers a field F of an operation object, and sets a target path for the operation vehicle 10 to automatically travel with respect to the field F. The operation 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 operation vehicle 10 obtained by the positioning unit 16. In addition, the operation vehicle 10 performs a prescribed operation while automatically traveling within the field F. The field F includes an inner region (inner peripheral region) as an inner region and an outer peripheral region (field head region) as a region around the inner region. Operation paths (target paths) serving as the traveling paths of the operation vehicle 10 are set in the inner peripheral region and the field head region, respectively.

[0035] The operation terminal 20 is a portable terminal capable of remotely operating the operation 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 for 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 traveling status of the operation vehicle 10 during automatic traveling. The operator can grasp the operation status and traveling status on the operation terminal 20.

[0036] Here, the field of the operation object is not limited to a rectangular field, and there are non-rectangular fields such as fields with a part of the outer shape (corners, etc.) being inclined and fields with a part of the outer shape being curved. In the case of such non-rectangular fields, it is difficult to generate a target path for the operation vehicle 10 to automatically travel. In contrast, as described below, the automatic traveling system 1 according to the present embodiment has a structure capable of easily generating a target path for the operation vehicle 10 to automatically travel in a non-rectangular field.

[0037] [Operation vehicle 10]

[0038] As Figure 1 and Figure 2 shown, the operation vehicle 10 includes a vehicle control device 11, a storage unit 12, a traveling device 13, a working machine 14, a communication unit 15, a positioning unit 16, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the traveling device 13, the working machine 14, the positioning unit 16, and the like. In addition, the vehicle control device 11 and the positioning unit 16 may be capable of wireless communication.

[0039] The communication unit 15 is a communication interface for connecting the operation vehicle 10 to the communication network N1 in a wired or wireless manner and performing data communication with an external device (such as the operation terminal 20) via the communication network N1 according to a prescribed communication protocol.

[0040] 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 types of information. A control program for causing the vehicle control device 11 to execute 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 prescribed reading device (not shown), and stored in the storage unit 12. In addition, the above control program may 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. Further, data of a target path generated by the operation terminal 20 and the like are stored in the storage unit 12.

[0041] 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, and the like. In addition, the front wheels 132 and the rear wheels 133 are respectively provided on the left and right of the work vehicle 10. Further, the traveling device 13 is not limited to a wheel type having the front wheels 132 and the rear wheels 133, and may also be a crawler type having crawlers provided on the left and right of the work vehicle 10.

[0042] 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 electric power is supplied from the 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 and the like. Further, the above battery is charged with the electric 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 electric power supplied from the above battery after the engine 131 stops.

[0043] 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 in accordance with an order from the vehicle control device 11. In addition, the traveling device 13 causes the work vehicle 10 to decelerate or stop in accordance with an order from the vehicle control device 11.

[0044] The working 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 relative to the work vehicle 10. Thus, the work vehicle 10 can use each working machine 14 to perform various operations. In Figure 2 it shows the case where the working machine 14 is a tiller. For example, the working machine 14 is installed at the rear of the work vehicle 10. The work vehicle 10 installs the working machine 14 at the rear and travels in the field F, thereby performing tilling operations.

[0045] The working 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 working machine 14. For example, when the work vehicle 10 travels straight forward in the field F, the vehicle control device 11 lowers the working machine 14, and when the work vehicle 10 travels straight backward in the field F and during turning travel, the vehicle control device 11 raises the working machine 14. In addition, when the work vehicle 10 performs an operation on a turning path, the vehicle control device 11 lowers the working machine 14 when the work vehicle 10 performs turning travel on the turning path. In addition, when the vehicle control device 11 obtains an operation stop instruction, the vehicle control device 11 outputs an operation stop command to the working machine 14. For example, when the operator performs a stop instruction operation on the operation terminal 20, the vehicle control device 11 obtains the above-mentioned stop instruction from the operation terminal 20. When obtaining an operation stop instruction, the vehicle control device 11 stops the drive of the PTO shaft and stops the operation of the working machine 14.

[0046] 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 steering wheel 137 by the vehicle control device 11, 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.

[0047] In addition, the traveling device 13 further includes a shift lever, an accelerator, a brake, etc. (not shown) operated by the vehicle control device 11 in addition to the steering wheel 137. And in the traveling device 13, according to the operation of the above-mentioned shift lever by the vehicle control device 11, the gear of the transmission device 134 is switched to a forward gear or a reverse gear, etc., and the traveling mode of the work vehicle 10 is switched to forward or backward, etc. In addition, the vehicle control device 11 operates the above-mentioned accelerator to control the rotational speed of the engine 131. In addition, the vehicle control device 11 operates the above-mentioned brake and uses an electromagnetic brake to brake the rotation of the front wheels 132 and the rear wheels 133.

[0048] The positioning unit 16 includes a positioning control unit 161, a storage unit 162, a communication unit 163, and a positioning antenna 164 (refer to Figure 1) communication devices such as. For example, as Figure 2 shown, the positioning unit 16 is provided above the cab 138 for the operator to ride in. 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 above 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 or a tablet terminal, a quantum compass, etc. may be used instead of the positioning unit 16.

[0049] 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 perform 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 may 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.

[0050] 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.

[0051] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0052] 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 traveling in the field F, if the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) respectively transmitted 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)), and the positioning based on the real-time kinematic method calculates the current position of the work vehicle 10 by using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs automatic driving by 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.

[0053] 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.

[0054] 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.

[0055] 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-mentioned 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 a plurality of work paths for causing the work vehicle 10 to perform a prescribed operation and a plurality of non-work paths connecting between the work paths included in the target path.

[0056] 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 acquires 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).

[0057] [Operation terminal 20]

[0058] 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 constituted by a portable terminal such as a tablet terminal or a smart phone.

[0059] 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.

[0060] 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 perform operations for registering 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 place separated from the operation vehicle 10, grasp the travel state of the operation vehicle 10 that automatically travels 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.

[0061] 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, control programs such as a path generation program for causing the operation control unit 21 to execute a path generation process (refer to Figure 10 ) described later are stored for executing various control processes. 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.

