Route generating system and route generating method

Abstract

To generate a connection route in accordance with the shape of a non-working region.SOLUTION: A route generating system includes a route generating unit that generates a travel route which include a plurality of work routes P where a work vehicle performs autonomous tasks, and a connection route Q that connects the work routes P with each other, and through which the work vehicle autonomously travels. The route generating unit can generate a route that includes a connection route Q which comprises a first turn route Q1, a second turn route Q3, and a straight route Q2 set between the first turn route Q1 and the second turn route Q3. The route generating unit can generate the first turn route Q1 in such a way that the work vehicle is caused to travel from a start position of the first turn route Q1 toward the opposite side to a following work route P2 where the work vehicle autonomously travels after autonomously traveling the connection route Q.SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present invention relates to a route generation system and a route generation method that include a route generation unit that generates a driving route for a work vehicle to travel autonomously. [Background technology]

[0002] The above-mentioned route generation system is used in an autonomous driving system that allows a work vehicle to drive autonomously (see, for example, Patent Document 1). In the system described in Patent Document 1, the shapes of a work area where autonomous work is performed by a work vehicle and a non-work area where autonomous work is not performed by the work vehicle are registered in a work target area such as a farm field, and a route generation unit generates multiple work routes within the work area and generates multiple connecting routes in the non-work area that connect each of the work routes.

[0003] In the system described in Patent Document 1, a rectangular work area is registered in the center of a work area such as a farm field, and a non-work area is registered to surround the work area. The path generation unit generates a linear work path for a work vehicle to travel back and forth in the work area, and generates a circular connecting path for changing the traveling direction of the work vehicle in the non-work areas located at both ends of the work area in the traveling direction of the work vehicle to connect to the next work path. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2015 / 119265 Summary of the Invention [Problem to be solved by the invention]

[0005] The work area such as a farm field is not limited to a rectangular shape, and may have a sloping perimeter such as a parallelogram or other various shapes. Therefore, the shapes of the work area and non-work area are not fixed, but may differ depending on the shape of the work area. Therefore, if a circular connecting path is generated only for the non-work area, a part of the connecting path may extend outside the work area depending on the shape of the non-work area. For example, if the shape of the non-work area is sloping with respect to the traveling direction of the work vehicle in the work area, a sufficient travel distance cannot be obtained in the direction perpendicular to the work vehicle in the work area, so a sufficient turning radius cannot be secured to generate a circular connecting path, and it may not be possible to generate a circular connecting path in the non-work area.

[0006] Therefore, in order to prevent the connecting path from going outside the work area, it is possible to consider increasing the area of ​​the non-working area so that a sufficient turning radius can be ensured. However, if the area of ​​the non-working area is increased, the area of ​​the working area in the work area will be reduced, resulting in new problems such as reduced work efficiency.

[0007] In view of this situation, a main object of the present invention is to provide a route generation system and a route generation method capable of generating a connection route according to the shape of a non-work area. [Means for solving the problem]

[0008] A path generation system according to one aspect of the present invention includes a plurality of work paths along which autonomous work is performed by a work vehicle, and a connection path that connects the work paths, and includes a path generation unit that generates a travel path along which the work vehicle travels autonomously. The path generation unit is capable of generating a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path as the connection path. The path generation unit is capable of generating the first turning path so that the work vehicle travels from a start position of the first turning path toward the opposite side to a following work path along which the work vehicle works autonomously after autonomously traveling the connection path.

[0009] A route generation method according to one aspect of the present invention includes a route generation process for generating a travel route along which a work vehicle autonomously travels, the travel route including a plurality of work routes along which autonomous work is performed by a work vehicle and a connection route connecting the work routes. The route generation process can generate a route including a first turning route, a second turning route, and a straight route set between the first turning route and the second turning route as the connection route. The route generation process can generate the first turning route so that the work vehicle travels from a start position of the first turning route in a direction opposite to a following work route along which the work vehicle autonomously travels after autonomously traveling the connection route. [Brief description of the drawings]

[0010] [Figure 1] A diagram showing the schematic configuration of an autonomous driving system. [Diagram 2] Block diagram showing the schematic configuration of an autonomous driving system [Diagram 3] A diagram showing the work route in the work area of ​​a farm field. [Figure 4] A diagram to explain the connection routes in the non-working areas of the field. [Diagram 5] A diagram to explain the connection routes in the non-working areas of the field. [Figure 6] A diagram to explain the connection routes in the non-working areas of the field. [Figure 7] A diagram to explain the connection routes in the non-working areas of the field. [Figure 8] A diagram to explain the connection routes in the non-working areas of the field. [Figure 9] A diagram to explain the connection routes in the non-working areas of the field. [Figure 10] A diagram to explain the connection routes in the non-working areas of the field. [Figure 11] A diagram to explain the connection routes in the non-working areas of the field. [Figure 12] A diagram to explain the connection routes in the non-working areas of the field. [Figure 13]A diagram to explain the connection routes in the non-working areas of the field. [Figure 14] A diagram to explain the connection routes in the non-working areas of the field. [Figure 15] A diagram to explain the connection routes in the non-working areas of the field. [Figure 16] A diagram to explain the connection routes in the non-working areas of the field. [Figure 17] A diagram to explain the connection routes in the non-working areas of the field. [Figure 18] A diagram to explain the connection routes in the non-working areas of the field. [Figure 19] A diagram to explain the connection routes in the non-working areas of the field. [Figure 20] A diagram to explain the connection routes in the non-working areas of the field. [Figure 21] A diagram to explain the connection routes in the non-working areas of the field. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] An embodiment of an autonomous driving system using a route generation system according to the present invention will be described with reference to the drawings. 1, this autonomous driving system includes a tractor 1 as a work vehicle that autonomously drives along a predetermined driving route, and a wireless communication terminal 2 that can instruct various information to the tractor 1. In this embodiment, a reference station 4 is also provided that can transmit positioning correction information to the tractor 1 when acquiring position information of the tractor 1.

