Path generation system and implement

Abstract

To provide a path generation system which can easily and accurately generate a travel path, even when a work site is a site having a deformed shape.SOLUTION: A path generation system generates a work travel path LL when an implement which travels on a work site FL by automatic travel, reciprocates, and comprises: a machine body position calculation part for calculating position information related to the position of the machine body of the implement; a reference point acquisition part for acquiring two reference points on the basis of the position information; a reference line generation part for generating a reference line RL passing through the two reference points; and a path generation part for generating the work travel path LL on the basis of the shape of the work region WA in the work site FL and the reference line RL.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a work machine that automatically travels along a travel route generated within a work area and a route generation system that generates the travel route.

Background Art

[0002] A work machine that reciprocates along a travel route in a work area generates a travel route related to the reciprocating travel by performing teaching travel. In the teaching travel, the start point of the work is acquired as point A (reference point), the end point of the work is acquired as point B (reference point), and the travel route is generated by translating the reference route connecting point A and point B.

[0003] Here, when the work area is a deformed area, if only the reference route is translated, the length of the reference route (travel route) becomes constant, and there may be a case where the start point and the end point of the travel route cannot be appropriately set.

[0004] Therefore, when generating a travel route for reciprocating in a field (work area), the work vehicle (work machine) described in Patent Document 1 provides a point P different from point A and point B according to the shape of the work area, and generates a travel route based on point A or point B and point P.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in Patent Document 1, point P is a point that becomes the start point or the end point of the travel route. When the travel route is generated, it is necessary to accurately set the start point and the end point of each travel route in consideration of the shape of the work area.

[0007] The present invention aims to easily and accurately generate a travel route even if the working area has a deformed shape.

Means for Solving the Problems

[0008] In order to achieve the above object, a path generation system according to an embodiment of the present invention is a path generation system that generates a work travel route when a work machine that travels back and forth while working on a working area by automatic travel travels back and forth, and includes a body position calculation unit that calculates position information regarding the position of the body of the work machine, a reference point acquisition unit that acquires two reference points based on the position information, a reference straight line generation unit that generates a reference straight line passing through the two reference points, and a path generation unit that generates the work travel route based on the shape of the work area of the working area and the reference straight line.

[0009] With such a configuration, without limiting the start point and the end point of the reference straight line, the start point and the end point of the work travel route can be set based on the shape of the working area. That is, the path generation unit uses the extension direction of the reference straight line as the reference azimuth, determines the direction of the work travel route based on the reference azimuth (reference straight line), and determines the start point and the end point according to the shape of the working area. For example, the path generation unit assumes a straight line whose end serving as the basis for the work travel route is not defined by translating the reference straight line, and can generate a work travel route in which the end of the straight line is set as the point where work should start and the point where work should end according to the shape of the working area. As a result, regardless of the shape of the working area, the work travel route can be generated easily and accurately.

[0010] Further, the work area is divided into an internal area where the reciprocating travel is performed and an outer peripheral area outside the internal area, and the path generation unit may translate the reference straight line and use a line segment connecting the intersections between the two outer peripheral sides of the internal area facing each other and the translated reference straight line as the work travel route.

[0011] In the reciprocating travel, the working travel is performed along the working travel path in the internal area, and the turning travel between the working travel paths is performed in the outer peripheral area. That is, the working travel path is generated from one end to the other end of the internal area. According to the above configuration, two points that are the intersections of the reference straight line and the outer peripheral side of the internal area can be used as the start point and the end point of the working travel path. As a result, the start point and the end point of the working travel path can be set according to the shape of the working area, and the working travel path can be easily and accurately generated regardless of the shape of the working site.

[0012] Also, the working area is divided into the internal area where the reciprocating travel is performed and the outer peripheral area outside the internal area. In the outer peripheral area, a turning path for the aircraft to automatically travel along the outer periphery of the working area within the outer peripheral area is generated. The path generation unit may use a line segment connecting the intersections between two portions of the turning path facing each other across the internal area and the translated reference straight line after translating the reference straight line as the working travel path.