[0062] 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 an 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 (work 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.

[0063] 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, 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.

[0064] 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 working machine 14, the size and shape of the working machine 14, the position of the working machine 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.

[0065] For example, the registration processing unit 211 causes the operation display unit 23 to display Figure 5 the menu screen D1 shown. The operator selects, for example, "Working machine registration" on the menu screen D1 to register the working machine information related to the working machine 14.

[0066] 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 driving start position where the operation starts and the driving 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 working machine 14 in the operation area obtained by removing the non-operation area from the field F. For example, the operator selects "Field registration" on the menu screen D1 to register the field information.

[0067] The information on the position and shape of the field F can be automatically obtained, for example, by the operator riding on the work vehicle 10 and driving it in a way that circles around the outer periphery of a specified area AR (refer to Figure 3 ), and recording the change in the position information of the positioning antenna 164 at this time.

[0068] Specifically, the registration processing unit 211 obtains the position information of the current position of the work vehicle 10 based on the positioning information located 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-drives) 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.

[0069] In addition, while the operator is performing teaching driving of the work vehicle 10, the work implement 14 is lowered to perform a prescribed operation. During the teaching driving of the work vehicle 10, the registration processing unit 211 associates and registers the work position information of the position where the work implement 14 is lowered to perform the operation and the non-work position information of the position where the work implement 14 is raised without performing the operation with the position information of the work vehicle 10.

[0070] When the teaching driving is completed, the registration processing unit 211 registers the field based on the above position information. Figure 4 This shows an example of the display of a field registration screen (not shown) displayed on the operation terminal 20. For example, the registration processing unit 211 connects each positioning point with a straight line, and when the angle formed by two adjacent straight lines is greater than or equal to a prescribed angle, the two straight lines are replaced with one straight line (approximate straight line), and when the included angle is less than the prescribed angle, the two straight lines are replaced with one curve (approximate curve). In addition, the registration processing unit 211 connects the two straight lines to each other at each corner (supplementary point) of the field. As another embodiment, the registration processing unit 211 may approximate to a straight line or a curve based on the vehicle orientation at each positioning point. In addition, as another embodiment, when performing teaching driving with the work implement 14 lowered, the registration processing unit 211 may also acquire the position where the work implement 14 is raised and the direction is changed and the position where the work implement 14 is lowered, and set this position as the connection point between straight lines or the connection point between a straight line and a curve. The registration processing unit 211 causes the field registration screen to display the area represented by the positioning points, straight lines, and curves shown by Figure 4 and accepts the registration operation of the operator. When the operator performs a registration operation, the registration processing unit 211 registers the area represented by the positioning points, straight lines, and curves as the field F to be the operation target. In addition, the operator can change the above area in the field registration screen. For example, the operator may also select Figure 3 the shown positioning points, register the area divided by the line connecting the selected positioning points as the field, or register supplementary points at an arbitrary position different from the positioning points, and register the area divided by the line connecting the supplementary points as the field.

[0071] According to Figure 4 the shown example, a field F having a non-rectangular shape whose registered outer shape includes curves ( Figure 4 the A1, A2, and A3 parts of ) is registered. In this way, the registration processing unit 211 registers the field F as the operation target area based on the position information obtained through the manual driving operation of the work vehicle 10 by the operator.

[0072] In addition, the registration processing unit 211 registers information related to how the operations are specifically performed (hereinafter referred to as operation information). The registration processing unit 211 is configured to be able to register the presence or absence of coordinated operations 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 headland, that is, the skip count, the width of the headland, and the width of the non-operation area, etc., as operation information. For example, the operator selects "Path Creation" on the menu screen D1 to register the information of the driving path.

[0073] The setting processing unit 212 sets a reference line for generating the target path of the work vehicle 10. Specifically, the setting processing unit 212 sets a non-linear reference line (an example of the first reference line of the present invention) and a linear reference line (an example of the second reference line of the present invention) having a shape different from that of the non-linear reference line based on the information obtained when registering the field. A non-linear line is a line that includes at least a curved portion or a buckled portion. Hereinafter, as an example, a curve is cited. In addition, a straight line is a line that does not include the above-mentioned curved portion and the above-mentioned buckled portion. Hereinafter, as an example, the non-linear reference line is referred to as the curve reference line R11, and the linear reference line is referred to as the straight line reference line R12.

[0074] For example, the setting processing unit 212 obtains the position information of the path (travel locus) traveled by the work vehicle 10 through the manual operation of the operator when registering the field. Specifically, the setting processing unit 212 obtains Figure 3 the information of the positioning points shown in Figure 4 and the information of the positioning points of the field registration shown in

[0075] The setting processing unit 212 sets the curve reference line R11 based on the above travel locus. Figure 6 An example of the curve reference line R11 is shown. For example, the curve reference line R11 corresponds to Figure 4 the travel locus of the portion A2 to A3 shown in

[0076] In addition, the setting processing unit 212 sets the straight line registered by the operator in the field registration screen as the straight line reference line R12. For example, the operator sets a straight line indicating the azimuth of the operation direction of the inner peripheral area F1 of the field F. The setting processing unit 212 sets the straight line corresponding to the above operation direction as the straight line reference line R12. In addition, for example, when the operator selects two positioning points of the travel locus, the setting processing unit 212 may set the line connecting the two positioning points (one side of the field outline) as the straight line reference line R12. In addition, when the operator manually drives the work vehicle 10 straight in the field F in the operation direction and registers any two points (point A and point B), the straight line connecting point A and point B may also be set as the straight line reference line R12.

[0077] In this way, the setting processing unit 212 sets the curved reference line R11 and the straight reference line R12 based on the travel trajectory obtained through the manual travel operation of the operator during field registration. In addition, the setting processing unit 212 sets the straight reference line R12 based on the information (positioning points) used when setting the curved reference line R11.

[0078] 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 Creation" 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.