[0012] In Fig. 1, a tractor 1 is shown as an example of a work vehicle, but in addition to tractors, other ride-on work vehicles such as rice transplanters, combine harvesters, civil engineering and construction work equipment, snowplows, etc., as well as walk-behind work vehicles, are also applicable. In addition, with regard to the work implement 5 attached to the tractor 1, Fig. 1 shows a case where a tilling implement is attached, but this is not limited to tilling implements, and various other work implements such as plows and fertilizer applicators can also be applied.

[0013] 2, the tractor 1 is equipped with a vehicle-side wireless communication unit 14, the wireless communication terminal 2 is equipped with a terminal-side wireless communication unit 21, and the reference station 4 is equipped with a reference station-side wireless communication unit 41. As a result, a wireless network system is constructed between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21, and between the vehicle-side wireless communication unit 14 and the reference station-side wireless communication unit 41, and various information can be transmitted and received wirelessly between the tractor 1 and the wireless communication terminal 2, and between the tractor 1 and the reference station 4.

[0014] 2, the tractor 1 is equipped with a positioning antenna 11, a vehicle-side control unit 12, a position information acquisition unit 13, a vehicle-side wireless communication unit 14, a storage unit (not shown), etc. The vehicle-side control unit 12 is configured to control various devices provided in the tractor 1, such as a governor device, a transmission device, a brake device, and a steering device (not shown), while acquiring its own current position information (the current position of the tractor 1) using the position information acquisition unit 13, so that the tractor 1 can travel autonomously. The tractor 1 is also equipped with an inertial measurement unit (not shown) having a three-axis gyro, a three-directional accelerometer, etc., and the vehicle-side control unit 12 is configured to be able to detect the attitude and heading direction of the tractor 1 based on the measurement information of the inertial measurement unit.

[0015] As described above, the tractor 1 is provided with a steering device (not shown), and the vehicle-side control unit 12 controls the steering device to allow the tractor 1 to autonomously travel not only along a straight path but also along a turning path. The steering device may be, for example, one that allows the rotation angle (steering angle) of the steering handle to be adjusted, or one that allows the steering angle of the front wheels of the tractor 1 to be adjusted.

[0016] The tractor 1 is provided with a left brake device that applies a braking force to the left wheel and a right brake device that applies a braking force to the right wheel, although not shown in the figure. As a result, the vehicle-side control unit 12 can operate only one of the pair of left and right brake devices to autonomously drive the tractor 1 along a turning path, even if the turning path has a small turning radius. The tractor 1 is also provided with a speed-up device that increases the rotation speed of only one of the left and right driving wheels, although not shown in the figure. As a result, the vehicle-side control unit 12 can autonomously drive the tractor 1 along a turning path with a small turning radius by controlling the speed-up device instead of controlling the brake devices.

[0017] 1, the positioning antenna 11 is configured to receive signals from, for example, a positioning satellite 3 that constitutes a global navigation satellite system (GNSS). The positioning antenna 11 is disposed, for example, on the upper surface of the roof of the cabin of the tractor 1.

[0018] As a positioning method using a satellite positioning system, as shown in Fig. 1, a positioning method can be applied in which a reference station 4 installed at a predetermined reference point is provided, and the satellite positioning information of the tractor 1 (mobile station) is corrected using positioning correction information from the reference station 4 to determine the current position of the tractor 1. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. Incidentally, as for the positioning method, standalone positioning can also be used without providing the reference station 4.

[0019] In this embodiment, for example, since RTK positioning is applied, the tractor 1 acting as the mobile station is provided with a positioning antenna 11 and a reference station 4 as shown in Fig. 1 and Fig. 2. The position information of the reference point where the reference station 4 is to be installed is set and known in advance. The reference station 4 is disposed at a position (reference point) that does not interfere with the travel of the tractor 1, such as around a farm field. The reference station 4 is provided with a reference station wireless communication unit 41 and a reference station positioning antenna 42.

[0020] In the RTK positioning, the carrier wave phase (satellite positioning information) from the positioning satellite 3 is measured by both the reference station 4 installed at the reference point and the positioning antenna 11 of the tractor 1, which is the mobile station side of the target for which position information is sought. The reference station 4 generates positioning correction information including the measured satellite positioning information and the position information of the reference point, etc., every time it measures satellite positioning information from the positioning satellite 3 or every time a set period elapses, and transmits the positioning correction information from the reference station side wireless communication unit 41 to the vehicle side wireless communication unit 14 of the tractor 1. The position information acquisition unit 13 of the tractor 1 corrects the satellite positioning information measured by the positioning antenna 11 using the positioning correction information transmitted from the reference station 4 to obtain the current position information of the tractor 1. The position information acquisition unit 13 obtains, for example, latitude information and longitude information as the current position information of the tractor 1.

[0021] The wireless communication terminal 2 is composed of, for example, a tablet-type personal computer having a touch panel, and various information can be displayed on the touch panel, and various information can be input by operating the touch panel. The wireless communication terminal 2 can be carried and used by the user outside the tractor 1, and can also be attached to the side of the driver's seat of the tractor 1 and used.