[0013] One or more turns of turning paths are generated outside the internal area. When the working travel path is generated with a length reaching the turning path (the innermost turning path when a plurality of turning paths are generated), the working travel path will be generated to a sufficient position (with a sufficient length) to travel from one end to the other end of the internal area. As a result, the start point and the end point of the working travel path can be set according to the shape of the working area, and the working travel path can be easily and accurately generated regardless of the shape of the working site.

[0014] Also, the path generation unit may use a line segment connecting the intersections between two outer peripheral reference lines obtained by translating the reference straight line and moving two opposite sides of the working site inward by a predetermined distance inside the working area and the translated reference straight line as the working travel path.

[0015] By providing both ends of the work travel route at positions separated from the work area (working area) by a predetermined distance, the work travel route can be generated according to the outer shape of the work area (working area). According to the above configuration, assuming an outer peripheral reference line along the outer shape of the work area (working area), the route generation unit can use the intersections of the translated reference straight line and the outer peripheral reference line as the start and end points of the work travel route. Thereby, the start and end points of the work travel route can be set according to the shape of the work area, and the work travel route can be generated easily and accurately regardless of the shape of the work area.

[0016] Also, non-work travel is performed along the outer periphery of the work area, and the shape of the work area may be obtained based on a plurality of pieces of the position information acquired during the non-work travel.

[0017] With such a configuration, the outer shape of the work area can be obtained easily and accurately. As a result, a work travel route can be generated based on the accurate outer shape, and the work travel route can be generated easily and accurately.

[0018] Also, the shape of the work area may be obtained from a field map that has been acquired in advance and includes information regarding the shape of the work area.

[0019] With such a configuration, the outer shape of the work area can be obtained without performing travel along the outer periphery of the work area by non-work travel. As a result, a work travel route can be generated easily and accurately based on the outer shape.

[0020] Also, the reference points may be two different positions of the aircraft that are arbitrarily acquired when the work area is traveled for the work.

[0021] With such a configuration, in teaching driving, it is not necessary to obtain the start point (work start position) and the end point (work end position) of the work as reference points, and any two points passed through during teaching driving can be obtained as reference points. In the present invention, since it is not necessary to obtain the start point and the end point of the work, the reference point can be easily obtained. And based on the easily obtained reference point, the work driving route can be generated easily and accurately.

[0022] Further, the reference point may be the work start position and the work end position when the work area is driven for the work.

[0023] Although it is not necessary to use the work start position and the work end position as reference points, since the teaching driving is performed manually, it is necessary to manually operate the start and end of the work. According to the above configuration, based on the manual operations of the start and end of the work, the reference point can be obtained, so that the reference point can be easily obtained. As a result, based on the easily obtained reference point, the work driving route can be generated easily and accurately.

[0024] Furthermore, the working machine according to an embodiment of the present invention includes the path generation system and an automatic driving control unit that controls the automatic driving.

[0025] According to the above configuration, the working machine can generate the work driving route easily and accurately.

Brief Description of the Drawings

[0026]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0027] Hereinafter, as a working machine that reciprocates between work sites of the present invention by automatic driving, a rice transplanter that plants seedlings in a field FL (work site) while automatically driving will be described as an example.

[0028] Here, for ease of understanding, in this embodiment, unless otherwise specified, "front" (the direction of arrow F shown in FIG. 1) means the front in the longitudinal direction (travel direction) of the machine body, and "rear" (the direction of arrow B shown in FIG. 1) means the rear in the longitudinal direction (travel direction) of the machine body. Also, the left - right direction or the lateral direction means the transverse direction of the machine body (machine width direction) orthogonal to the longitudinal direction of the machine body, "left" means the direction in front of the paper surface in FIG. 1, and "right" means the direction deep into the paper surface in FIG. 1.

