Path generation method, path generation system, and path generation program

Abstract

To provide a path generation method, a path generation program, and a path generation system that can easily generate a target path for making a working vehicle automatically travel in a non-rectangular work region.SOLUTION: A setting processing unit 212 sets a first reference line for serving as a reference at the time of generating a target path for making a working vehicle 10 automatically travel, and a second reference line whose shape or direction is different from that of the first reference line. A generation processing unit 213 generates the target path for making the working vehicle 10 automatically travel on the basis of the shape or direction of the first reference line, and sets the shape or direction of one or a plurality of first work paths out of a plurality of work paths included in the target path on the basis of the shape or direction of the second reference line.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a technique for generating a target path for automatically driving a work vehicle.

Background Art

[0002] Conventionally, in a field, a work vehicle that automatically travels according to a preset target path is known. For example, the work vehicle automatically travels according to target paths set in each of the inner peripheral region of the central part of the field and the outer peripheral region (headland region) of the outer peripheral part of the field (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the work field is not limited to a rectangular field, and there are non-rectangular fields such as a field with a slanted shape in a part of the outer shape (such as a corner) or a field with a curved shape in a part of the outer shape. In the case of such a non-rectangular field, it becomes difficult to generate a target path for automatically driving a work vehicle.

[0005] An object of the present invention is to provide a path generation method, a path generation program, and a path generation system capable of easily generating a target path for automatically driving a work vehicle in a non-rectangular work area.

Means for Solving the Problems

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

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

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

Advantages of the Invention

[0009] According to the present invention, it is possible to provide a path generation method, a path generation program, and a path generation system that can easily generate a target path for automatically driving a work vehicle in a non-rectangular work area.

Brief Description of the Drawings

[0010]

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DETAILED DESCRIPTION OF THE INVENTION

[0011] The following embodiments are examples of embodying the present invention and do not limit the technical scope of the present invention.

[0012] As shown in FIG. 1, the automatic driving system 1 according to the embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN. The automatic driving system 1 is an example of the path generation system of the present invention.

[0013] In this embodiment, the case where the work vehicle 10 is a tractor will be described as an example. As another embodiment, the work vehicle 10 may be a combine, a rice transplanter, a construction machine, a snowplow, or the like. The work vehicle 10 is configured to be able to automatically drive along a preset target path in a field F (see FIG. 4).

[0014] For example, an operator registers a field F to be worked on and sets a target route for the work vehicle 10 to automatically travel on the field F. The work vehicle 10 automatically travels according to a preset target route for the field F based on the position information of the current position of the work vehicle 10 acquired by the positioning unit 16. Further, the work vehicle 10 performs a predetermined operation while automatically traveling within the field F. The field F includes an inner region (inner peripheral region) which is an inner region and an outer peripheral region (headland region) which is a region around the inner region. A work route (target route), which is a travel route of the work vehicle 10, is set for each of the inner peripheral region and the headland region.

[0015] The operation terminal 20 is a portable terminal capable of remotely operating the work vehicle 10 and is composed of, for example, a tablet terminal, a notebook personal computer, a smartphone, or the like. The operator can perform setting operations on various setting items on the operation terminal 20. For example, the operator operates the operation terminal 20 to register the field F or set a target route for the registered field F. Further, the operation terminal 20 displays information such as the work status and travel status of the work vehicle 10 during automatic travel. The operator can grasp the work status and travel status on the operation terminal 20.

[0016] Here, the field to be worked on is not limited to a rectangular field, and there are non-rectangular fields such as a field with a slanted shape in a part of the outer shape (such as a corner) or a field with a curved shape in a part of the outer shape. In the case of such a non-rectangular field, it becomes difficult to generate a target route for automatically traveling the work vehicle 10. On the other hand, the automatic driving system 1 according to the present embodiment has a configuration capable of easily generating a target route for automatically traveling the work vehicle 10 in a non-rectangular field as shown below.

[0017] [Work vehicle 10] As shown in FIGS. 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning unit 16, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the traveling device 13, the work implement 14, the positioning unit 16, and the like. Note that the vehicle control device 11 and the positioning unit 16 may be capable of wireless communication.

[0018] The communication unit 15 is a communication interface for connecting the work vehicle 10 to the communication network N1 by wire or wirelessly and performing data communication according to a predetermined communication protocol with an external device (such as the operation terminal 20) via the communication network N1.

[0019] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores a control program for causing the vehicle control device 11 to execute various processes. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. Note that the control program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. In addition, the storage unit 12 stores data of a target route generated in the operation terminal 20 and the like.

[0020] The traveling device 13 is a driving unit that causes the work vehicle 10 to travel. As shown in FIG. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a steering wheel 137, and the like. Note that the front wheels 132 and the rear wheels 133 are respectively provided on the left and right sides of the work vehicle 10. In addition, the traveling device 13 is not limited to a wheel type including the front wheels 132 and the rear wheels 133, and may be a crawler type including crawlers provided on the left and right sides of the work vehicle 10.

[0021] The engine 131 is a driving source such as a diesel engine or a gasoline engine that is driven using fuel supplied from a fuel tank (not shown). The traveling device 13 may include an electric motor as a driving source together with the engine 131 or in place of the engine 131. Note that a generator (not shown) is connected to the engine 131, and electric power is supplied from the generator to electric components such as the vehicle control device 11 and the positioning unit 16 provided in the work vehicle 10, and the battery. The battery is charged by the electric power supplied from the generator. And the electric components such as the vehicle control device 11 and the positioning unit 16 provided in the work vehicle 10 can be driven by the electric power supplied from the battery even after the engine 131 stops.

[0022] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and is transmitted to the rear wheels 133 via the transmission 134 and the rear axle 136. Also, the driving force of the engine 131 is transmitted to the work implement 14 via a PTO shaft (not shown). When the work vehicle 10 performs automatic traveling, the traveling device 13 performs a traveling operation according to an instruction from the vehicle control device 11. Also, the traveling device 13 decelerates or stops the work vehicle 10 according to an instruction from the vehicle control device 11.

[0023] The work implement 14 is, for example, a tiller, a lawn mower, a plow, a fertilizer applicator, a sprayer (chemical sprayer), a rotary tiller, or a seeder, and is detachable from the work vehicle 10. Thereby, the work vehicle 10 can perform various operations using each of the work implements 14. FIG. 2 shows a case where the work implement 14 is a tiller. For example, the work implement 14 is mounted behind the work vehicle 10. The work vehicle 10 performs tilling work by traveling in the field F with the work implement 14 mounted behind it.