[0079] For example, when the field F includes an inner peripheral area F1 and a headland area F2 (refer to Figure 6 ), the generation processing unit 213 generates a target path Ra for automatically traveling in the headland area F2 and a target path Rb for automatically traveling in the inner peripheral area F1. For example, in the headland area F2, the generation processing unit 213 generates a curved target path Ra in such a way as to follow the curved reference line R11 set based on the taught travel trajectory. On the other hand, in the inner peripheral area F1, the generation processing unit 213 generates a target path Rb that is a straight path along which the work vehicle 10 can travel back and forth in a straight line. That is, the generation processing unit 213 generates a target path Ra in which at least a part of the multiple work paths is a curved path and a target path Rb in which all of the multiple work paths are straight paths.

[0080] Specifically, the generation processing unit 213 generates the target path Ra based on the shape and orientation of the curved reference line R11. In addition, the generation processing unit 213 sets the shape and orientation of one or more of the multiple work paths included in the target path Ra based on the shape and orientation of the straight reference line R12. Three work paths Ra1, Ra2, and Ra3 included in the target path Ra are shown in Figure 6 . In addition, the number of work paths set in the headland area F2 corresponds to the number of work runs set in the headland area F2. The generation processing unit 213 generates the work paths Ra1, Ra2, and Ra3 in a manner corresponding to the curved shape of the curved reference line R11, and further generates the work paths Ra1, Ra2, and Ra3 in such a way that the curved shapes of the work paths Ra1, Ra2, and Ra3 approach the straight shape of the straight reference line R12.

[0081] For example, as shown in Figure 6 , the work path Ra1 on the outer peripheral side of the headland area F2 has a shape close to the curved shape of the curved reference line R11, and the work path Ra3 on the inner peripheral side (inner peripheral area F1 side) of the headland area F2 has a shape close to the straight shape of the straight reference line R12.

[0082] Specifically, the generation processing unit 213 sets the shapes and orientations of the operation paths Ra1, Ra2, and Ra3 based on the distance from the curve reference line R11. For example, the generation processing unit 213 makes the shapes and orientations of the operation paths Ra1, Ra2, and Ra3 approach the shape and orientation of the straight reference line R12 as the distance from the curve reference line R11 increases.

[0083] Figure 7 This shows an example of the method for generating the operation paths Ra1, Ra2, and Ra3. For example, the generation processing unit 213 obtains the number of operation paths set in the headland area F2 (set number). In addition, the above set number corresponds to the number of operation passes in the headland area F2. The generation processing unit 213 can obtain the set number when receiving an operation for the operator to input the set number, or can calculate the above set number based on the width of the headland area F2 and the width of the working machine 14 (working width). Additionally, the generation processing unit 213 can also calculate the above set number based on the deviation between the curve reference line R11 and the straight reference line R12. Here, the generation processing unit 213 obtains "three" as the set number.

[0084] The generation processing unit 213 sets three reference lines L1, L2, and L3 parallel and equally spaced to the straight reference line R12 in the headland area F2. The intervals of the reference lines L1, L2, and L3 are set based on the width of the headland area F2, the working width of the working machine 14, the overlap amount, etc. Next, the generation processing unit 213 calculates the deviation Δdn between the curve reference line R11 and the straight reference line R12 ( Figure 7 the distance of the arrow shown). In addition, in the Figure 7 example shown, the straight reference line R12 is set at a position where it contacts the right end of the curve reference line R11, but the straight reference line R12 can also be set at the central position or the left end position of the curve reference line R11.

[0085] Next, the generation processing unit 213 sets, for each operation path, a subtraction amount of the deviation Δdn between the operation path and the straight reference line R12 based on the above set number. The generation processing unit 213 gradually increases the subtraction amount each time it moves away from the curve reference line R11. For example, since the above set number is "three", the generation processing unit 213 sets the subtraction amount for each operation path to "Δdn / 3".

[0086] Then, the generation processing unit 213 sets the path (operation path Ra1) obtained by subtracting "Δdn × 1 / 3" from the deviation Δdn between the curve reference line R11 and the straight reference line R12 at the position of the reference line L1. In addition, the generation processing unit 213 sets the path (operation path Ra2) calculated by subtracting "Δdn × 2 / 3" from the deviation Δdn between the curve reference line R11 and the straight reference line R12 at the position of the reference line L2. In addition, the generation processing unit 213 sets the path (operation path Ra3) calculated by subtracting "Δdn × 3 / 3" from the deviation Δdn between the curve reference line R11 and the straight reference line R12 at the position of the reference line L3.

[0087] In addition, the generation processing unit 213 may perform an addition process instead of the subtraction process. For example, the generation processing unit 213 may gradually increase the addition amount each time it moves away from the curve reference line R11 so that the above deviation becomes a deviation greater than Δdn.

[0088] As a result, among the multiple operation paths in the headland area F2, the closer to the outer peripheral side of the field F, the closer the shape is to the shape of the curve reference line R11, and the closer to the inner peripheral side of the field F, the closer the shape is to the shape of the straight reference line R12. In addition, the operation path (operation path Ra3 in Figure 7 the closest to the inner peripheral area F1 among the multiple operation paths in the headland area F2) is substantially the same as the shape and orientation of the straight reference line R12 and becomes a straight path. As another embodiment, the setting processing unit 212 may set the curve reference line R11 on the inner peripheral side of the field F and set the straight reference line R12 along the straight field edge on the outer peripheral side of the field F. For example, the setting processing unit 212 sets the curve reference line R11 according to the operation trajectory when the operator freely operates on the inner peripheral side of the field F. In this case, the generation processing unit 213 generates an operation path whose shape is closer to the shape of the straight reference line R12 as it gets closer to the outer peripheral side of the field F, and an operation path whose shape is closer to the shape of the curve reference line R11 as it gets closer to the inner peripheral side of the field F.

[0089] As described above, when the number of set operation paths in the headland area F2 is set to N, the generation processing unit 213 makes the shape and orientation of each of the operation paths from the first to the (N - 1)th approach the shape and orientation of the curve reference line R11 as the distance from the curve reference line R11 increases, and makes the shape and orientation of the Nth operation path the same as the shape and orientation of the straight reference line R12.