[0022] 2, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, an area registration unit 22, a route generation unit 23, a direction setting unit 24, an instruction unit 25, a display unit (touch panel), etc. The route generation unit 23 is configured to generate a travel route along which the tractor 1 travels autonomously. The wireless communication terminal 2 also includes a storage unit (not shown), which stores various types of information, such as information registered by a user.

[0023] In order for the tractor 1 to travel autonomously, field information on the field H, which is the work target area, is registered, and a travel route for the tractor 1 to travel autonomously is generated. A user operates the wireless communication terminal 2 to register field information on the field H, such as the shape of the field H (see FIG. 3) on which the tractor 1 will travel autonomously. Then, the route generating unit 23 generates a travel route for the registered field H. In this way, when there are multiple fields H, field information on each of the multiple fields H is registered, and various travel routes are generated for each field.

[0024] When the tractor 1 is to travel autonomously, the user operates the wireless communication terminal 2 to select the field H on which work will be performed this time, and selects the travel route for the current autonomous travel from among the travel routes generated for the field H. After the field H and travel route have been selected in this manner, the autonomous travel start condition is met, and the wireless communication terminal 2 is ready to instruct the tractor 1 to start autonomous travel. The user then operates the wireless communication terminal 2 to instruct the tractor 1 to start autonomous travel, and autonomous travel can begin.

[0025] Since the route generating unit 23 of the wireless communication terminal 2 generates the travel route, it is necessary to transmit route information regarding the travel route from the wireless communication terminal 2 to the tractor 1. Therefore, the wireless communication terminal 2 transmits the route information to the tractor 1 at a predetermined timing before or after the autonomous traveling starts. As a result, in the tractor 1, the vehicle side control unit 12 acquires the current position information of the tractor 1 by the position information acquiring unit 13, and causes the tractor 1 to travel autonomously along the travel route based on the route information transmitted from the wireless communication terminal 2. In addition, the current position information of the tractor 1 acquired by the position information acquiring unit 13 is transmitted from the tractor 1 to the wireless communication terminal 2 in real time (for example, every several hundred milliseconds) not only before the autonomous traveling starts but also after the autonomous traveling starts, so that the current position of the tractor 1 can be displayed on the display unit of the wireless communication terminal 2.

[0026] The route generation system according to the present invention will be described below. This route generation system generates a travel route for the tractor 1 to travel autonomously in a field H, which is a work target area, by a user operating the wireless communication terminal 2 while displaying various screens on the display unit (touch panel) of the wireless communication terminal 2. Therefore, the wireless communication terminal 2 is provided with an area registration unit 22, a route generation unit 23, a direction setting unit 24, an instruction unit 25, etc., as shown in Fig. 2.

[0027] As shown in FIG. 3, the area registration unit 22 is configured to register the shapes of a working area R1 where the tractor 1 performs autonomous work and a non-working area R2 where the tractor 1 does not perform autonomous work, based on the registered field information, work vehicle information related to the tractor 1, and other input information. The working area R1 is an area where the tractor 1 performs autonomous work, such as plowing, using the work implement 5 attached to the tractor 1 while autonomously traveling. In contrast, the non-working area R2 is an area where no work is performed by the work implement 5 attached to the tractor 1 during autonomous traveling, and where, for example, only autonomous traveling is performed with the work implement 5 raised, or where autonomous traveling is not performed. In the example shown in FIG. 3, the area registration unit 22 registers the working area R1 in the center of the field H, and registers the non-working area R2 so as to surround the periphery of the working area R1.

[0028] The direction setting unit 24 is configured to set the traveling direction of the tractor 1 in the working area R1. As shown in Fig. 3, the direction setting unit 24 sets the traveling direction X of the tractor 1 so that the tractor 1 travels back and forth in the up and down direction of the field H in the working area R1.

[0029] The route generation unit 23 is configured to generate a route that includes a plurality of work routes P (see Figure 3) along which the tractor 1 performs autonomous work within the work area R1, and a plurality of connecting routes Q (see Figures 4, 5, etc.) along which the tractor 1 performs autonomous travel in the non-work area R2, connecting each of the work routes P.

[0030] As shown in Fig. 3, the path generating unit 23 generates a work path P in the work area R1 so as to extend from a work start position S (see Fig. 3) to a work end position E (see Fig. 3). The path generating unit 23 generates, as the work path P, a straight path along which the tractor 1 travels back and forth between one end side (the side where the work start position S is set) and the other end side of the field H along the traveling direction X of the tractor 1 set by the direction setting unit 24. The multiple work paths P are generated so as to be aligned in parallel at regular intervals throughout the entire work area R1.

[0031] The path generating unit 23 generates a connection path Q (see Figs. 4, 5, etc.) for a non-working area R2a (see Fig. 3) that is a pillow area adjacent to both ends of the working area R1 in the traveling direction X of the tractor 1 within the non-working area R2. The connection path Q is a path for connecting adjacent working paths P in the non-working area R2a while reversing the traveling direction X of the tractor 1.