[0024] The working machine 14 may be supported by a lifting mechanism (not shown) in the work vehicle 10 so as to be liftable. The vehicle control device 11 can control the lifting mechanism to lift and lower the working machine 14. For example, when the work vehicle 10 travels straight forward in the forward direction in the field F, the vehicle control device 11 lowers the working machine 14, and when the work vehicle 10 travels straight backward or turns in the field F, the vehicle control device 11 raises the working machine 14. Further, when the work vehicle 10 performs work on the turning path, the vehicle control device 11 lowers the working machine 14 when the work vehicle 10 turns on the turning path. In addition, when the vehicle control device 11 acquires an instruction to stop work, the vehicle control device 11 outputs a stop command for the working machine 14. For example, when the operator performs a stop instruction operation on the operation terminal 20, the vehicle control device 11 acquires the stop instruction from the operation terminal 20. When the vehicle control device 11 acquires an instruction to stop work, the vehicle control device 11 stops driving the PTO shaft to stop the work of the working machine 14.

[0025] The steering wheel 137 is an operation unit operated by the operator or the vehicle control device 11. For example, in the traveling device 13, according to the operation of the steering wheel 137 by the vehicle control device 11, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like, and the traveling direction of the work vehicle 10 is changed.

[0026] In addition to the steering wheel 137, the traveling device 13 includes a shift lever, an accelerator, a brake, etc. (not shown) operated by the vehicle control device 11. In the traveling device 13, according to the operation of the shift lever by the vehicle control device 11, the gear of the transmission 134 is switched to a forward gear or a reverse gear, etc., and the traveling mode of the work vehicle 10 is switched to forward or reverse, etc. Further, the vehicle control device 11 controls the rotational speed of the engine 131 by operating the accelerator. In addition, the vehicle control device 11 operates the brake to brake the rotation of the front wheels 132 and the rear wheels 133 using an electromagnetic brake.

[0027] The positioning unit 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, and a positioning antenna 164 (see FIG. 1), etc. For example, as shown in FIG. 2, the positioning unit 16 is provided above the cabin 138 on which the operator rides. Further, the installation location of the positioning unit 16 is not limited to the cabin 138. Furthermore, the positioning control unit 161, the storage unit 162, the communication unit 163, and the positioning antenna 164 of the positioning unit 16 may be distributed and arranged at different positions in the work vehicle 10. As described above, the battery is connected to the positioning unit 16, and the positioning unit 16 can operate even when the engine 131 is stopped. Also, as the positioning unit 16, for example, a mobile phone terminal, a smartphone, a tablet terminal, a quantum compass, etc. may be substituted.

[0028] The positioning control unit 161 is a computer system including one or a plurality of processors and a storage memory such as a non-volatile memory and a RAM. The storage unit 162 is a non-volatile memory or the like that stores a program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the program may be downloaded from a server (not shown) to the positioning unit 16 via the communication network N1 and stored in the storage unit 162.

[0029] The communication unit 163 is a communication interface for connecting the positioning unit 16 to the communication network N1 by wire or wirelessly and performing data communication according to a predetermined communication protocol with an external device such as a base station server via the communication network N1.

[0030] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0031] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 automatically travels within the farm field F, when the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) transmitted from each of a plurality of satellites, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distances. Further, the positioning control unit 161 may perform positioning by a real-time kinematic method (RTK-GNSS positioning method (RTK method)) of calculating the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. Thus, the work vehicle 10 performs automatic travel using the positioning information by the RTK method. Note that the current position of the work vehicle 10 may be the same position as the positioning position (for example, the position of the positioning antenna 164), or may be a position deviated from the positioning position. Note that the positioning control unit 161 may calculate (perform positioning of) the current position of the work vehicle 10 using a quantum compass.

[0032] The vehicle control device 11 includes control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as BIOS and OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory for various processes executed by the CPU. Then, the vehicle control device 11 controls the work vehicle 10 by causing the CPU to execute various control programs stored in advance in the ROM or the storage unit 12.

[0033] Specifically, as shown in FIG. 1, the vehicle control device 11 includes various processing units such as a traveling processing unit 111. The vehicle control device 11 functions as the various processing units by executing various processes according to the control program using the CPU. Also, some or all of the processing units may be configured by electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units.

[0034] The traveling processing unit 111 controls the traveling of the work vehicle 10. For example, when the traveling mode of the work vehicle 10 is automatic traveling (automatic traveling mode), the traveling processing unit 111 automatically travels the work vehicle 10 based on position information (positioning information) indicating the current position of the work vehicle 10 measured by the positioning unit 16. For example, when the work vehicle 10 satisfies the start condition of automatic traveling and acquires a work start instruction from the operator, the traveling processing unit 111 starts the automatic traveling of the work vehicle 10 based on the positioning information. Also, the traveling processing unit 111 automatically travels the work vehicle 10 from the traveling start position to the traveling end position according to a target route generated and set in advance in the operation terminal 20. For example, the traveling processing unit 111 travels the work vehicle 10 according to a plurality of work routes for causing the work vehicle 10 to perform a predetermined work and a plurality of non-work routes connecting between the work routes included in the target route.

[0035] When the traveling mode of the work vehicle 10 is manual traveling (manual traveling mode), it is possible to manually travel the work vehicle 10 based on the operation of the operator (manual steering). For example, the traveling processing unit 111 acquires operation information corresponding to driving operations such as a steering operation, a shift operation, a traveling direction switching operation, and a brake operation by the operator, and causes the traveling device 13 to execute a traveling operation based on the operation information. For example, when registering a field to be worked, the operator manually travels (teaching traveling) along the outer peripheral portion of the area to be worked within a predetermined area while boarding the work vehicle 10. The operator may lower the work implement 14 and execute a predetermined work (for example, tilling work) while the work vehicle 10 is being taught to travel.

[0036] [Operation terminal 20] As shown in FIG. 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, and the like. The operation terminal 20 may be configured by a mobile terminal such as a tablet terminal or a smartphone.

[0037] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the communication network N1 by wire or wirelessly and performing data communication according to a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0038] The operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display for displaying various kinds of information, and an operation unit such as a touch panel, a mouse, or a keyboard for receiving operations. An operator can perform an operation of registering various kinds of information (work vehicle information, field information, work information, etc., described later) by operating the operation unit on the operation screen displayed on the display unit. Further, the operator can perform an operation of instructing the start of work, a travel stop instruction, etc. on the work vehicle 10 by operating the operation unit. Further, the operator can grasp the traveling state of the work vehicle 10 automatically traveling in the field F along the target path based on the traveling locus and the captured image of the camera displayed on the operation terminal 20 at a location away from the work vehicle 10.

[0039] The storage unit 22 is a non-volatile storage unit such as an HDD or an SSD for storing various kinds of information. The storage unit 22 stores a path generation program for causing the operation control unit 21 to execute a path generation process (see FIG. 10) described later and a control program for causing various control processes to be executed. For example, the path generation program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. Note that the path generation program may be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22.

[0040] The operation control unit 21 includes control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as BIOS and OS for causing the CPU to execute various arithmetic processes are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the operation control unit 21 controls the operation terminal 20 by causing the CPU to execute various control programs pre-stored in the ROM or the storage unit 22.

[0041] As shown in FIG. 1, the operation control unit 21 includes various processing units such as a registration processing unit 211, a setting processing unit 212, a generation processing unit 213, and an output processing unit 214. Note that the operation control unit 21 functions as the various processing units by causing the CPU to execute various processes according to the route generation program. Also, some or all of the processing units may be configured by electronic circuits. Note that the route generation program may be a program for causing a plurality of processors to function as the processing units.