[0090] As other embodiments, the shape and orientation of the Nth operation path may not be the same as those of the straight reference line R12 and may have a curved shape. For example, the generation processing unit 213 may also cause the shape and orientation of each of the first to Nth operation paths to approach the shape and orientation of the curved reference line R11 as the distance from the curved reference line R11 increases, and cause the shape and orientation of the operation path next to the Nth (the (N + 1)th operation path (the first target path Rb of the inner peripheral region F1)) to be the same as the shape and orientation of the straight reference line R12.

[0091] In addition, the number of operation paths until the operation path becomes the same as the shape and orientation of the straight reference line R12 may also be set to a non-changeable specification (fixed).

[0092] In addition, for the target path Rb of the inner peripheral region F1, the generation processing unit 213 generates a straight path parallel to the straight reference line R12 (refer to Figure 6 ).

[0093] As described above, the generation processing unit 213 generates the target path Ra of the headland region F2 and the target path Rb of the inner peripheral region F1. In addition, when the field F is not divided into the inner peripheral region F1 and the headland region F2, the generation processing unit 213 generates a plurality of operation paths having a curved shape and a plurality of operation paths having a straight shape according to the above-described method for generating the target path Ra (refer to Figure 7 ). In this case, the number of operation paths until the operation path becomes the same as the shape and orientation of the straight reference line R12 may be set according to the input operation of the operator or may be fixed in advance.

[0094] When generating the target path of the work vehicle 10, the generation processing unit 213 associates the target path with the field F and registers it. In addition, the generation processing unit 213 can generate and register a plurality of target paths corresponding to the work content for one field F.

[0095] 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 instruction to start the work, the output processing unit 214 outputs the path data of the selected target path to the work vehicle 10.

[0096] The work vehicle 10 is configured such that the path data of the target path generated in 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 usually coincides with the position of the positioning antenna 164.

[0097] When the start condition is satisfied and the operator gives a job start instruction by pressing the job start button on the operation screen, the work vehicle 10 starts automatic driving through the driving processing unit 111, and starts the operation performed by the working machine 14 (refer to Figure 2 ). 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 driving start position and the vehicle orientation is within a specified orientation. In addition, the start condition for permitting the automatic driving of the work vehicle 10 is not limited to the above conditions.

[0098] The driving processing unit 111 of the work vehicle 10 automatically drives the work vehicle 10 from the driving start position to the driving end position according to the target path obtained from the operation terminal 20.

[0099] Here, when the work vehicle 10 travels on a work path with a changing shape between adjacent work paths, the following problems occur: work residue (gap between work widths) is generated, or an overlapping part is generated between the work widths (worked areas). Therefore, the generation processing unit 213 may also have a structure capable of setting a first generation mode and a second generation mode. The first generation mode permits the gap between work widths and prohibits the overlapping part between work widths to generate the target path. The second generation mode permits the overlapping part between work widths and prohibits the gap between work widths to generate the target path. For example, the operator selects the first generation mode or the second generation mode on the operation screen. When the operator selects the first generation mode, as Figure 8 shown, the generation processing unit 213 generates the work paths Ra1 and Ra2 in such a way that the work widths B1 and B2 do not overlap each other at the part By where the work width B1 of the work path Ra1 and the work width B2 of the work path Ra2 are closest. In this case, a gap is generated in the part (for example, part Bx) where the distance between the work width B1 and the work width B2 is larger than the distance of the part By. In this way, the generation processing unit 213 sets the positions of two adjacent work paths so that the work widths of the two adjacent work paths do not overlap.

[0100] In addition, when the operator selects the second generation mode, as Figure 9 shown, the generation processing unit 213 generates the work paths Ra1 and Ra2 in such a way that no gap is generated at the part Bz where the work width B1 of the work path Ra1 and the work width B2 of the work path Ra2 are the farthest. In this case, the work widths B1 and B2 overlap each other in the part where the distance between the work width B1 and the work width B2 is smaller than the distance of the part Bz. In this way, the generation processing unit 213 sets the positions of two adjacent work paths so that no gap is generated between the work widths of the two adjacent work paths.

[0101] The operator selects the first generation mode or the second generation mode according to the operation content. For example, the operator selects the first generation mode (refer to Figure 8 ) in the case of an operation (such as a ridging operation) where problems will occur when the operation widths overlap each other, and selects the second generation mode (refer to Figure 9 ) in the case of an operation (such as a tilling operation) where no problems will occur even when the operation widths overlap each other. In this way, the generation processing unit 213 receives an operation from the operator for setting whether to generate a target path in such a manner that the operation widths of two adjacent operation paths do not overlap. As another embodiment, the generation processing unit 213 may also automatically set the first generation mode or the second generation mode according to the operation content. For example, the generation processing unit 213 may also automatically set the first generation mode or the second generation mode by automatically detecting the work machine 14 on the side of the work vehicle 10 or by sending work machine information from the work machine 14 to the work vehicle 10.

[0102] In addition, the generation processing unit 213 may also display the operation screen Figure 8 and Figure 9 the predicted operation state (simulation screen) shown in, and request the operator's confirmation (adoption or non - adoption). For example, the operator may also confirm the predicted operation state corresponding to the selected generation mode (the above - mentioned first generation mode or the above - mentioned second generation mode) and change to another generation mode.

[0103] In addition, the operation terminal 20 may also be able to access the website of the agricultural support service (agricultural support website) 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, and thus can function as an operation terminal for the above - mentioned server. Moreover, the above - mentioned server is equipped with the above - mentioned respective processing units and executes each process.

[0104] [Path Generation Processing]

[0105] Hereinafter, an example of the above - mentioned path generation processing executed by the automatic driving system 1 will be described with reference to Figure 10 .

[0106] 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 process. Additionally, one or more steps included in the above path generation process described here can be appropriately omitted. Furthermore, for each step in the above path generation process, within the range of producing the same effects, the execution order can also be different. Additionally, the case where the operation control unit 21 executes each step in the above path generation process is taken as an example for explanation here, but as other embodiments, a path generation method in which one or more processors separately execute each step in the above path generation process can also be considered.