[0032] When generating the connection path Q in the non-working area R2a, the shape of the non-working area R2 differs depending on the shape of the field H, so it is necessary to generate the connection path Q according to the shape of the non-working area R2. For example, in the example shown in FIG. 3, the shape of the field H is a parallelogram, so the area registration unit 22 registers a parallelogram-shaped working area R1 in the center of the field H, and registers the non-working area R2 so as to surround the periphery of the working area R1. Therefore, since the non-working area R2 has a shape that is inclined with respect to the traveling direction X of the tractor 1 in the working area R1, it is difficult to obtain a sufficient travel distance in the direction perpendicular to the traveling direction X of the tractor 1 in the working area R1. Therefore, the path generation unit 23 does not generate, for example, a simple turning path as the connection path Q, but generates a path including a first turning path Q1, a straight path Q2, and a second turning path Q3 as shown in FIG. 4 and FIG. 5, etc. The straight path Q2 is set between the first turning path Q1 and the second turning path Q3. The first turning path Q1 is set before the straight path Q2 in the traveling direction of the tractor 1, and the second turning path Q3 is set behind the straight path Q2 in the traveling direction of the tractor 1.

[0033] Hereinafter, the generation of the connection path Q by the path generation unit 23 will be described with reference to Figs. 4 to 21. Figs. 4 to 21 show schematic diagrams in which two work paths P are extracted from the multiple work paths P in Fig. 3 and a connection path Q is used to connect the two work paths P. Figs. 4 and 5 show basic patterns of the connection path Q, and each of Figs. 6 to 21 shows the connection path Q generated by the path generation unit 23, which is configured to be able to generate the connection path Q according to various conditions.

[0034] In Fig. 4 to Fig. 21, the work path P located on the left side of the figure is the preceding work path P1 along which the tractor 1 works autonomously before autonomously traveling the connecting path Q, and is also shown along a straight line (second straight line K2) extending along the preceding work path P1. The work path P located on the right side of the figure is the following work path P2 along which the tractor 1 works autonomously after autonomously traveling the connecting path Q, and is also shown along a straight line extending along the following work path P2. In Fig. 4 to Fig. 21, at least two circles, a first circle E1 and a second circle E2, are shown by dotted lines, and the first circle E1 is a circle tangent to a straight line (second straight line K2) extending along the preceding work path P1, and the second circle E2 is a circle tangent to a straight line extending along the following work path P2.

[0035] As shown in FIG. 4 and FIG. 5, there are two types of patterns for the connection path Q, and first, the patterns will be described.

[0036] When the path generating unit 23 generates the connection path Q, it is possible to generate two types of connection path Q patterns, a forward turning pattern shown in Fig. 4 and a backward turning pattern shown in Fig. 5. In the forward turning pattern, as shown in Fig. 4, the first turning path Q1 is a path on which the tractor 1 turns while moving forward, the straight path Q2 following the first turning path Q1 is a straight path on which the tractor 1 moves forward after moving backward, and the second turning path Q3 following the straight path Q2 is a path on which the tractor 1 turns while moving forward. In the backward turning pattern, as shown in Fig. 5, the first turning path Q1 is a path on which the tractor 1 turns while moving backward, the straight path Q2 following the first turning path Q1 is a straight path on which the tractor 1 moves forward after moving backward, and the second turning path Q3 following the straight path Q2 is a path on which the tractor 1 turns while moving forward. In this way, the forward turning pattern shown in FIG. 4 and the reverse turning pattern shown in FIG. 5 are different in that the tractor 1 turns either forward or reverse on the first turning path Q1.

[0037] Each of the connection paths Q shown in Fig. 6 to Fig. 21 is generated by either the forward turning pattern shown in Fig. 4 or the reverse turning pattern shown in Fig. 5. Fig. 6, Fig. 7, Fig. 10, Fig. 11, Fig. 14, Fig. 15, Fig. 18, Fig. 19 show the connection paths Q generated by the forward turning pattern shown in Fig. 4. Fig. 8, Fig. 9, Fig. 12, Fig. 13, Fig. 16, Fig. 17, Fig. 20, Fig. 21 show the connection paths Q generated by the reverse turning pattern shown in Fig. 5.

[0038] When the path generating unit 23 generates the connection path Q, there are cases where the angle α formed by the boundary line K1 (hereinafter referred to as the first boundary line K1) between the working area R1 and the non-working area R2a and the straight line K2 (hereinafter referred to as the second straight line K2) extending along the traveling direction X is an acute angle as shown in FIG. 6, etc., and cases where the angle α formed by the first boundary line K1 and the second straight line K2 is an obtuse angle as shown in FIG. 7, etc. In FIG. 3, the angle α is an acute angle in the non-working area R2a located adjacent to the upper side of the working area R1, and the angle α is an obtuse angle in the non-working area R2a located adjacent to the lower side of the working area R1. The angle α formed by the first boundary line K1 and the second straight line K2 is an angle on the side of the working path P (following working path P2) where the next autonomous work is performed and on the side of the working area R1.

[0039] Therefore, the path generating unit 23 generates different connection paths Q depending on whether the angle α between the first boundary K1 and the second straight line K2 is an acute angle or an obtuse angle. Figures 6, 8, 10, 12, 14, 16, 18, and 20 show connection paths Q generated when the angle α between the first boundary K1 and the second straight line K2 is an acute angle. Figures 7, 9, 11, 13, 15, 17, 19, and 21 show connection paths Q generated when the angle α between the first boundary K1 and the second straight line K2 is an obtuse angle.

[0040] When the tractor 1 is made to travel autonomously, the vehicle-side control unit 12 controls the brake device and the speed-doubling device as described above, so that the tractor 1 can travel autonomously along a turning path with a small turning radius. Therefore, the path generating unit 23 is configured to be capable of generating a connection path Q in which the first turning path Q1 and the second turning path Q3 have the same turning radius, and to be capable of generating a connection path Q in which the first turning path Q1 and the second turning path Q3 have different turning radii.