[0042] The registration processing unit 211 registers various setting information for causing the work vehicle 10 to execute automatic driving. Specifically, the registration processing unit 211 registers information regarding the work vehicle 10 (hereinafter referred to as work vehicle information). The registration processing unit 211 registers the information by having the operator perform an operation of registering the information on the operation terminal 20 regarding the type (model) of the work vehicle 10, the position where the positioning antenna 164 is attached to the work vehicle 10, the type of the work implement 14, the size and shape of the work implement 14, the position of the work implement 14 with respect to the work vehicle 10, the vehicle speed and engine speed during operation of the work vehicle 10, the vehicle speed and engine speed during turning of the work vehicle 10, and the like.

[0043] For example, the registration processing unit 211 causes the operation display unit 23 to display the menu screen D1 shown in FIG. 5. The operator selects, for example, "Work implement registration" on the menu screen D1 to register work implement information regarding the work implement 14.

[0044] In addition, the registration processing unit 211 registers information regarding the field F (hereinafter referred to as field information). The registration processing unit 211 registers the information by performing an operation of registering, on the operation terminal 20, information such as the position and shape of the field F, the travel start position where work starts and the travel end position where work ends, and the work direction. Note that the work direction means the direction in which the work vehicle 10 travels while performing work with the work machine 14 in the work area excluding the non-work area from the field F. For example, the operator selects "Field Registration" on the menu screen D1 to register field information.

[0045] Information on the position and shape of the field F can be automatically acquired, for example, by the operator boarding the work vehicle 10 and driving it to go around once along the outer periphery of a predetermined area AR (see FIG. 3), and recording the transition of the position information of the positioning antenna 164 at that time.

[0046] Specifically, the registration processing unit 211 acquires position information of the current position of the work vehicle 10 based on the positioning information measured by the positioning unit 16. When the registration processing unit 211 acquires the position information, it registers the position information in the storage unit 22. For example, when the operator manually drives (teaching travel) the work vehicle 10 in a predetermined area AR when registering the field (see FIG. 3), the registration processing unit 211 acquires the position information of the work vehicle 10 at a predetermined sampling interval. The black dot shown in FIG. 3 corresponds to the position information of each measurement point.

[0047] Also, while the operator is performing teaching travel of the work vehicle 10, the work machine 14 is lowered to perform a predetermined work. While the work vehicle 10 is performing teaching travel, the registration processing unit 211 registers the work position information of the position where the work is performed with the work machine 14 lowered and the non-work position information of the position where the work is not performed with the work machine 14 raised, in association with the position information of the work vehicle 10.

[0048] When the teaching run is completed, the registration processing unit 211 registers the field based on the position information. FIG. 4 shows an example of display on the field registration screen (not shown) of the operation terminal 20. For example, the registration processing unit 211 connects each measurement point with a straight line, and when the angle formed by two adjacent straight lines is greater than or equal to a predetermined angle, replaces the two straight lines with one straight line (approximate straight line), and when the angle is less than the predetermined angle, replaces the two straight lines with one curve (approximate curve). Also, the registration processing unit 211 connects two straight lines to each other at each corner (complementary point) of the field. As another embodiment, the registration processing unit 211 may approximate to a straight line or a curve based on the vehicle orientation at each measurement point. As still another embodiment, when performing teaching run with the working machine 14 in the lowered state, the registration processing unit 211 may acquire the position where the working machine 14 is raised and turned and the position where it is lowered, and set the position as the connection point between straight lines or the connection point between a straight line and a curve. The registration processing unit 211 causes the field registration screen to display the area represented by the measurement points, straight lines, and curves shown in FIG. 4, and accepts the registration operation of the operator. When the operator performs a registration operation, the registration processing unit 211 registers the area represented by the measurement points, straight lines, and curves as the field F to be worked on. Note that the operator can change the area on the field registration screen. For example, the operator may select the measurement points shown in FIG. 3 and register the area partitioned by the line connecting the selected measurement points as the field, or register a complementary point at an arbitrary position different from the measurement points and register the area partitioned by the line connecting the complementary points as the field.

[0049] According to the example shown in FIG. 4, a non-rectangular field F including curves (parts A1, A2, and A3 in FIG. 4) in its outer shape is registered. In this way, the registration processing unit 211 registers the field F as the work target area based on the position information obtained by the manual driving operation of the work vehicle 10 by the operator.

[0050] In addition, the registration processing unit 211 registers information regarding how to specifically perform the work (hereinafter referred to as work information). The registration processing unit 211 is configured to be able to register, as work information, the presence or absence of cooperative work between the unmanned work vehicle 10 and the manned work vehicle 10, the skip count which is the number of work routes to be skipped when the work vehicle 10 turns on the headland, the width of the headland, and the width of the non-working area, etc. For example, the operator selects "Route Creation" on the menu screen D1 and registers the information of the travel route.

[0051] The setting processing unit 212 sets a reference line for generating the target route of the work vehicle 10. Specifically, the setting processing unit 212 sets a non-linear reference line (an example of the first reference line of the present invention) and a linear reference line (an example of the second reference line of the present invention) whose shape is different from that of the non-linear reference line based on the information obtained when registering the farm field. The non-linear line is a line including at least a curved portion or a bent portion, and hereinafter, a curve is taken as an example. Note that the straight line is a line not including the curved portion and the bent portion. Hereinafter, as an example, the non-linear reference line is referred to as a curve reference line R11, and the linear reference line is referred to as a straight line reference line R12.

[0052] For example, the setting processing unit 212 acquires the position information of the route (travel locus) traveled by the work vehicle 10 by the manual operation of the operator when registering the farm field. Specifically, the setting processing unit 212 acquires the information of the measurement points shown in FIG. 3 and the information of the measurement points registered in the farm field shown in FIG. 4.

[0053] The setting processing unit 212 sets the curve reference line R11 based on the travel locus. FIG. 6 shows an example of the curve reference line R11. For example, the curve reference line R11 corresponds to the travel locus of the portion A2 to A3 shown in FIG. 4.

[0054] In addition, the setting processing unit 212 sets the straight line registered by the operator on the field registration screen as the straight line reference line R12. For example, the operator sets a straight line representing the azimuth of the working direction in the inner peripheral region F1 of the field F. The setting processing unit 212 sets the straight line corresponding to the working direction as the straight line reference line R12. Also, for example, when the operator selects two measurement points of the travel locus, the setting processing unit 212 may set the line connecting the two measurement points (one side of the field outline) as the straight line reference line R12. Further, when the operator manually drives the work vehicle 10 straight in the working direction in the field F and registers any two points (point A and point B), the straight line connecting point A and point B may be set as the straight line reference line R12.

[0055] In this way, the setting processing unit 212 sets the curve reference line R11 and the straight line reference line R12 based on the travel locus obtained by the manual driving operation of the operator during field registration. Also, the setting processing unit 212 sets the straight line reference line R12 based on the information (measurement points) used when setting the curve reference line R11.