[0107] 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 ) displayed on the operation terminal 20, the operation control unit 21 determines to start field registration 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).

[0108] 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 in a way that circles around the outer periphery of a specified area AR (teaching travel). The operation control unit 21 acquires the positioning information (position information of the current position of the work vehicle 10) positioned by the positioning unit 16 during the travel of the work vehicle 10. In addition, when the operator raises and lowers the working machine 14 of the work vehicle 10 while performing manual travel, the operation control unit 21 can also acquire information on the position where the working machine 14 is raised and lowered at the same time.

[0109] Next, in step S3, the operation control unit 21 registers the field. Specifically, when the teaching travel is completed, the operation control unit 21 registers the field based on the position information (positioning points) of the above travel trajectory. For example, as Figure 4 shown, the operation control unit 21 uses the interval that can approximate the line connecting each positioning point with a straight line as the outer shape (side) of the straight line, and uses the interval ([[]] Figure 4 the A1, A2, and A3 parts) that can approximate the line connecting each positioning point with a curve as the outer shape (side) of the curve, and registers the area surrounded by these outer shapes as the field F to be worked on. According to Figure 4 the example shown, a field F with a registration outer shape including a curve is registered.

[0110] When the operation control unit 21 registers the field, it generates a path (target path) for the work vehicle 10 to perform automatic travel. Specifically, first, in step S4, the operation control unit 21 sets a curve reference line R11 based on the above travel trajectory (refer toFigure 6 )。The curve reference line R11 corresponds to the driving track that is curved during the teaching driving by the operator and is not approximately a straight line.

[0111] Next, in step S5, the operation control unit 21 sets a straight reference line R12 having a different shape or orientation from the curve reference line R11 (see Figure 6 ). Specifically, the operation control unit 21 sets the straight reference line R12 based on the information used when setting the curve reference line R11. For example, the operation control unit 21 sets a straight line parallel to the linear outer shape of the registered field F as the straight reference line R12. In addition, for example, the operation control unit 21 may also set the line connecting two positioning points on the outer shape of the field F as the straight reference line R12 when the operator selects two positioning points on the outer shape of the field F. In addition, the order of the processes in steps S4 and S5 may be reversed.

[0112] Next, in step S6, the operation control unit 21 generates a target path Ra for the headland area F2. Specifically, the operation control unit 21 generates a curved target path Ra along the set curve reference line R11. For example, when the operator sets the number of work passes in the headland area F2 to three passes, the operation control unit 21 generates three work paths Ra1, Ra2, and Ra3 based on the distance from the curve reference line R11 (see Figure 6 ). Specifically, the operation control unit 21 generates the work paths Ra1, Ra2, and Ra3 in such a way that as the distance from the set curve reference line R11 increases, the shape and orientation approach the shape and orientation of the straight reference line R12.

[0113] For example, as Figure 7As shown, based on the set number of paths, for each operation path, the operation control unit 21 sets the subtraction amount of the deviation Δdn between the operation path and the straight reference line R12. Here, since the set number of paths is "3", the operation control unit 21 sets the subtraction amount for each operation path to "Δdn / 3". The operation control unit 21 generates a path (operation path Ra1) with a shape obtained by subtracting "Δdn×1 / 3" from the deviation Δdn between the curved reference line R11 and the straight reference line R12, generates a path (operation path Ra2) with a shape obtained by subtracting "Δdn×2 / 3" from the deviation Δdn between the curved reference line R11 and the straight reference line R12, and generates a path (operation path Ra3) with a shape obtained by subtracting "Δdn×3 / 3" from the deviation Δdn between the curved reference line R11 and the straight reference line R12. Then, the operation control unit 21 sets the operation paths Ra1, Ra2, and Ra3 at the positions of three reference lines L1, L2, and L3 that are parallel to and equidistant from the straight reference line R12. The operation control unit 21 generates the operation path Ra3, which is the final operation stroke of the headland area F2, as a straight path parallel to the straight reference line R12.

[0114] Next, in step S7, the operation control unit 21 generates a target path Rb for the inner peripheral area F1. Specifically, the operation control unit 21 generates a straight path parallel to the straight reference line R12 as the target path Rb (refer to Figure 6 ). In addition, the order of the processes in steps S6 and S7 can be reversed.

[0115] Finally, in step S8, the operation control unit 21 registers the generated target path. Specifically, the operation control unit 21 associates and registers the target path Ra of the headland area F2 and the target path Rb of the inner peripheral area F1 with the field F. As described above, the operation control unit 21 performs the above path generation process.

[0116] 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 obtains the operation start instruction from the operation terminal 20 and starts the automatic travel of the work vehicle 10.

[0117] As described above, the automatic driving system 1 according to the present embodiment is a system that generates a target path for the work vehicle 10 to automatically drive in the field. The automatic driving system 1 sets a first reference line (for example, a curved reference line R11) and a second reference line (for example, a straight reference line R12) whose shape and orientation are different from those of the first reference line based on the information obtained when registering the field, generates a target path (target path Ra) for the work vehicle 10 to automatically drive based on the shape and orientation of the first reference line, and sets the shape and orientation of one or more first work paths included in the target path based on the shape and orientation of the second reference line.

[0118] Specifically, the automatic driving system 1 makes the shape and orientation of each of the plurality of first work paths approach the shape and orientation of the second reference line as the distance from the first reference line increases.

[0119] According to the target path generated by the above structure, for example, as Figure 6 shown, on the outer peripheral side of the headland area F2 of the field F, the work vehicle 10 can be made to travel and work along a non-linear (for example, curved) path actually traveled by an operator during teaching driving. In addition, on the inner peripheral side of the headland area F2, the work vehicle 10 can be made to travel and work linearly along a linear path (target path Rb) set in the inner peripheral area F1. In addition, as the shape of the target path approaches from the outer peripheral side to the inner peripheral side of the headland area F2 from non-linear (curved) to linear, the overlapping portions and gaps between adjacent working widths can be minimized (refer to Figure 8 and Figure 9 ).