[0041] Fig. 6 to Fig. 13 show a connection path Q generated with the same turning radius in the first turning path Q1 and the second turning path Q3. Fig. 14 to Fig. 21 show a connection path Q generated with different turning radii in the first turning path Q1 and the second turning path Q3. Fig. 6 to Fig. 9 show a case where the turning radii in the first turning path Q1 and the second turning path Q3 are the turning radii when turning without controlling the brake device or the speed multiplier. Fig. 10 to Fig. 13 show a case where the turning radii in the first turning path Q1 and the second turning path Q3 are the turning radii when turning with the brake device or the speed multiplier controlled. Figures 14 to 17 show a case where the turning radius on the first turning path Q1 is the turning radius when turning with the brake device and the speed multiplier controlled, and the turning radius on the second turning path Q3 is the turning radius when turning without controlling the brake device and the speed multiplier. Figures 18 to 21 show a case where the turning radius on the first turning path Q1 is the turning radius when turning without controlling the brake device and the speed multiplier, and the turning radius on the second turning path Q3 is the turning radius when turning with the brake device and the speed multiplier controlled.

[0042] As described above, the path generating unit 23 is configured to be able to generate the connection paths Q shown in each of Fig. 6 to Fig. 21 as the connection paths Q. In explaining the connection paths Q shown in each of Fig. 6 to Fig. 21, the paths are divided into four groups according to whether they correspond to the forward turning pattern shown in Fig. 4 or the reverse turning pattern shown in Fig. 5, and whether the angle formed by the first boundary line K1 and the second straight line K2 is an acute angle or an obtuse angle.

[0043] (Group 1) A first group will be described, which is the forward turning pattern shown in Fig. 4 and in which the angle α (see Fig. 6) between the first boundary line K1 and the second straight line K2 is an acute angle. The connection paths Q shown in Figs. 6, 10, 14, and 18 correspond to this first group.

[0044] The connecting path Q shown in FIG. 6 will be explained. The first turning path Q1 is a path in which the tractor 1 turns while moving forward from the tangent point between the second straight line K2 (an extension line extending along the preceding work path P1) and the first circle E1 toward the side approaching the following work path P2 along the first circle E1. Since the angle α formed by the first boundary line K1 and the second straight line K2 is an acute angle, the turning angle β in the first turning path Q1 is set to an obtuse angle. The straight path Q2 is a straight path that continues from the end position of the first turning path Q1, and moves the tractor 1 backward once toward the side away from the following work path P2, and then moves the tractor 1 forward toward the side approaching the following work path P2. The straight path Q2 is generated on a tangent line that touches the first circle E1 and the second circle E2. Incidentally, in Figs. 4 to 21, in order to easily show the straight path Q2, the straight path Q2 is shown at a position slightly shifted from the tangent line tangent to the first circle E1 and the second circle E2. The straight path Q2 shown in Fig. 6 is generated so as to be parallel to the first boundary line K1 and the outer periphery T of the field H, and is not perpendicular to the traveling direction X (second straight line K2) of the tractor 1. The second turning path Q3 is a path in which the tractor 1 turns while moving forward from the terminal position of the straight path Q2 (the position where the straight path Q2 and the second circle E2 are tangent) toward the trailing work path P2 along the second circle E2. Incidentally, in the straight line extending along the trailing work path P2, the straight path portion from the point where it is tangent to the second circle E2 to the intersection with the first boundary line K1 (the portion indicated by the solid arrow in the figure) is also generated as the connecting path Q.

[0045] Here, as described above, the first circle E1 is a circle tangent to a straight line (second straight line K2) extending along the preceding work path P1, so by generating the first turning path Q1 along the first circle E1, the tractor 1 can autonomously operate the preceding work path P1 (autonomous traveling in a state where the work machine 5 is working) and then autonomously operate the first turning path Q1 (autonomous traveling in a state where the work machine 5 is not working). Also, the second circle E2 is a circle tangent to a straight line extending along the following work path P2, so by generating the second turning path Q3 along the second circle E2, the tractor 1 can autonomously operate the following work path P2 and then autonomously operate the following work path P2.

[0046] As shown in Figures 6 to 21, the path generating unit 23 generates a first turning path Q1 along the first circle E1 and generates a second turning path Q3 along the second circle E2. Therefore, in any of the connecting paths Q shown in Figures 6 to 21, the tractor 1 can autonomously operate the preceding work path P1 and then autonomously travel the first turning path Q1, and can autonomously operate the following work path P2 after autonomously travelling the second turning path Q3.

[0047] The connection path Q shown in Fig. 10 will be described. The connection path Q shown in Fig. 10 differs from the connection path Q shown in Fig. 6 in that the turning radii of the first turning path Q1 and the second turning path Q3 are smaller, and the straight path Q2 is generated so as to be perpendicular to the traveling direction X (second straight line K2) of the tractor 1. Incidentally, in the straight line extending along the trailing work path P2, a straight path portion from the point of contact with the second circle E2 to the intersection with the first boundary line K1 (the portion indicated by the solid arrow in the figure) is also generated as the connection path Q.