[0056] The generation processing unit 213 generates a target route for automatically driving the work vehicle 10 in the field F. When the operator selects "Route Creation" on the menu screen D1 (see FIG. 5) and receives an instruction to generate a target route, the generation processing unit 213 executes the generation process of the target route.

[0057] For example, when the field F includes an inner peripheral region F1 and a headland region F2 (see FIG. 6), the generation processing unit 213 generates a target route Ra for automatically driving in the headland region F2 and a target route Rb for automatically driving in the inner peripheral region F1. For example, in the headland region F2, the generation processing unit 213 generates a curved target route Ra along the curve reference line R11 set based on the travel locus of the teaching drive. On the other hand, in the inner peripheral region F1, the generation processing unit 213 generates a target route Rb of a straight-line route along which the work vehicle 10 can travel back and forth linearly. That is, the generation processing unit 213 generates a target route Ra in which at least a part of the plurality of working routes is a curved route and a target route Rb in which all of the plurality of working routes are straight-line routes.

[0058] Specifically, the generation processing unit 213 generates the target path Ra based on the shape and orientation of the curve reference line R11. Further, the generation processing unit 213 sets the shape and orientation of one or more of the plurality of working paths included in the target path Ra based on the shape and orientation of the straight line reference line R12. FIG. 6 shows three working paths Ra1, Ra2, and Ra3 included in the target path Ra. Note that the number of working paths set in the crosstie area F2 corresponds to the number of working strokes set in the crosstie area F2. The generation processing unit 213 generates the working paths Ra1, Ra2, and Ra3 so as to correspond to the curve shape of the curve reference line R11, and further generates the working paths Ra1, Ra2, and Ra3 so that the curve shapes of the working paths Ra1, Ra2, and Ra3 approach the straight line shape of the straight line reference line R12.

[0059] For example, as shown in FIG. 6, the working path Ra1 on the outer peripheral side of the crosstie area F2 has a shape close to the curve shape of the curve reference line R11, and the working path Ra3 on the inner peripheral side (inner peripheral area F1 side) of the crosstie area F2 has a shape close to the straight line shape of the straight line reference line R12.

[0060] Specifically, the generation processing unit 213 sets the shape and orientation of the working paths Ra1, Ra2, and Ra3 based on the distance from the curve reference line R11. For example, the generation processing unit 213 makes the shape and orientation of each of the working paths Ra1, Ra2, and Ra3 approach the shape and orientation of the straight line reference line R12 as the distance from the curve reference line R11 increases.

[0061] FIG. 7 shows an example of a method for generating the working paths Ra1, Ra2, and Ra3. For example, the generation processing unit 213 acquires the number of working paths (set number) set in the crosstie area F2. Note that the set number corresponds to the number of working strokes in the crosstie area F2. The generation processing unit 213 may acquire the set number when receiving an operation in which an operator inputs the set number, or may calculate the set number based on the width of the crosstie area F2 and the width (working width) of the working machine 14. Further, the generation processing unit 213 may calculate the set number based on the deviation between the curve reference line R11 and the straight line reference line R12. Here, the generation processing unit 213 acquires "three" as the set number.

[0062] The generation processing unit 213 sets three reference lines L1, L2, and L3 that are parallel and equally spaced to the straight reference line R12 in the pillow ground area F2. The intervals between the reference lines L1, L2, and L3 are set based on the width of the pillow ground area F2, the working width of the working machine 14, the overlap amount, and the like. Next, the generation processing unit 213 calculates the deviation Δdn (the distance of the arrow shown in FIG. 7) between the curved reference line R11 and the straight reference line R12. In the example shown in FIG. 7, the straight reference line R12 is set at a position that touches the right end of the curved reference line R11, but the straight reference line R12 may be set at the central position or the left end position of the curved reference line R11.

[0063] Next, the generation processing unit 213 sets a subtraction amount of the deviation Δdn between each working path and the straight reference line R12 based on the set number. The generation processing unit 213 gradually increases the subtraction amount as it moves away from the curved reference line R11. For example, since the set number is "3", the generation processing unit 213 sets the subtraction amount per working path to "Δdn / 3".

[0064] Then, the generation processing unit 213 sets the path (working path Ra1) obtained by subtracting "Δdn×1 / 3" from the deviation Δdn between the curved reference line R11 and the straight reference line R12 at the position of the reference line L1. Also, the generation processing unit 213 sets the path (working path Ra2) calculated by subtracting "Δdn×2 / 3" from the deviation Δdn between the curved reference line R11 and the straight reference line R12 at the position of the reference line L2. Also, the generation processing unit 213 sets the path (working path Ra3) calculated by subtracting "Δdn×3 / 3" from the deviation Δdn between the curved reference line R11 and the straight reference line R12 at the position of the reference line L3.

[0065] Note that the generation processing unit 213 may execute an addition process instead of the subtraction process. For example, the generation processing unit 213 may gradually increase the addition amount as it moves away from the curved reference line R11 so that the deviation becomes larger than Δdn.

[0066] As a result, the plurality of working paths in the headland area F2 approach the shape of the curved reference line R11 as they go toward the outer peripheral side of the field F, and approach the shape of the straight reference line R12 as they go toward the inner peripheral side of the field F. Among the plurality of working paths in the headland area F2, the working path closest to the inner peripheral area F1 (working path Ra3 in FIG. 7) substantially coincides with the shape and orientation of the straight reference line R12 and becomes a straight path. As another embodiment, the setting processing unit 212 may set the curved reference line R11 on the inner peripheral side of the field F and set the straight reference line R12 along the straight field side on the outer peripheral side of the field F. For example, the setting processing unit 212 sets the curved reference line R11 according to the working locus when an operator freely works on the inner peripheral side of the field F. In this case, the generation processing unit 213 generates a working path that approaches the shape of the straight reference line R12 as it goes toward the outer peripheral side of the field F and a working path that approaches the shape of the curved reference line R11 as it goes toward the inner peripheral side of the field F.

[0067] As described above, when the number of set working paths in the headland area F2 is set to N, the generation processing unit 213 makes the shape and orientation of each of the working paths from the first to the (N - 1)th approach the shape and orientation of the curved reference line R11 as the distance from the curved reference line R11 increases, and makes the shape and orientation of the Nth working path coincide with the shape and orientation of the straight reference line R12.

[0068] As another embodiment, the shape and orientation of the Nth working path may not coincide with the shape and orientation of the straight reference line R12 and may have a curved shape. For example, the generation processing unit 213 makes the shape and orientation of each of the working paths from the first to the Nth approach the shape and orientation of the curved reference line R11 as the distance from the curved reference line R11 increases, and may make the shape and orientation of the (N + 1)th working path (the first target path Rb in the inner peripheral area F1) after the Nth working path coincide with the shape and orientation of the straight reference line R12.