[0029] As shown in FIG. 1, the rice transplanter includes a four - wheel drive type machine body 1 of the riding type. The machine body 1 includes a link mechanism 13 of the parallel four - link type that is connected to the rear part of the machine body 1 so as to be able to swing up and down. The machine body 1 includes a seedling planting device 3 that is connected to the rear - end region of the link mechanism 13 so as to be able to roll, and a fertilizer application device 4 that is installed from the rear - end region of the machine body 1 to the seedling planting device 3. Further, if necessary, it may include a chemical spraying device 18 provided in the rear - end region of the seedling planting device 3, etc.

[0030] The machine body 1 is equipped with wheels 12, an engine 2, and a hydraulic continuously variable transmission 9 which is the main transmission mechanism for traveling. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission). The wheels 12 include steerable left and right front wheels 12A and non-steerable left and right rear wheels 12B. The power output from the engine 2 is transmitted to the continuously variable transmission 9 via a traveling transmission mechanism, and then transmitted from the continuously variable transmission 9 to the front wheels 12A, rear wheels 12B, working devices (such as a seedling planting device 3, a fertilizer application device 4, a chemical spraying device 18, etc.). The engine 2 and the continuously variable transmission 9 are mounted at the front part of the machine body 1.

[0031] The seedling planting device 3 is configured in an 8-row planting format as an example. The seedling planting device 3 includes a seedling placing table 21, planting mechanisms 22 for 8 rows, etc. Note that this seedling planting device 3 can be changed to formats such as 2-row planting, 4-row planting, 6-row planting, etc. by controlling each row clutch (not shown). The planting mechanism 22 of the seedling planting device 3 takes out seedlings from the mat-shaped seedlings placed on the seedling placing table 21 and plants them in the muddy part of the paddy field. The fertilizer application device 4 supplies fertilizer to the field FL. The chemical spraying device 18 sprays (supplies) chemicals to the field FL.

[0032] The machine body 1 is provided with an operation part 14 in its rear side area. The operation part 14 includes various operation tools for operating the rice transplanter, an information terminal 5, and an operator's seat 16 for the operator (driver / worker), etc. The information terminal 5 displays (notifies) various information to notify (output) it to the operator and also receives the input of various information. Furthermore, the machine body 1 is provided with a spare seedling storage device 17A which is supported by a spare seedling support frame 17 in front of the operation part 14 and stores spare seedlings.

[0033] The aircraft body 1 is equipped with a positioning unit 8. The positioning unit 8 outputs positioning data 41 (see FIG. 3) for calculating the position and orientation of the aircraft body 1. The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of a global navigation satellite system (GNSS) such as GPS, GLONASS, Galileo, QZSS, and BeiDou satellite navigation system, and an inertial measurement module 8B that detects the inclination and acceleration of the three axes of the aircraft body 1. The positioning unit 8 is supported on the upper part of the spare seedling support frame 17. Based on the positioning data 41 acquired by the positioning unit 8, the position of the aircraft body 1 is intermittently calculated and stored as position information 42 (see FIG. 3). Further, the aircraft body 1 is equipped with, for example, a sonar sensor 60 as an example of an obstacle detection device that detects obstacles around the aircraft body 1.

[0034] 〔Automatic driving〕 The operation of the rice transplanter performing rice transplanting work in the field FL by automatic driving will be described with reference to FIGS. 1 and 2.

[0035] The rice transplanter can selectively perform manual driving and automatic driving. Manual driving and automatic driving are set using an information terminal 5 or the like. Automatic driving is such that the rice transplanter automatically controls driving and work along a preset target driving route.