[0120] [Other Embodiments]

[0121] The present invention is not limited to the above-described embodiment. Hereinafter, other embodiments of the present invention will be described.

[0122] In the above-described embodiment, the operation control unit 21 sets a curved reference line (curved reference line R11) including at least a part of a bent portion or a buckled portion as a reference line corresponding to a driving trajectory for manual driving during teaching driving (equivalent to the first reference line of the present invention), and sets a plurality of work paths included in the target path as reference lines approaching a linear shape from the curved reference line R11 (equivalent to the second reference line of the present invention) (linear reference line R12). As another embodiment of the present invention, the operation control unit 21 may also set a linear reference line as the first reference line described above, and set a plurality of work paths included in the target path as reference lines approaching a curved shape from the first reference line (second reference line). That is, the first reference line of the present invention may be a linear reference line, and the second reference line of the present invention may be a non-linear reference line.

[0123] In addition, as another embodiment, both the first reference line and the second reference line of the present invention may be linear reference lines. In this case, as Figure 11 shown, the operation control unit 21 sets, for example, the work path Ra11 approaching the first reference line (linear reference line R21) as an orientation approaching the orientation of the first reference line, and as the distance from the linear reference line R21 increases, makes the orientation of the work path approach the orientation of the second reference line (linear reference line R22). That is, the operation control unit 21 generates a target path Ra based on the orientation of the first reference line, and sets the orientation of one or more work paths among the plurality of work paths included in the target path Ra based on the orientation of the second reference line. In Figure 11 the example shown, the operation control unit 21 sets the orientation of the work path Ra13 to be the same as the orientation of the linear reference line R22.

[0124] However, as Figure 12 shown, in the case of the right side E1 and the left side E2 that are opposed and not parallel among the four sides (right side E1, left side E2, upper side E3, lower side E4) of the outer shape of the work area (for example, the field F), if the extending direction of the left side E2 perpendicular to the other sides is set as the work direction, when the work vehicle 10 performs work in the outermost peripheral area along the right side E1, the right side of the vehicle body travels outside the work area, resulting in waste. In addition, in the case where the work vehicle 10 is a combine harvester, there is also a problem that the work efficiency is reduced due to the straw discharged outside the work area being hooked. Therefore, in the case where the outer shape side of the work area is inclined, the operation control unit 21 may also have the following structure.

[0125] Specifically, when one side of the work area is inclined, the operation control unit 21 sets two work directions. For example, in Figure 13In the work area shown, when the left side E2 of the outer edges of the work area (right side E1, left side E2, upper side E3, lower side E4) is perpendicular to the lower side E4 facing the road and the right side E1 is inclined with respect to the left side E2, the operation control unit 21 sets the right side E1 (or a straight line parallel to the right side E1) as the first reference line R21 and the left side E2 (or a straight line parallel to the left side E2) as the second reference line R22. In addition, the operation control unit 21 sets the extension direction of the right side E1 (first reference line R21) as the first operation direction and the extension direction of the left side E2 (second reference line R22) as the second operation direction. Further, the operation control unit 21 sets the work path Re1 on the first reference line R21 side to be parallel to the orientation (first operation direction) of the first reference line R21, and sets the work path Re2 on the second reference line R22 side to be parallel to the orientation (second operation direction) of the second reference line R22. Thereby, the work vehicle 10 travels along the first operation direction on the right side E1 side and travels along the second operation direction on the left side E2 side.

[0126] As another embodiment, as Figure 14 shown, the operation control unit 21 may also set the extension direction of the right side E1 (first reference line R21) as the first operation direction, set the extension direction of the left side E2 (second reference line R22) as the second operation direction, set the work path Re1 to an orientation approaching the orientation (first operation direction) of the first reference line R21, and as the distance from the first reference line R21 increases, make the orientation of the work path Re1 approach the orientation (second operation direction) of the second reference line R22. In addition, the operation control unit 21 may also set each work path Re1 such that the work widths overlap so that no unworked area is generated between adjacent work paths Re1.

[0127] As another embodiment, in Figure 15In the work area shown, when the right side E1 and the left side E2 among the outer edges of the work area (the right side E1, the left side E2, the upper side E3, and the lower side E4) are not parallel to each other and are inclined with respect to the direction perpendicular to the lower side E4 facing the road, the operation control unit 21 sets the right side E1 as the first reference line R21a, sets the left side E2 as the first reference line R21b, and sets the direction perpendicular to the lower side E4 as the second reference line R22. In addition, the operation control unit 21 sets the extending direction of the right side E1 (the first reference line R21a) as the first working direction, sets the extending direction of the left side E2 (the first reference line R21b) as the second working direction, and sets the extending direction of the second reference line R22 as the third working direction. In addition, the operation control unit 21 sets the working path Re1 on the first reference line R21a side to the orientation (the first working direction) close to the first reference line R21a, and as the distance from the first reference line R21a increases, makes the orientation of the working path Re1 close to the orientation of the second reference line R22 (the third working direction). In addition, the operation control unit 21 sets the working path Re2 on the first reference line R21b side to the orientation (the second working direction) close to the first reference line R21b, and as the distance from the first reference line R21b increases, makes the orientation of the working path Re2 close to the orientation of the second reference line R22 (the third working direction). That is, the operation control unit 21 makes the orientations of the left and right working paths approach the third working direction as they approach the center of the work area.

[0128] In addition, in Figure 15 the structure shown, the operation control unit 21 may also set the second reference line R22 and the third working direction based on the operation history and the traveling history. In addition, the operation control unit 21 may also set the second reference line R22 and the third working direction based on the setting operation of the operator.

[0129] As another embodiment, in Figure 16 the work area shown, when the work vehicle 10 travels in a circular motion from the outer peripheral side toward the inner peripheral side (in the case of a combine harvester, it is circular harvesting travel), similar to the example shown in Figure 14 the operation control unit 21 may also set the working path Re1 to the orientation (the first working direction) close to the first reference line R21, and as the distance from the first reference line R21 increases, make the orientation of the working path Re1 close to the orientation of the second reference line R22 (the second working direction).