[0048] As shown in FIG. 2, the wireless communication terminal 2 includes an instruction unit 25 capable of instructing the route generating unit 23 to generate a straight route Q2 such that the travel direction X (second straight line K2) of the tractor 1 and the straight route Q2 are perpendicular to each other. The connection route Q shown in FIG. 10 shows a case where the instruction unit 25 instructs the route generating unit 23. The user operates the wireless communication terminal 2, so that the instruction unit 25 can instruct the route generating unit 23. As a result, the route generating unit 23 can not only generate the straight route Q2 such that the travel direction X (second straight line K2) of the tractor 1 and the straight route Q2 are not perpendicular to each other as shown in FIG. 6 and the like, but also generate a straight route Q2 such that the travel direction X (second straight line K2) of the tractor 1 and the straight route Q2 are perpendicular to each other as shown in FIG. 10, by the user's operation or the like.

[0049] The instruction unit 25 can instruct the route generating unit 23 to generate a straight route Q2 such that the travel direction X (second straight line K2) of the tractor 1 and the straight route Q2 are perpendicular to each other only when the angle α formed between the first boundary line K1 and the second straight line K2 is an acute angle, as shown in Fig. 10. Therefore, as shown in Fig. 7 and other figures, when the angle α formed between the first boundary line K1 and the second straight line K2 is an obtuse angle, the instruction unit 25 does not give an instruction to the route generating unit 23 even if there is an operation by the user or the like.

[0050] 14 is compared with the connection path Q shown in Fig. 6 in that the turning radius of the first turning path Q1 is smaller, and in addition, the straight path Q2 is not parallel to the outer periphery T of the field H and the first boundary line K1, but has a different angle. Incidentally, in the straight line extending along the following work path P2, the straight path portion from the point of contact with the second circle E2 to the intersection with the first boundary line K1 (the portion indicated by the solid arrow in the figure) is also generated as the connection path Q.

[0051] The connection path Q shown in Fig. 18 differs from the connection path Q shown in Fig. 6 only in that the turning radius of the second turning path Q3 is made smaller. Incidentally, in a straight line extending along the following working path P2, a straight path portion from the point of contact with the second circle E2 to the intersection with the first boundary line K1 (the portion indicated by the solid arrow in the figure) is also generated as the connection path Q.

[0052] (Group 2) A second group will be described, which is the forward turning pattern shown in Fig. 4 and in which the angle α (see Fig. 7) between the first boundary line K1 and the second straight line K2 is an obtuse angle. The connection paths Q shown in Figs. 7, 11, 15, and 19 correspond to this second group.

[0053] 7 differs from the connection path Q of the first group shown in FIG 6 in that the angle α between the first boundary K1 and the second straight line K2 is an obtuse angle, and therefore the turning angle β in the first turning path Q1 is set to an acute angle. Incidentally, the linear path portion from the intersection with the first boundary K1 to the point where the second straight line K2 touches the first circle E1 (the portion indicated by the solid arrow in the figure) is also generated as the connection path Q.

[0054] The connection path Q shown in Fig. 11 differs from the connection path Q of the second group shown in Fig. 7 only in that the turning radii of the first turning path Q1 and the second turning path Q3 are made smaller. Incidentally, the straight line path portion from the intersection with the first boundary line K1 to the point where the second straight line K2 touches the first circle E1 (the portion indicated by the solid arrow in the figure) is also generated as the connection path Q.

[0055] 15 is compared with the connection path Q of the second group shown in Fig. 7 in that the turning radius of the first turning path Q1 is smaller and in addition, the straight path Q2 is not parallel to the outer periphery T of the field H and the first boundary line K1, and the angle of the straight path Q2 is different. Incidentally, the straight path portion of the second straight line K2 from the intersection with the first boundary line K1 to the point where it touches the first circle E1 (the portion indicated by the solid arrow in the figure) is also generated as the connection path Q.

[0056] The connection path Q shown in Fig. 19 differs from the connection path Q of the second group shown in Fig. 7 only in that the turning radius of the second turning path Q3 is made smaller. Incidentally, the linear path portion (indicated by the solid arrow in the figure) of the second straight line K2 from the intersection with the first boundary line K1 to the point of contact with the first circle E1, and the linear path portion (indicated by the solid arrow in the figure) of the straight line extending along the following operation path P2 from the point of contact with the second circle E2 to the intersection with the first boundary line K1 are also generated as the connection path Q.

[0057] (Group 3) A third group will be described, which is the reverse turning pattern shown in Fig. 5 and in which the angle α (see Fig. 8) between the first boundary line K1 and the second straight line K2 is an acute angle. The connecting paths Q shown in Figs. 8, 12, 16, and 20 correspond to this third group.

[0058] The connecting path Q shown in FIG. 8 will be explained. The first turning path Q1 is a path in which the tractor 1 turns while moving backward from the tangent point between the second straight line K2 (an extension line extending along the preceding work path P1) and the first circle E1 toward the side away from the following work path P2 along the first circle E1. Since the angle α formed by the first boundary line K1 and the second straight line K2 is an acute angle, the turning angle β in the first turning path Q1 is set to an obtuse angle. The straight path Q2 is a straight path that continues from the end position of the first turning path Q1 and moves the tractor 1 forward toward the side approaching the following work path P2. The straight path Q2 is generated on a tangent line tangent to the first circle E1 and the second circle E2, and is not perpendicular to the traveling direction X (second straight line K2) of the tractor 1. The second turning path Q3 is a path along which the tractor 1 turns while moving forward from the end position of the straight path Q2 (the position where the straight path Q2 and the second circle E2 intersect) along the second circle E2 toward the following work path P2. Incidentally, the linear path portion (indicated by the solid arrow in the figure) of the second straight line K2 from the intersection with the first boundary line K1 to the point where it intersects with the first circle E1, and the linear path portion (indicated by the solid arrow in the figure) of the straight line extending along the following work path P2 from the point where it intersects with the second circle E2 to the intersection with the first boundary line K1 are also generated as the connecting path Q.