[0036] In addition, automatic driving can be performed in a manned automatic driving (manned automatic driving mode) that requires the driver to board, and an unmanned automatic driving (unmanned automatic driving mode) that does not require the driver to board. In manned automatic driving, while the driver performs some operations along the guidance provided by the rice transplanter, the rice transplanter automatically controls other operations associated with driving and work. In unmanned automatic driving, it is not necessary for the driver to board, but the driver may board during unmanned automatic driving. Also, unmanned automatic driving starts the work driving by automatic control by the driver performing an automatic driving start operation with a remote control (not shown) or the like, and performs the preset work driving by automatic control. The manned automatic mode in which manned automatic driving is performed and the unmanned automatic mode in which unmanned automatic driving is performed are set using an information terminal 5 or the like.

[0037] At the start of the working travel, the operator operates the information terminal 5, various operating tools, etc. to perform initial settings. The initial settings include various settings related to working travel, such as setting the manned automatic mode or unmanned automatic mode, setting the method for acquiring the field map FM (see Fig. 3) described later, setting the supply side and turning side, etc.

[0038] After the initial settings are made, first, along the outer periphery of the field FL, the driver manually operates the rice transplanter to travel without performing work, i.e., non-working travel. By performing this outer periphery travel (outer periphery idling), based on the position information 42 (position of the machine body 1) acquired over time, the shape of the field FL is generated as the field map FM. The field FL corresponding to the working area WA is divided into an outer periphery area OA and an inner area IA. Note that the field map FM may be acquired without performing the outer periphery travel, and the previously generated field map FM may be used. Also, the working area WA may coincide with the entire field FL, or it may be any area of the field FL.

[0039] When the field map FM is generated (acquired), the travel route along which the rice transplanter performs working travel is set as the target travel route. In the inner area IA, an inner reciprocating route IPL that connects a plurality of routes (working travel routes LL) substantially parallel to one side of the field FL with a turning route TL is generated as the target travel route. The working travel route LL is a route that travels between two opposite sides (turning sides) of the inner area IA. The inner reciprocating route IPL is a travel route that travels evenly throughout the entire inner area IA from the start position S to the end position G. Note that the turning travel that connects the working travel routes LL is not limited to traveling along the turning route TL. Even if the turning route TL is not generated, it may be a travel in which turning is performed in a predetermined method.

[0040] In the outer periphery area OA, a circular route OL that is a travel route for circulating within the outer periphery area OA along the outer periphery of the field FL is generated as the target travel route. The circular travel in the outer periphery area OA is performed at least once along the outer periphery of the field FL, and the number of turns of the circular route OL is one or multiple turns. By performing working travel along the circular route OL, the entire working travel of the outer periphery area OA is performed.

[0041] [Control Configuration] Next, with reference to FIGS. 1 and 2 and using FIG. 3, the configuration of the control unit 25 that controls the working travel of the rice transplanter will be described.

[0042] The control unit 25 is connected in a manner capable of data communication with the positioning unit 8, the reference acquisition operation unit 28, and the storage unit 29. The control unit 25 includes a processor such as a CPU, and each functional block of the control unit 25 is controlled by the processor. The reference acquisition operation unit 28 receives a manual operation for acquiring a reference point 44 described later and transmits a command based on the operation to the control unit 25. The storage unit 29 stores various types of information.

[0043] The control unit 25 includes a data acquisition unit 31, a machine body position calculation unit 33, a reference point acquisition unit 35, a reference line generation unit 36, a path generation unit 38, and an automatic travel control unit 39.

[0044] The data acquisition unit 31 performs data communication with the positioning unit 8, the reference acquisition operation unit 28, and the storage unit 29, and transmits and receives various types of information, commands, etc. For example, the data acquisition unit 31 receives the positioning data 41 from the positioning unit 8 and stores it in the storage unit 29. Also, the data acquisition unit 31 receives a command associated with a manual operation on the reference acquisition operation unit 28.

[0045] The machine body position calculation unit 33 calculates position information 42 regarding the position of the machine body 1 based on the positioning data 41 received from the positioning unit 8 and stored in the storage unit 29. The position information 42 is, for example, position coordinates, and the travel trajectory, current position, etc. of the machine body 1 can be known from the position information 42.