[0130] As another embodiment, as shown in Figure 17 when the inclined side among the outer edges of the work area (in Figure 17When the inclination angle (the angle formed by the right side E1 and the lower side E4) of the right side E1 is an acute angle, the useless area for traveling outside the operation area becomes smaller. In this case, the Figures 13 - 16 processing shown (the processing of setting multiple operation directions and the processing of setting the first reference line and the second reference line) is not required. Therefore, the operation control unit 21 can also be configured to execute the processing of setting multiple operation directions and the processing of setting the first reference line and the second reference line when the above inclination angle is greater than or equal to a specified angle, and not execute the processing of setting multiple operation directions and the processing of setting the first reference line and the second reference line when the above inclination angle is less than the specified angle. In addition, the operation control unit 21 can also set whether to execute the above respective processes according to the selection operation of the operator. In addition, in the Figure 17 shown structure, the operation control unit 21 sets the left side E2 perpendicular to the lower side E4 (road) as the reference line R0 (operation direction), and sets an operation path parallel to the reference line R0 in the entire operation area.

[0131] As another embodiment, as Figure 18 shown, when one side of the operation area is inclined and the side opposite to this side is perpendicular to the lower side (road), the operation control unit 21 can also set the perpendicular side as the operation direction. In the Figure 18 shown example, the operation control unit 21 sets the left side E2 perpendicular to the lower side E4 as the operation direction. In addition, when neither the right side E1 nor the left side E2 is perpendicular to the lower side E4, the operation control unit 21 can also set the side closer to perpendicular among the right side E1 and the left side E2 as the operation direction. In addition, the operation control unit 21 can also default-set the above perpendicular side as the operation direction and can change the operation direction according to the change operation of the operator.

[0132] As another embodiment, as Figure 19 shown, when neither the right side E1 nor the left side E2 is perpendicular to the lower side E4 and not close to 90 degrees (acute angle with respect to the lower side E4), the operation control unit 21 can also cause the operation screen of the operation terminal 20 to display a message of "No right-angled side is found. Please adjust (set) the operation direction from the screen." The operator can select the side set as the operation direction on the operation screen, or can adjust the angle of the selected side to set the operation direction. In addition, the operator can also input the angle of the operation direction and set it as the operation direction. In addition, the operation control unit 21 can also set the operation direction based on the operation history and the travel history. For example, as Figure 19 shown, the operation control unit 21 can also set the operation direction at the time of the previous operation as the default value and display it.

[0133] In addition, as another implementation, the operation control unit 21 may also set the second reference line based on the registered operations of the operator. For example, when the operator designates any two points on the map of the operation screen, the operation control unit 21 may also set the line connecting the designated two points as the second reference line. In this case, the operation control unit 21 sets the first reference line and sets multiple operation paths included in the target path to be close to the second reference line set through the registered operations of the operator.

[0134] In addition, as another implementation, the operation control unit 21 may also determine whether to allow or prohibit the setting of the second reference line according to the selection operation of the operator. For example, when the operator allows the setting of the second reference line, the operation control unit 21 generates a target path based on the first reference line and the second reference line; when the operator prohibits the setting of the second reference line, the operation control unit 21 generates a target path based on the first reference line.

[0135] In addition, as another implementation, when the second reference line is set, the operation control unit 21 may also determine whether to set the shape or orientation of the operation path to be close to the shape or orientation of the second reference line according to the selection operation of the operator. For example, when the operator allows the setting of the shape or orientation close to the second reference line, the operation control unit 21 sets the shape or orientation of multiple operation paths included in the target path to be close to the shape or orientation of the second reference line; when the operator prohibits the setting of the shape or orientation close to the second reference line, the operation control unit 21 sets multiple operation paths included in the target path to follow the first reference line.

[0136] In the above implementation, the operation control unit 21 makes multiple operation paths included in the target path gradually approach the shape and orientation of the second reference line (linear reference line R12). However, as another implementation, the operation control unit 21 may also make a part of the multiple operation paths among the multiple operation paths included in the target path coincide with the shape and orientation of the first reference line (curved reference line R11), and make the remaining operation paths coincide with the shape and orientation of the second reference line (linear reference line R12).

[0137] As other embodiments of the present invention, the operation control unit 21 may also set the number of work trips based on the set number of work paths in the headland area F2, and determine the curvature of the curves of each of the multiple work paths included in the target path based on the number of work trips. Additionally, as another embodiment, the operation control unit 21 may also receive from the operator an operation for setting the curvature of the curves of each of the multiple work paths included in the target path, and determine the shape of each work path based on the set curvature. Further, when determining the curvature of the curve or determining the shape of the work path based on the curvature, the operation control unit 21 may also display the determination result on the operation screen and request confirmation from the operator.

[0138] 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 may be constituted by the operation terminal 20 alone, or may be constituted by combining the work vehicle 10 and the operation terminal 20, or may be constituted by a server (not shown) alone.

[0139] [Supplementary Notes of the Invention]

[0140] Hereinafter, a summary of the invention extracted from each of the above embodiments will be appended. In addition, each structure and each processing function described in the following supplementary notes can be selected and combined arbitrarily.

[0141] <Supplementary Note 1>

[0142] A path generation method for generating a target path for automatically driving a work vehicle in a work area

[0143] The above path generation method performs:

[0144] Setting a first reference line that serves as a reference when generating the above target path, and a second reference line having a different shape or orientation from the first reference line;

[0145] Generating the above target path for automatically driving the work vehicle based on the shape or orientation of the first reference line; and

[0146] Setting the shape or orientation of one or more first work paths among the multiple work paths included in the target path based on the shape or orientation of the second reference line.

[0147] <Supplementary Note 2>

[0148] According to the path generation method described in Supplementary Note 1,

[0149] Based on the driving trajectory of the work vehicle obtained through the manual driving operation of the user when registering the work area, the first reference line and the second reference line are set.

[0150] <Supplementary Note 3>

[0151] Based on the path generation method described in Supplementary Note 1 or 2,

[0152] set the shape or orientation of the first operation path based on the distance from the above first reference line.