[0069] Note that the number of working paths until the working path coincides with the shape and orientation of the straight reference line R12 may be set to a specification (fixed) that cannot be changed.

[0070] Also, for the target path Rb of the inner peripheral region F1, the generation processing unit 213 generates a linear path parallel to the linear reference line R12 (see FIG. 6).

[0071] In the above manner, the generation processing unit 213 generates the target path Ra of the headland region F2 and the target path Rb of the inner peripheral region F1. When the field F is not distinguished into the inner peripheral region F1 and the headland region F2, the generation processing unit 213 generates a plurality of curved working paths and a plurality of linear working paths according to the above-described method for generating the target path Ra (see FIG. 7). In this case, the number of working paths until the shape and orientation of the working path match those of the linear reference line R12 may be set according to the operator's input operation or may be fixed in advance.

[0072] When the generation processing unit 213 generates the target path of the work vehicle 10, it registers the target path in association with the field F. Note that the generation processing unit 213 can generate and register a plurality of target paths corresponding to the work content for one field F.

[0073] The output processing unit 214 outputs the path data of the target path to the work vehicle 10. For example, when the operator selects a desired target path on the operation screen and gives an instruction to start work, the output processing unit 214 outputs the path data of the selected target path to the work vehicle 10.

[0074] The work vehicle 10 is configured to be able to autonomously travel along the target path while the path data of the target path generated at the operation terminal 20 is transferred to the work vehicle 10 and stored in the storage unit 12, and while detecting the current position of the work vehicle 10 by the positioning antenna 164. Note that the current position of the work vehicle 10 usually coincides with the position of the positioning antenna 164.

[0075] When the work vehicle 10 satisfies a predetermined start condition and a work start button is pressed on the operation screen by an operator to give a work start instruction, the travel processing unit 111 starts automatic travel and starts the work by the work implement 14 (see FIG. 2). For example, the operation control unit 21 permits the automatic travel of the work vehicle 10 on the condition that the current position of the work vehicle 10 is within a predetermined distance from the travel start position and the vehicle azimuth is within a predetermined azimuth. Note that the start condition for permitting the automatic travel of the work vehicle 10 is not limited to the above condition.

[0076] The travel processing unit 111 of the work vehicle 10 automatically travels the work vehicle 10 from the travel start position to the travel end position according to the target route acquired from the operation terminal 20.

[0077] Here, when the work vehicle 10 travels on a work route whose shape changes between adjacent work routes, problems such as a remaining work (a gap between work widths) occurring or an overlapping portion occurring between the work widths (worked areas) occur. Therefore, the generation processing unit 213 may have a configuration in which a first generation mode for generating a target route while permitting a gap between work widths and prohibiting an overlapping portion between work widths and a second generation mode for generating a target route while permitting an overlapping portion between work widths and prohibiting a gap between work widths can be set. For example, the operator selects the first generation mode or the second generation mode on the operation screen. When the operator selects the first generation mode, as shown in FIG. 8, the generation processing unit 213 generates the work routes Ra1 and Ra2 so that the work widths B1 and B2 of the work routes Ra1 and Ra2 do not overlap each other at the portion By where the work widths B1 and B2 are closest to each other. In this case, a gap occurs in a portion (for example, portion Bx) where the distance between the work width B1 and the work width B2 is larger than the distance of the portion By. In this way, the generation processing unit 213 sets the positions of the two work routes so that the work widths of the two adjacent work routes do not overlap.

[0078] Also, when the operator selects the second generation mode, as shown in FIG. 9, the generation processing unit 213 generates the work paths Ra1 and Ra2 so that no gap occurs in the portion Bz where the work width B1 of the work path Ra1 and the work width B2 of the work path Ra2 are farthest apart. In this case, the work widths B1 and B2 overlap each other in the portion where the distance between the work width B1 and the work width B2 is smaller than the distance of the portion Bz. In this way, the generation processing unit 213 sets the positions of the two work paths so that no gap occurs between the work widths of the two adjacent work paths.

[0079] The operator selects the first generation mode or the second generation mode according to the work content. For example, the operator selects the first generation mode (see FIG. 8) in the case of work where problems occur when the work widths overlap (such as ridging work), and selects the second generation mode (see FIG. 9) in the case of work where no problems occur even if the work widths overlap (such as tilling work). In this way, the generation processing unit 213 receives from the operator an operation of setting whether to generate the target path so that the work widths of two adjacent work paths do not overlap. As another embodiment, the generation processing unit 213 may automatically set the first generation mode or the second generation mode according to the work content. For example, the generation processing unit 213 may automatically set the first generation mode or the second generation mode by automatically detecting the work implement 14 on the work vehicle 10 side or by the work implement 14 transmitting work implement information to the work vehicle 10.

[0080] In addition, in the path generation process, the generation processing unit 213 may display the predicted work state (simulation screen) shown in FIGS. 8 and 9 on the operation screen and request the operator to confirm (adopt or not adopt). For example, the operator may confirm the predicted work state corresponding to the selected generation mode (the first generation mode or the second generation mode) and change to another generation mode.

[0081] Note that the operation terminal 20 may be able to access a website (agricultural support site) of an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal of the server when a browser program is executed by the operation control unit 21. And the server includes each of the above-described processing units and executes each process.

[0082] [Route generation process] Hereinafter, an example of the route generation process executed by the automatic driving system 1 will be described with reference to FIG. 10.

[0083] Note that the present invention can be regarded as an invention of a route generation method for executing one or a plurality of steps included in the route generation process. Also, one or a plurality of steps included in the route generation process described here may be omitted as appropriate. Note that the execution order of each step in the route generation process may be different as long as the same operational effects are produced. Further, here, the case where the operation control unit 21 executes each step in the route generation process is described as an example, but a route generation method in which one or a plurality of processors execute each step in the route generation process in a distributed manner is also considered as another embodiment.

[0084] In step S1, the operation control unit 21 determines whether to start field registration. For example, when an operator selects "Field Registration" on the menu screen D1 (see FIG. 5) displayed on the operation terminal 20, the operation control unit 21 determines to start field registration and shifts the process to step S2. The operation control unit 21 waits until a selection operation of "Field Registration" is received (S1: No).

[0085] In step S2, the operation control unit 21 acquires information on the travel locus of the work vehicle 10 during manual driving by the operator. For example, when the operator selects "field registration", the operator boards the work vehicle 10 and drives (teaching run) so as to go around once along the outer periphery of a predetermined area AR. While the work vehicle 10 is traveling, the operation control unit 21 acquires positioning information (position information of the current position of the work vehicle 10) measured by the positioning unit 16. In addition, when the operator raises and lowers the working machine 14 of the work vehicle 10 while manually driving, the operation control unit 21 may also acquire information on the position where the working machine 14 has been raised and lowered.