[0046] The reference point acquisition unit 35 acquires two reference points 44 based on the position information 42. That is, the reference point acquisition unit 35 acquires the two pieces of position information 42 acquired according to the operation on the reference acquisition operation unit 28 as the reference points 44 and stores them in the storage unit 29.

[0047] The reference straight line generation unit 36 generates a reference straight line RL passing through two reference points 44. The reference straight line RL is a straight line parallel to the reference azimuth RD passing through the two reference points 44. The reference straight line RL or the reference azimuth RD is used to generate a working travel path LL, and the working travel path LL is a path parallel to the reference straight line RL and extending in the direction of the reference azimuth RD.

[0048] Based on the shape of the working area WA of the field FL (working area) and the reference straight line RL (reference azimuth RD), the path generation unit 38 generates a working travel path LL on a straight line obtained by translating the reference straight line RL in parallel. Specifically, the path generation unit 38 generates the working travel path LL by determining both ends of the translated straight line based on the shape of the working area WA. Note that the path generation unit 38 may generate other target travel paths in addition to the working travel path LL.

[0049] The automatic travel control unit 39 controls the travel and work along the target travel path of the rice transplanter. Thereby, the rice transplanter can perform automatic travel and automatic control of work along the target travel path.

[0050] 〔Path generation system〕 The path generation system is composed of a control unit 25 and a storage unit 29. The path generation system can generate a target travel path related to automatic travel, including the working travel path LL when a rice transplanter (working machine) that travels on the field FL (working area) by automatic travel reciprocates. Hereinafter, with reference to FIGS. 1 and 2, the configuration in which the path generation system generates the working travel path LL will be described using FIGS. 3 to 8.

[0051] First, in order for the path generation system to obtain a field map FM including the shape (outer shape) of the working area WA (field FL), the rice transplanter manually travels (peripheral idling) in non-working travel along the outer periphery of the field FL (step #1 in FIG. 8).

[0052] At this time, the positioning unit 8 continuously or intermittently acquires positioning data 41 regarding the position of the aircraft 1 accompanying the outer peripheral coasting, and stores it in the storage unit 29. For example, the positioning unit 8 acquires the positioning data 41 regarding the aircraft 1 during travel at regular intervals. Note that the positioning unit 8 may acquire the positioning data 41 at regular intervals, but the acquisition interval may be adjusted according to the travel state (the shape of the field FL), such as whether it is going straight or turning (bending).

[0053] The aircraft position calculation unit 33 calculates position information 42 indicating the position of the aircraft 1 in the field FL from the positioning data 41. By calculating the position information 42 accompanying the outer peripheral coasting, as shown in FIG. 4, the locus of the position information 42 becomes the travel locus of the aircraft 1 and is arranged at positions along the outer periphery of the field FL.

[0054] Therefore, the aircraft position calculation unit 33 or the control unit 25 acquires the shape (outer shape) of the field FL (working area WA) from the position information 42 calculated accompanying the outer peripheral coasting (step #2 in FIG. 8). That is, non-working travel is performed along the outer periphery of the field FL (working area WA), and the shape of the field FL (working area WA) is acquired based on a plurality of pieces of position information 42 acquired during the non-working travel. The shape of the field FL (working area WA) is acquired (generated) as a field map FM.

[0055] Next, the aircraft position calculation unit 33 or the control unit 25 divides the working area WA into an inner area IA and an outer peripheral area OA outside the inner area IA based on the shape of the working area WA, as shown in FIG. 5 (step #3 in FIG. 8). The inner area IA is an area where working travel in reciprocating travel is performed, and the outer peripheral area OA is an area where turning travel in reciprocating travel is performed. Therefore, the width of the outer peripheral area OA corresponding to the distance from the outer periphery of the working area WA to the inner area IA ensures a length sufficient for the aircraft 1 to perform turning travel. Note that the inner area IA and the outer peripheral area OA are distinguished by a boundary line BL, and the boundary line BL becomes the outer peripheral side of the inner area IA.