[0059] The connection path Q shown in Fig. 12 differs from the connection path Q shown in Fig. 8 only in that the turning radii of the first turning path Q1 and the second turning path Q3 are made smaller. Incidentally, the linear path portion (indicated by the solid arrow in the figure) of the second straight line K2 from the intersection with the first boundary line K1 to the point of contact with the first circle E1, and the linear path portion (indicated by the solid arrow in the figure) of the straight line extending along the following operation path P2 from the point of contact with the second circle E2 to the intersection with the first boundary line K1 are also generated as the connection path Q.

[0060] The connection path Q shown in Fig. 16 differs from the connection path Q shown in Fig. 8 only in that the turning radius of the first turning path Q1 is made smaller. Incidentally, the linear path portion (indicated by the solid arrow in the figure) of the second straight line K2 from the intersection with the first boundary line K1 to the point of contact with the first circle E1, and the linear path portion (indicated by the solid arrow in the figure) of the straight line extending along the following operation path P2 from the point of contact with the second circle E2 to the intersection with the first boundary line K1 are also generated as the connection path Q.

[0061] The connection path Q shown in Fig. 20 differs from the connection path Q shown in Fig. 8 only in that the turning radius of the second turning path Q3 is made smaller. Incidentally, the linear path portion of the second straight line K2 from the intersection with the first boundary line K1 to the point of contact with the first circle E1 (the portion indicated by the solid arrow in the figure) and the linear path portion of the straight line extending along the following operation path P2 from the point of contact with the second circle E2 to the intersection with the first boundary line K1 (the portion indicated by the solid arrow in the figure) are also generated as the connection path Q.

[0062] (Group 4) A fourth group will be described, which is the reverse turning pattern shown in Fig. 5 and in which the angle α (see Fig. 9) between the first boundary line K1 and the second straight line K2 is an obtuse angle. The connecting paths Q shown in Figs. 9, 13, 17, and 21 correspond to this fourth group.

[0063] The connection path Q shown in FIG. 9 will be explained. The path generating unit 23 generates the intermediate turning path Q4 as the connection path Q in addition to the first turning path Q1, the straight path Q2, and the second turning path Q3. The intermediate turning path Q4 is set between the first turning path Q1 and the straight path Q2. The first turning path Q1 is a path in which the tractor 1 turns while moving backward from the tangent point between the second straight line K2 (an extension line extending along the preceding work path P1) and the first circle E1 along the first circle E1 toward the side away from the trailing work path P2. The intermediate turning path Q4 is a path in which the tractor 1 turns while moving backward from the tangent point between the first circle E1 and the third circle E3 toward the side away from the trailing work path P2 along the third circle E3. Here, the third circle E3 has the same radius as the first circle E1 and the second circle E2, and is a circle tangent to the first circle E1. The straight path Q2 is a straight path that continues from the terminal position of the intermediate turning path Q4 and moves the tractor 1 forward toward the trailing work path P2. The straight path Q2 is generated on a tangent to the third circle E3 and the second circle E2, and is not perpendicular to the traveling direction X (second straight line K2) of the tractor 1. The second turning path Q3 is a path that the tractor 1 turns while moving forward from the terminal position of the straight path Q2 (the position where the straight path Q2 and the second circle E2 are tangent) along the second circle E2 toward the trailing work path P2. Incidentally, the straight-line path portion of the second straight line K2 from the intersection with the first boundary line K1 to the point where it touches the first circle E1 (the portion indicated by the solid arrow in the figure), and the straight-line path portion of the straight line extending along the following work path P2 from the point where it touches the second circle E2 to the intersection with the first boundary line K1 (the portion indicated by the solid arrow in the figure) are also generated as connecting paths Q.

[0064] In the connecting path Q shown in FIG. 13, the first turning path Q1 is a path in which the tractor 1 turns while moving backward from the tangent point of the second straight line K2 (an extension line extending along the preceding work path P1) and the first circle E1 toward the side away from the following work path P2 along the first circle E1. The straight path Q2 is a straight path that continues from the terminal position of the first turning path Q1, and then moves the tractor 1 forward toward the side approaching the following work path P2. The straight path Q2 is generated on a tangent line that is tangent to the first circle E1 and the second circle E2, and is not perpendicular to the traveling direction X (second straight line K2) of the tractor 1. The second turning path Q3 is a path in which the tractor 1 turns while moving forward from the terminal position of the straight path Q2 (the position where the straight path Q2 and the second circle E2 are tangent) toward the following work path P2 along the second circle E2. Incidentally, the linear path portion of the second straight line K2 from the intersection with the first boundary line K1 to the point of contact with the first circle E1 (the portion indicated by the solid arrow in the drawing) is also generated as the connection path Q.

[0065] The connection path Q shown in Fig. 17 differs from the connection path Q shown in Fig. 13 only in that the turning radius of the second turning path Q3 is made larger. Incidentally, the straight line path portion from the intersection with the first boundary line K1 to the point where the second straight line K2 touches the first circle E1 (the portion indicated by the solid arrow in the figure) is also generated as the connection path Q.