[0153] <Supplementary Note 4>

[0154] According to the path generation method described in any one of Supplementary Notes 1 to 3,

[0155] make the shape or orientation of each of the multiple first operation paths approach the shape or orientation of the second reference line as the distance from the first reference line increases.

[0156] <Supplementary Note 5>

[0157] According to the path generation method described in any one of Supplementary Notes 1 to 4,

[0158] The second reference line is set based on the information used when setting the first reference line.

[0159] <Supplementary Note 6>

[0160] According to the path generation method described in any one of Supplementary Notes 1 to 5,

[0161] The first reference line is a non - straight line that at least partially includes a bent portion or a buckled portion,

[0162] The second reference line is a straight line that does not include the bent portion and the buckled portion.

[0163] <Supplementary Note 7>

[0164] According to the path generation method described in any one of Supplementary Notes 1 to 6,

[0165] When the set number of the first operation paths is set to N,

[0166] make the shape or orientation of each of the first operation paths from the first to the (N - 1)th approach the shape or orientation of the second reference line as the distance from the first reference line increases,

[0167] make the shape or orientation of the Nth first operation path coincide with the shape or orientation of the second reference line.

[0168] <Supplementary Note 8>

[0169] According to the path generation method described in Supplementary Note 7,

[0170] Based on the above-mentioned set number of lines, for each of the above-mentioned first operation paths, set the subtraction amount of the deviation between the first operation path and the above-mentioned second reference line.

[0171] <Supplementary Note 9>

[0172] According to the path generation method described in any one of Supplementary Notes 1 to 8,

[0173] Set two of the above-mentioned first reference lines that are not parallel to each other,

[0174] Make the shape or orientation of the above-mentioned first operation paths on the side of one of the above-mentioned first reference lines among the multiple above-mentioned first operation paths approach the shape or orientation of the above-mentioned second reference line as the distance from one of the above-mentioned first reference lines increases.

[0175] Make the shape or orientation of the above-mentioned first operation paths on the side of the other of the above-mentioned first reference lines among the multiple above-mentioned first operation paths approach the shape or orientation of the above-mentioned second reference line as the distance from the other of the above-mentioned first reference lines increases.

[0176] <Supplementary Note 10>

[0177] According to the path generation method described in any one of Supplementary Notes 1 to 9,

[0178] Set the positions of two of the above-mentioned first operation paths in such a way that the operation widths of adjacent two of the above-mentioned first operation paths do not overlap.

[0179] <Supplementary Note 11>

[0180] According to the path generation method described in any one of Supplementary Notes 1 to 10,

[0181] Accept an operation from the user for setting whether to generate the above-mentioned target path in such a way that the operation widths of adjacent two of the above-mentioned first operation paths do not overlap.

Claims

1. A path generation method for generating a target path for an operating vehicle to automatically travel in an operation area, The path generation method is characterized by performing: Setting a first reference line that serves as a reference when generating the target path, and a second reference line having a different shape or orientation from the first reference line; Generating the target path for the operating vehicle to automatically travel based on the shape or orientation of the first reference line; And Setting the shape or orientation of one or more first operation paths included in the target path based on the shape or orientation of the second reference line.

2. The path generation method according to claim 1, characterized in that Based on the travel trajectory of the operating vehicle obtained by the manual travel operation of the user when registering the operation area, the first reference line and the second reference line are set.

3. The path generation method according to claim 1, characterized in that The shape or orientation of the first operation path is set based on the distance from the first reference line.

4. The path generation method according to claim 1, characterized in that The shape or orientation of each of the plurality of first operation paths approaches the shape or orientation of the second reference line as the distance from the first reference line increases.

5. The path generation method according to claim 1, characterized in that The second reference line is set based on the information used when setting the first reference line.

6. The path generation method according to claim 1, characterized in that The first reference line is a non-straight line that includes at least a part of a curved portion or a bent portion, The second reference line is a straight line that does not include the curved portion and the bent portion.

7. The path generation method according to claim 1, characterized in that When the set number of the first operation paths is set to N, The shape or orientation of each of the first operation paths from the first to the (N - 1)th approaches the shape or orientation of the second reference line as the distance from the first reference line increases, The shape or orientation of the Nth first operation path is made to coincide with the shape or orientation of the second reference line.

8. The path generation method according to claim 7, characterized in that Based on the set number, for each of the first operation paths, a subtraction amount of the deviation of the first operation path from the second reference line is set.

9. The path generation method according to claim 1, characterized in that Two non-parallel first reference lines are set, The shape or orientation of the first operation paths set on one side of the first reference line among the plurality of first operation paths approaches the shape or orientation of the second reference line as the distance from the one first reference line increases, The shape or orientation of the first operation paths set on the other side of the first reference line among the plurality of first operation paths approaches the shape or orientation of the second reference line as the distance from the other first reference line increases.

10. The path generation method according to any one of claims 1 to 9, characterized in that Set the positions of the two first working paths in such a way that the working widths of adjacent ones of the two first working paths do not overlap.

11. The path generation method according to any one of claims 1 to 9, characterized in that Receive an operation from a user for setting whether to generate the target path in such a way that the working widths of adjacent ones of the two first working paths do not overlap.

12. A path generation program that generates a target path for an operation vehicle to automatically travel in an operation area, wherein the path generation program is characterized in that it is configured to cause one or more processors to execute: set a first reference line that serves as a reference when generating the target path, and a second reference line having a shape or orientation different from that of the first reference line; generate the target path for the operation vehicle to automatically travel based on the shape or orientation of the first reference line; and and set the shape or orientation of one or more first working paths among the multiple working paths included in the target path based on the shape or orientation of the second reference line.

13. A path generation system that generates a target path for an operation vehicle to automatically travel in an operation area, wherein 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 a second reference line having a shape or orientation different from that of the first reference line; and a generation processing unit that generates the target path for the operation vehicle to automatically travel based on the shape or orientation of the first reference line, and sets the shape or orientation of one or more first working paths among the multiple working paths included in the target path based on the shape or orientation of the second reference line.

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