[0086] Next, in step S3, the operation control unit 21 registers the field. Specifically, when the teaching run is completed, the operation control unit 21 registers the field based on the position information (measurement points) of the travel locus. For example, as shown in FIG. 4, the operation control unit 21 sets a section where the line connecting each measurement point can be approximated by a straight line as the outer shape (side) of a straight line, and a section where the line connecting each measurement point can be approximated by a curve (parts A1, A2, and A3 in FIG. 4) as the outer shape (side) of a curve, and registers the area surrounded by these outer shapes as the field F to be worked on. According to the example shown in FIG. 4, a field F having a curve in its outer shape is registered.

[0087] When the operation control unit 21 registers the field, it generates a path (target path) for automatically driving the work vehicle 10. Specifically, first, in step S4, the operation control unit 21 sets a curve reference line R11 (see FIG. 6) based on the travel locus. The curve reference line R11 corresponds to the travel locus traveled in a curved shape during the teaching run by the operator and is a line that cannot be approximated by a straight line.

[0088] Next, in step S5, the operation control unit 21 sets a straight reference line R12 (see FIG. 6) whose shape or orientation is different from that of the curve reference line R11. Specifically, the operation control unit 21 sets the straight reference line R12 based on the information used when setting the curve reference line R11. For example, the operation control unit 21 sets a straight line parallel to the straight outer shape of the registered field F as the straight reference line R12. Further, for example, when an operator selects two measurement points on the outer shape of the field F, the operation control unit 21 may set the line connecting the two measurement points as the straight reference line R12. Note that the order of the processes in steps S4 and S5 may be reversed.

[0089] Next, in step S6, the operation control unit 21 generates a target path Ra for the headland area F2. Specifically, the operation control unit 21 generates a curved target path Ra so as to follow the set curve reference line R11. For example, when an operator sets the number of working strokes in the headland area F2 to three strokes, the operation control unit 21 generates three working paths Ra1, Ra2, Ra3 (see FIG. 6) based on the distance from the curve reference line R11. Specifically, the operation control unit 21 generates the working paths Ra1, Ra2, Ra3 such that the shape and orientation approach the shape and orientation of the straight reference line R12 as the distance from the set curve reference line R11 increases.

[0090] For example, as shown in FIG. 7, the operation control unit 21 sets the subtraction amount of the deviation Δdn between the work path and the linear reference line R12 for each work path based on the set number. Here, since the set number is "3", the operation control unit 21 sets the subtraction amount per work path to "Δdn / 3". The operation control unit 21 generates a path (work path Ra1) in a shape obtained by subtracting "Δdn×1 / 3" from the deviation Δdn between the curved reference line R11 and the linear reference line R12, generates a path (work path Ra2) in a shape obtained by subtracting "Δdn×2 / 3" from the deviation Δdn between the curved reference line R11 and the linear reference line R12, and generates a path (work path Ra3) in a shape obtained by subtracting "Δdn×3 / 3" from the deviation Δdn between the curved reference line R11 and the linear reference line R12. Then, the operation control unit 21 sets the work paths Ra1, Ra2, and Ra3 at the respective positions of the three reference lines L1, L2, and L3 that are parallel to and equally spaced from the linear reference line R12. The operation control unit 21 generates the work path Ra3, which is the final work stroke of the cushing area F2, as a linear path parallel to the linear reference line R12.

[0091] Next, in step S7, the operation control unit 21 generates a target path Rb for the inner peripheral area F1. Specifically, the operation control unit 21 generates a linear path parallel to the linear reference line R12 as the target path Rb (see FIG. 6). Note that the order of the processes in steps S6 and S7 may be reversed.

[0092] Finally, in step S8, the operation control unit 21 registers the generated target path. Specifically, the operation control unit 21 registers the target path Ra for the cushing area F2 and the target path Rb for the inner peripheral area F1 in association with the field F. In the above manner, the operation control unit 21 executes the path generation process.

[0093] When automatically driving the work vehicle 10 according to the generated target path, the operator gives a work start instruction on the operation screen of the operation terminal 20. Thereby, the vehicle control device 11 acquires the work start instruction from the operation terminal 20 and starts the automatic driving of the work vehicle 10.

[0094] As described above, the automatic driving system 1 according to the present embodiment is a system that generates a target route for automatically driving the work vehicle 10 in the field. Based on the information acquired when registering the field, the automatic driving system 1 sets a first reference line (for example, a curved reference line R11) and a second reference line (for example, a straight reference line R12) whose shape and orientation are different from those of the first reference line, and based on the shape and orientation of the first reference line, generates a target route (target route Ra) for automatically driving the work vehicle 10, and sets the shape and orientation of one or a plurality of first work routes among the plurality of work routes included in the target route based on the shape and orientation of the second reference line.

[0095] Specifically, the automatic driving system 1 makes the shape and orientation of each of the plurality of first work routes approach the shape and orientation of the second reference line as the distance from the first reference line increases.

[0096] According to the target route generated by the above configuration, for example, as shown in FIG. 6, on the outer peripheral side of the headland area F2 of the field F, the work vehicle 10 can travel and work along a non-linear (for example, curved) route actually traveled by the operator through teaching driving. Also, on the inner peripheral side of the headland area F2, the work vehicle 10 can travel and work linearly along a linear route (target route Rb) set in the inner peripheral area F1. Further, as going from the outer peripheral side to the inner peripheral side of the headland area F2, since the shape of the target route approaches from non-linear (curved) to linear, the overlapping portions and gaps between adjacent work widths can be minimized (see FIGS. 8 and 9).

[0097] [Other Embodiments] The present invention is not limited to the above-described embodiments. Other embodiments of the present invention will be described below.

[0098] In the above-described embodiment, the operation control unit 21 sets a curved reference line (curved reference line R11) including at least a part of a curved portion or a bent portion as a reference line (corresponding to the first reference line of the present invention) corresponding to the travel locus manually traveled in the teaching run, and sets a plurality of work paths included in the target path so as to approach a linear reference line (corresponding to the second reference line of the present invention) (linear reference line R12) from the curved reference line R11. As another embodiment of the present invention, the operation control unit 21 may set a linear reference line as the first reference line and set a plurality of work paths included in the target path so as to approach a curved reference line (second reference line) from the first reference line. That is, the first reference line of the present invention may be a linear reference line, and the second reference line of the present invention may be a non-linear reference line.

[0099] Also, as another embodiment, both the first reference line and the second reference line of the present invention may be linear reference lines. In this case, as shown in FIG. 11, the operation control unit 21 sets, for example, a work path Ra11 close to the first reference line (linear reference line R21) to be in an orientation close to the orientation of the first reference line, and as the distance from the linear reference line R21 increases, the orientation of the work path is made closer to the orientation of the second reference line (linear reference line R22). That is, the operation control unit 21 generates a target path Ra based on the orientation of the first reference line, and sets the orientation of one or a plurality of work paths among the plurality of work paths included in the target path Ra based on the orientation of the second reference line. In the example shown in FIG. 11, the operation control unit 21 sets the orientation of the work path Ra13 to be the same as the orientation of the linear reference line R22.