[0066] The connection path Q shown in Fig. 21 differs from the connection path Q shown in Fig. 13 only in that the turning radius of the first turning path Q1 is made larger. Incidentally, the linear path portion (indicated by the solid arrow in the figure) of the second straight line K2 from the intersection with the first boundary line K1 to the point of contact with the first circle E1, and the linear path portion (indicated by the solid arrow in the figure) of the straight line extending along the following operation path P2 from the point of contact with the second circle E2 to the intersection with the first boundary line K1 are also generated as the connection path Q.

[0067] In the connection path Q shown in Fig. 6 and Fig. 7, the path generating unit 23 sets the turning radius of the first turning path Q1 and the turning radius of the second turning path Q3 to the same turning radius. The path generating unit 23 sets the distance W2 between the straight path Q2 and the outer periphery T of the non-working area R2a to be shorter than the distance W1 between the straight path Q2 and the first boundary line K1. As a result, the straight path Q2 can be generated on the side as far away from the first boundary line K1 as possible, so that the turning radius of the second turning path Q3 following the straight path Q2 and the traveling distance to the starting position of the trailing work path P2 can be made larger, and time can be secured for adjusting the position, posture, etc. of the tractor 1, and the tractor 1 can start autonomous work on the trailing work path P2 with its position and posture stabilized.

[0068] In the connection path Q shown in Figures 14 to 17, the path generating unit 23 sets the first turning radius V1 of the first turning path Q1 and the second turning radius V2 of the second turning path Q3 to different turning radii. The path generating unit 23 sets the second turning radius V2 to be longer than the first turning radius V1. This allows the second turning radius V2 in the second turning path Q3 to be larger, and time can be secured for adjusting the position, posture, etc. of the tractor 1, so that autonomous work on the following work path P2 can be started with the position and posture of the tractor 1 stabilized.

[0069] As described above, the route generation unit 23 can generate different connection routes Q depending on various conditions. For example, the connection routes Q shown in Figures 6 to 21 can be displayed on the display unit of the wireless communication terminal 2, and the user can operate the wireless communication terminal 2 to select any one of the connection routes Q shown in Figures 6 to 21.

[0070] In addition, the path generation unit 23 is capable of setting two turning radii as the turning radii for the first turning path Q1 and the second turning path Q3, but is not limited to two turning radii and can also be capable of setting three or more turning radii.

[0071] <Notes on the invention> A first characteristic configuration of the present invention is a field in which autonomous work is performed by a work vehicle, the field including a work area and a non-work area disposed around the work area, and an area registration unit that registers a shape of the work area according to a shape of the field; a route generation unit that generates a travel route for the work vehicle to travel autonomously in the work area and the non-work area; a direction setting unit that sets a traveling direction of the work vehicle in the working area, the route generation unit generates a route including a plurality of work routes along which autonomous work is performed by the work vehicle within the work area, and a plurality of connecting routes along which the work vehicle autonomously travels in the non-work area, the connecting routes connecting the respective work routes; The path generation unit is characterized in that, when the traveling direction and at least a portion of the outer periphery of the field are not perpendicular to each other, the path generation unit is capable of generating, as the connecting path, a path that includes a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path, and is capable of generating the straight path that is parallel to the outer periphery of the field.

[0072] According to this configuration, the path generating unit can generate a path including a first turning path, a straight path, and a second turning path as a connecting path, so that the first turning path, the straight path, and the second turning path can be appropriately combined according to the shape of the non-working area, and a connecting path according to the shape of the non-working area can be generated. Moreover, since the path generating unit generates a straight path parallel to the outer periphery of the field, even if the non-working area has a shape that is inclined with respect to the traveling direction of the work vehicle in the working area, for example, a connecting path can be generated while ensuring a sufficient driving distance as a straight path. From the above, it is possible to generate an appropriate connecting path according to the shape of the non-working area in the limited space of the non-working area. [Explanation of symbols]

[0073] 1 Tractor (work vehicle) 22 Area Registration Department 23 Route Generation Unit 24 Direction setting section 25 Instruction section K1 Boundary line between working area and non-working area (first boundary line) K2 A straight line extending along the direction of travel of the tractor in the working area (second straight line) P Work path Q Connection Path Q1 First turning route Q2 Straight route Q3 2nd turning route R1 workspace R2 non-working area T Non-work area perimeter V1 First turning radius of the first turning path V2 Second turning radius of the second turning path X Tractor direction

Claims

1. a route generating unit that generates a travel route along which the work vehicle autonomously travels, the travel route including a plurality of work routes along which the work vehicle autonomously performs work and a connection route that connects the work routes; The route generation unit is capable of generating routes including, as the connecting routes, a first route, a second route, and a third route that is set between the first route and the second route and involves switching between forward and backward travel of the work vehicle, A route generation system characterized in that the route generation unit is capable of generating the first route so that the work vehicle travels from the starting position of the first route in a direction opposite to a following work route on which the work vehicle works autonomously after autonomously traveling the connecting route.

2. The route generation system described in Claim 1, characterized in that the first route is a turning route for turning the work vehicle, and the third route is a route for switching the work vehicle between forward and backward movement from the end point of the first route and driving the work vehicle toward the start point of the second route.

3. A system including a plurality of work paths along which autonomous work is performed by a work vehicle, and a connection path connecting the work paths, and a route generation process for generating a travel path along which the work vehicle travels autonomously; In the route generation process, a route including a first route, a second route, and a third route that is set between the first route and the second route and involves switching between forward and backward travel of the work vehicle can be generated as the connecting route, The route generation method is characterized in that the route generation process can generate the first route so that the work vehicle travels from the starting position of the first route in a direction opposite to the following work route on which the work vehicle works autonomously after autonomously traveling the connecting route.

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