[0056] Next, the operator performs a work run from one end to the other end of the internal area IA by manual driving. During this manual driving, the reference point acquisition unit 35 acquires two different reference points 44. The reference points 44 are two different positions of the aircraft 1 arbitrarily acquired when performing a work run in the work area WA (internal area IA).

[0057] Specifically, as shown in FIG. 6, during the work run by manual driving, the operator operates the first operation unit 28A, which is the reference acquisition operation unit 28, at an arbitrary position. In response to this operation, the reference point acquisition unit 35 acquires the positioning data 41 of the aircraft 1 at the first reference point 44A, which is the first reference point 44, and stores it in the storage unit 29. After that, further driving is performed, and the operator operates the second operation unit 28B, which is the reference acquisition operation unit 28, at an arbitrary other position. In response to this operation, the reference point acquisition unit 35 acquires the positioning data 41 of the aircraft 1 at the second reference point 44B, which is the second reference point 44, and stores it in the storage unit 29.

[0058] Then, the reference point acquisition unit 35 calculates the position information 42 of the two reference points 44 (the first reference point 44A and the second reference point 44B) from the two positioning data 41 stored in the storage unit 29.

[0059] Next, as shown in FIG. 6, the reference straight line generation unit 36 generates a reference straight line RL passing through the first reference point 44A and the second reference point 44B (step #4 in FIG. 8). The reference azimuth RD is the direction in which this reference straight line RL extends.

[0060] Next, the path generation unit 38 generates a path straight line RLS by translating the reference straight line RL by a predetermined path interval distance 46 (step #5 in FIG. 8). The path interval distance 46 is set based on the planting width of the rice transplanter, but it does not necessarily have to be constant. Further, the path generation unit 38 translates the path straight line RLS by a predetermined path interval distance 46 in sequence to generate a plurality of path straight lines RLS over the entire internal area IA.

[0061] Then, the path generation unit 38 sets a line segment connecting between two intersection points CP of two outer peripheral sides (boundary line BL) facing each other in the internal area IA and the path straight line RLS which is the reference straight line RL translated in parallel as the work travel path LL. That is, the path generation unit 38 adjusts the length of the path straight line RLS using the boundary line BL (step #6 in FIG. 8), and generates the work travel path LL (step #7 in FIG. 8). Note that these two outer peripheral sides (boundary line BL) facing each other are the sides corresponding to (adjacent to) the turning side.

[0062] As described above, when the farmland FL is a deformed farmland instead of a rectangular one, when the reference straight line RL is translated in parallel and the positions of the start point and the end point are maintained (the length is maintained) to generate the work travel path LL, the shape of the internal area IA (work area WA) of the work travel path LL may not match. For example, at least one of the start point (work start point) and the end point (work end point) of the work travel path LL may not reach the boundary line BL (the work travel path LL is short), or may protrude from the internal area IA (the work travel path LL is long).

[0063] The path generation system according to the present embodiment sets the start point (work start point) and the end point (work end point) on the path straight line RLS translated in parallel based on the shape of the work area WA (farmland FL), and generates the work travel path LL. That is, the path generation system according to the present embodiment can adjust the length of the work travel path LL based on the shape of the work area WA (farmland FL). For example, the path generation system can adjust the length of the work travel path LL based on the shape of the internal area IA which is the area where the work is performed by reciprocating travel.

[0064] Therefore, the path generation system according to the present embodiment can easily generate the work travel path LL extending from one end to the other end of the area (internal area IA) where the work is performed by considering the work area WA (internal area IA), and can easily and accurately generate the work travel path LL regardless of the shape of the work area WA (farmland FL).