[0100] Incidentally, as shown in FIG. 12, when the working direction is set to the extending direction of the left side E2 perpendicular to the other sides among the four sides (right side E1, left side E2, upper side E3, lower side E4) which are the outer peripheral sides of the working area (for example, the field F), when the work vehicle 10 works in the outermost peripheral area along the right side E1, the right side of the vehicle body will run outside the working area, resulting in waste. Further, when the work vehicle 10 is a combine, there is also a problem that the work efficiency is reduced because the discharged straw is caught outside the working area. Therefore, when the outer peripheral side of the working area is inclined, the operation control unit 21 may have the following configuration.

[0101] Specifically, when one side of the working area is inclined, the operation control unit 21 sets two working directions. For example, in the working area shown in FIG. 13, when the left side E2 among the outer peripheral sides (right side E1, left side E2, upper side E3, lower side E4) of the working area is perpendicular to the lower side E4 facing the road and the right side E1 is inclined with respect to the left side E2, the operation control unit 21 sets the right side E1 (or a straight line parallel to the right side E1) as the first reference line R21, and sets the left side E2 (or a straight line parallel to the left side E2) as the second reference line R22. Further, the operation control unit 21 sets the extending direction of the right side E1 (first reference line R21) as the first working direction, and sets the extending direction of the left side E2 (second reference line R22) as the second working direction. Further, the operation control unit 21 sets the working path Re1 on the first reference line R21 side to be parallel to the orientation (first working direction) of the first reference line R21, and sets the working path Re2 on the second reference line R22 side to be parallel to the orientation (second working direction) of the second reference line R22. Thereby, the work vehicle 10 travels in the first working direction on the right side E1 side and travels in the second working direction on the left side E2 side.

[0102] As another embodiment, as shown in FIG. 14, the operation control unit 21 sets the extending direction of the right side E1 (the first reference line R21) as the first working direction, sets the extending direction of the left side E2 (the second reference line R22) as the second working direction, and sets the working path Re1 to be in an orientation close to the orientation (the first working direction) of the first reference line R21. Also, as the distance from the first reference line R21 increases, the orientation of the working path Re1 may be brought closer to the orientation (the second working direction) of the second reference line R22. Further, the operation control unit 21 may set each working path Re1 so that the working width wraps around so that no unworked area occurs between adjacent working paths Re1.

[0103] As another embodiment, in the work area shown in FIG. 15, when the right side E1 and the left side E2 among the outer sides (the right side E1, the left side E2, the upper side E3, and the lower side E4) of the work area are non-parallel to each other and are inclined with respect to the direction perpendicular to the lower side E4 facing the road, the operation control unit 21 sets the right side E1 as the first reference line R21a, sets the left side E2 as the first reference line R21b, and sets the direction perpendicular to the lower side E4 as the second reference line R22. Also, the operation control unit 21 sets the extending direction of the right side E1 (the first reference line R21a) as the first working direction, sets the extending direction of the left side E2 (the first reference line R21b) as the second working direction, and sets the extending direction of the second reference line R22 as the third working direction. Further, the operation control unit 21 sets the working path Re1 on the first reference line R21a side to be in an orientation close to the orientation (the first working direction) of the first reference line R21a, and as the distance from the first reference line R21a increases, brings the orientation of the working path Re1 closer to the orientation (the third working direction) of the second reference line R22. Also, the operation control unit 21 sets the working path Re2 on the first reference line R21b side to be in an orientation close to the orientation (the second working direction) of the first reference line R21b, and as the distance from the first reference line R21b increases, brings the orientation of the working path Re2 closer to the orientation (the third working direction) of the second reference line R22. That is, the operation control unit 21 brings the orientations of the left and right working paths closer to the third working direction as they approach the center of the work area.

[0104] In the configuration shown in FIG. 15, the operation control unit 21 may set the second reference line R22 and the third working direction based on the work history and the travel history. Further, the operation control unit 21 may set the second reference line R22 and the third working direction based on the setting operation of the operator.

[0105] As another embodiment, in the work area shown in FIG. 16, when the work vehicle 10 travels in a circular path from the outer peripheral side to the inner peripheral side (in the case of a combine, it is a circumferential mowing operation), the operation control unit 21 sets the work path Re1 to be in a direction close to the direction of the first reference line R21 (the first working direction) in the same manner as the example shown in FIG. 14, and as the distance from the first reference line R21 increases, the direction of the work path Re1 may be brought closer to the direction of the second reference line R22 (the second working direction).

[0106] As another embodiment, as shown in FIG. 17, when the inclination angle (the angle formed by the right side E1 and the lower side E4) of the inclined side (the right side E1 in FIG. 17) among the outer side edges of the work area is an acute angle, the wasted area for traveling outside the work area becomes smaller. In this case, the processes shown in FIGS. 13 to 16 (the process of setting a plurality of working directions and the process of setting the first reference line and the second reference line) become unnecessary. Therefore, the operation control unit 21 may be configured to execute the process of setting a plurality of working directions and the process of setting the first reference line and the second reference line when the inclination angle is equal to or greater than a predetermined angle, and not execute the process of setting a plurality of working directions and the process of setting the first reference line and the second reference line when the inclination angle is less than the predetermined angle. Further, the operation control unit 21 may set whether to execute each of the above processes according to the selection operation of the operator. In the configuration shown in FIG. 17, the operation control unit 21 sets the left side E2 perpendicular to the lower side E4 (road) as the reference line R0 (working direction), and sets a work path parallel to the reference line R0 throughout the work area.

[0107] As another embodiment, as shown in FIG. 18, when one side of the work area is inclined and the side opposite thereto is perpendicular to the lower side (road), the operation control unit 21 may set the perpendicular side as the working direction. In the example shown in FIG. 18, the operation control unit 21 sets the left side E2 perpendicular to the lower side E4 as the working direction. In addition, when neither the right side E1 nor the left side E2 is perpendicular to the lower side E4, the operation control unit 21 may set the side closer to perpendicular among the right side E1 and the left side E2 as the working direction. Further, the operation control unit 21 may set the perpendicular side as the default working direction and be able to change the working direction in response to an operator's change operation.

[0108] As another embodiment, as shown in FIG. 19, when both the right side E1 and the left side E2 are not perpendicular to the lower side E4 and are not close to 90 degrees (acute angle with respect to the lower side E4), the operation control unit 21 may display a message "A right-angled side was not found. Please adjust (set) the working direction from the screen." on the operation screen of the operation terminal 20. The operator may select the side to be set as the working direction on the operation screen, or may set the working direction by adjusting the angle of the selected side. Further, the operator may set the working direction by inputting the angle of the working direction. In addition, the operation control unit 21 may set the working direction based on the work history and the travel history. For example, as shown in FIG. 19, the operation control unit 21 may set and display the working direction at the time of the previous work as the default.

[0109] Also, as another embodiment, the operation control unit 21 may set the second reference line based on the registration operation of the operator. For example, when the operator designates any two points on the map of the operation screen, the operation control unit 21 may set the line connecting the designated two points as the second reference line. In this case, the operation control unit 21 sets the first reference line and sets a plurality of work routes included in the target route so as to approach the second reference line set by the registration operation of the operator.