[0065] 〔Alternative Embodiment〕 (1) The circumferential path OL that circulates around the outer peripheral region OA is a path that follows the shape (outer shape) of the work area WA (field FL). Therefore, instead of determining the start and end points of the work travel path LL based on the shape of the internal region IA, the path generation unit 38 may determine the start and end points of the work travel path LL based on the circumferential path OL.

[0066] Specifically, the path generation unit 38 sets a line segment connecting between two intersection points CP of the circumferential path OL and the path straight line RLS as the work travel path LL. That is, the path generation unit 38 translates the reference straight line RL in parallel and sets a line segment connecting between the two intersection points of two portions of the circumferential path OL facing each other across the internal region IA and the translated reference straight line RL (path straight line RLS) as the work travel path LL. Thereby, the length of the work travel path LL can be easily adjusted based on the circumferential path OL. Further, since the circumferential path OL is generated outside the internal region IA, when the work travel path LL is generated between the circumferential paths OL, the work travel path LL can be generated with sufficient length. From the above, the work travel path LL can be generated easily and with high accuracy.

[0067] (2) The turning travel in the reciprocating travel within the internal region IA is performed so as not to protrude from the work area WA (field FL). That is, it is appropriate that the work end position (end point) of the work travel path LL corresponding to the turning start position of the turning path TL is located inside by a distance required for turning from the outer periphery of the work area WA (field FL).

[0068] Therefore, instead of determining the start and end points of the work travel path LL based on the shape of the internal region IA, the path generation unit 38 may determine the start and end points of the work travel path LL based on two outer peripheral reference lines obtained by moving two opposite sides of the field FL (work area WA) inward by a predetermined shift distance 48 inside the work area WA. Here, the two opposite sides are turning sides, and the shift distance 48 is set based on the distance from the turning start position required for turning to the field FL.

[0069] Specifically, the path generation unit 38 sets a line segment connecting the intersections between the outer peripheral reference line and the path straight line RLS as the work travel path LL. That is, the path generation unit 38 translates the reference straight line RL parallelly, and sets a line segment connecting the intersections between two outer peripheral reference lines obtained by moving two opposite sides (turning sides) of the field FL (work area WA) toward each other inside the work area WA by a predetermined shift distance 48 and the parallelly translated reference straight line RL (path straight line RLS) as the work travel path LL. Thereby, the work travel path LL is generated inside by a distance necessary for turning from the outer periphery of the work area WA (field FL). And the work travel path LL can be generated easily and accurately.

[0070] (3) In each of the above embodiments, the control unit 25 in the path generation system may include the aircraft position calculation unit 33, the reference point acquisition unit 35, the reference straight line generation unit 36, and the path generation unit 38, and may not include the automatic travel control unit 39. Thereby, the path generation system becomes a configuration specialized in actually generating the target travel path (work travel path LL), can generate the work travel path LL efficiently, and can generate the work travel path LL easily and accurately.

[0071] (4) In each of the above embodiments, in the path generation system, at least a part of the aircraft position calculation unit 33, the reference point acquisition unit 35, the reference straight line generation unit 36, and the path generation unit 38 may not be provided in the control unit 25, but may be provided outside the control unit 25 in a manner capable of data communication with the control unit 25. For example, the path generation unit 38 may be provided in a server or the like, and the rice transplanter may be configured to receive the target travel path (work travel path LL) generated from the server. Thereby, while simplifying the configuration of the rice transplanter, the path generation system can generate the work travel path LL easily and accurately. Also, at least some of the functional blocks of the control unit 25 may be provided in the information terminal 5.

[0072] (5) In each of the above embodiments, the field map FM may be generated by peripheral idling, or a field map FM generated and stored in the past may be acquired from a server or the like. That is, the shape of the work area WA (field FL) may be acquired from a field map FM that has been acquired (generated) in advance (in the past) and includes information regarding the shape of the work area WA. Thereby, the route generation system can easily acquire the field map FM and can easily and accurately generate the work travel route LL.

[0073] (6) In each of the above embodiments, the reference points 44 may be any two points during work travel by manual travel, or may be the work start position and the work end position when traveling through the work area WA (inner area IA).

[0074] (7) In each of the above embodiments, the two reference points 44 may be acquired by operating the first operation unit 28A and the second operation unit 28B, or the two reference points 44 may be acquired by operating the reference acquisition operation unit 28 twice. Thereby, the two reference points 44 can be acquired with a simple configuration.

[0075] (8) In each of the above embodiments, the control unit 25 is not limited to being configured by the above functional blocks, and may be configured by any functional blocks. For example, each functional block of the control unit 25 may be further subdivided, or conversely, a part or all of each functional block may be combined. Further, the control unit 25 may further include other functional blocks. For example, the control unit 25 may further include a map generation unit that generates a field map FM or distinguishes between the inner area IA and the outer peripheral area OA. Further, the functions of the control unit 25 are not limited to the above functional blocks, and may be realized by a method executed by any functional block. Also, a part or all of the functions of the control unit 25 may be configured by software. The program related to the software is stored in an arbitrary storage device such as the storage unit 29, and is executed by a processor such as the CPU included in the control unit 25 or a separately provided processor.

Industrial Applicability

[0076] The present invention can be applied to a working machine that reciprocates between work sites by automatic driving.

Explanation of Signs

[0077] 1 Aircraft body 33 Aircraft body position calculation unit 35 Reference point acquisition unit 36 Reference straight line generation unit 38 Route generation unit 39 Automatic driving control unit 42 Position information 44 Reference point 48 Shift distance CP Intersection point FL Field (work site) FM Field map IA Inner region LL Working travel route OA Outer peripheral region OL Circumferential route RL Reference straight line WA Working area

Claims

1. A path generation system that generates a work travel path when a work machine that travels automatically at a work site travels back and forth, comprising: a machine position calculation unit that calculates position information regarding the position of the body of the work machine; a reference point acquisition unit that acquires two reference points based on the position information; a reference line generation unit that generates a reference line passing through the two reference points; and a path generation unit that generates the work travel path based on the shape of the work area of the work site and the reference line.

2. The work area is divided into an internal area where the reciprocating travel is performed and an outer peripheral area outside the internal area, and the path generation unit translates the reference line parallelly, and sets a line segment connecting the intersections between the two outer peripheral sides of the internal area facing each other and the translated reference line as the work travel path. The path generation system according to Claim 1.

3. The work area is divided into an internal area where the reciprocating travel is performed and an outer peripheral area outside the internal area, a circular path for the machine to automatically travel along the outer periphery of the work area is generated in the outer peripheral area, and the path generation unit translates the reference line parallelly, and sets a line segment connecting the intersections between the two portions of the circular path facing each other across the internal area and the translated reference line as the work travel path. The path generation system according to Claim 1.

4. The path generation unit translates the reference line parallelly, and sets a line segment connecting the intersections between two outer peripheral reference lines obtained by moving two opposite sides of the work site inward by a predetermined distance inside the work area and the translated reference line as the work travel path. The path generation system according to Claim 1.

5. Non-work travel is performed along the outer periphery of the work site, and the shape of the work area is obtained based on a plurality of pieces of the position information obtained during the non-work travel. The path generation system according to Claim 1.

6. The shape of the work area is obtained from a field map that is acquired in advance and includes information regarding the shape of the work area. The path generation system according to Claim 1.

7. The reference points are two different positions of the machine body that are arbitrarily acquired when the work area is traveled. The path generation system according to any one of Claims 1 to 6.

8. The path generation system according to any one of claims 1 to 6, wherein the reference point is a work start position and a work end position when traveling in the work area.

9. A work machine comprising the path generation system according to any one of claims 1 to 6, and an automatic driving control unit that controls the automatic driving.

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