[0110] As another embodiment, the operation control unit 21 may determine whether to permit or prohibit the setting of the second reference line according to the selection operation of the operator. For example, when the operator permits the setting of the second reference line, the operation control unit 21 generates a target path based on the first reference line and the second reference line. When the operator prohibits the setting of the second reference line, the operation control unit 21 generates a target path based on the first reference line.

[0111] As another embodiment, when the operation control unit 21 sets the second reference line, it may determine whether to set the shape or orientation of the working path to approach the shape or orientation of the second reference line according to the selection operation of the operator. For example, when the operator permits the setting to approach the shape or orientation of the second reference line, the operation control unit 21 sets the shapes or orientations of a plurality of working paths included in the target path to approach the shape or orientation of the second reference line. When the operator prohibits the setting to approach the shape or orientation of the second reference line, the operation control unit 21 sets a plurality of working paths included in the target path to follow the first reference line.

[0112] In the above embodiment, the operation control unit 21 gradually approaches the shapes and orientations of a plurality of working paths included in the target path to the shape and orientation of the second reference line (linear reference line R12). As another embodiment, the operation control unit 21 may match the shapes and orientations of some of the working paths included in the target path to the shape and orientation of the first reference line (curved reference line R11), and match the shapes and orientations of the remaining working paths to the shape and orientation of the second reference line (linear reference line R12).

[0113] As another embodiment of the present invention, the operation control unit 21 may set the number of work processes based on the set number of work routes in the pillow area F2, and determine the curvature of each curve of the plurality of work routes included in the target route based on the number of work processes. Further, as another embodiment, the operation control unit 21 may receive an operation from the operator to set the curvature of each curve of the plurality of work routes included in the target route, and determine the shape of each work route based on the set curvature. When determining the curvature of the curve or determining the shape of the work route based on the curvature, the operation control unit 21 may display the determination result on the operation screen and request the operator to confirm.

[0114] In each of the above-described embodiments, the automatic driving system 1 corresponds to the route generation system according to the present invention. However, the route generation system according to the present invention may be configured by the operation terminal 20 alone, or may be configured by combining the work vehicle 10 and the operation terminal 20, or may be configured by a server (not shown) alone.

[0115] [Supplementary Note of the Invention] Hereinafter, the outline of the invention extracted from each of the above-described embodiments will be appended. Note that each configuration and each processing function described in the following supplementary notes can be arbitrarily combined by selection.

[0116] <Supplementary Note 1> A route generation method for generating a target route for automatically driving a work vehicle in a work area, setting a first reference line that is a reference when generating the target route and a second reference line whose shape or orientation is different from that of the first reference line; generating the target route for automatically driving the work vehicle based on the shape or orientation of the first reference line; setting the shape or orientation of one or a plurality of first work routes among the plurality of work routes included in the target route based on the shape or orientation of the second reference line; A route generation method for executing the above.

[0117] <Supplementary Note 2> Based on the traveling locus of the work vehicle obtained by the user's manual traveling operation when registering the work area, the first reference line and the second reference line are set. The route generation method according to Appendix 1.

[0118] <Appendix 3> The shape or orientation of the first work route is set based on the distance from the first reference line. The route generation method according to Appendix 1 or 2.

[0119] <Appendix 4> The shape or orientation of each of the plurality of first work routes is made closer to the shape or orientation of the second reference line as the distance from the first reference line increases. The route generation method according to any one of Appendices 1 to 3.

[0120] <Appendix 5> The second reference line is set based on the information used when setting the first reference line. The route generation method according to any one of Appendices 1 to 4.

[0121] <Appendix 6> The first reference line is a non - straight line including at least a curved portion or a bent portion. The second reference line is a straight line not including the curved portion and the bent portion. The route generation method according to any one of Appendices 1 to 5.

[0122] <Appendix 7> When the set number of the first work routes is set to N, The shape or orientation of each of the first work routes from the first to the (N - 1)th is made closer to the shape or orientation of the second reference line as the distance from the first reference line increases. The shape or orientation of the Nth first work route is made to coincide with the shape or orientation of the second reference line. The route generation method according to any one of Appendices 1 to 6.

[0123] <Appendix 8> Based on the set number, for each of the first working paths, set the subtraction amount of the deviation between the first working path and the second reference line. The path generation method according to Appendix 7.

[0124] <Appendix 9> Set two non-parallel first reference lines. For the first working path set on one side of the first reference line among the plurality of first working paths, as the distance from the one first reference line increases, approximate the shape or orientation of the first working path to the shape or orientation of the second reference line. For the first working path set on the other side of the first reference line among the plurality of first working paths, as the distance from the other first reference line increases, approximate the shape or orientation of the first working path to the shape or orientation of the second reference line. The path generation method according to any one of Appendices 1 to 8.

[0125] <Appendix 10> Set the positions of the two first working paths so that the working widths of the two adjacent first working paths do not overlap. The path generation method according to any one of Appendices 1 to 9.

[0126] <Appendix 11> Receive from the user an operation of setting whether to generate the target path so that the working widths of two adjacent first working paths do not overlap. The path generation method according to any one of Appendices 1 to 10.

Explanation of Signs

[0127] 1: Automatic driving system 10: Working vehicle 11: Vehicle control device 12: Storage unit 13: Travel device 14: Working machine 15: Communication unit 16: Positioning unit 20: Operation terminal 21: Operation control unit 22: Memory unit 23: Operation display unit 24: Communication unit 111: Travel processing unit 211: Registration processing unit 212: Setting processing unit 213: Generation processing unit 214: Output processing unit F: Field (working area) F1: Inner peripheral area F2: Grounding area R11: Curve reference line (first reference line) R12: Straight line reference line (second reference line) R21: Straight line reference line (first reference line) R22: Straight line reference line (second reference line) Ra: Target path Rb: Target path Ra1: Working path Ra2: Working path Ra3: Working path

Claims

1. A path generation method for generating a target path for automatically driving a work vehicle in a work area, comprising: setting a first reference line serving as a reference when generating the target path and a second reference line having a different shape or orientation from the first reference line; generating the target path for automatically driving the work vehicle based on the shape or orientation of the first reference line; setting the shape or orientation of one or more first work paths among a plurality of work paths included in the target path based on the shape or orientation of the second reference line; A path generation method for performing the above.

2. Setting the first reference line and the second reference line based on a travel locus of the work vehicle obtained by a manual driving operation of a user when registering the work area, The path generation method according to Claim 1.

3. Setting the shape or orientation of the first work path based on the distance from the first reference line, The path generation method according to Claim 1.

4. For each of the plurality of first work paths, making the shape or orientation of each first work path approach the shape or orientation of the second reference line as the distance from the first reference line increases, The path generation method according to Claim 1.

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

6. The first reference line is a non-straight line including at least a part having a curved portion or a bent portion, The second reference line is a straight line not including the curved portion and the bent portion, The path generation method according to Claim 1.

7. When the set number of the first work paths is set to N, For each of the first work paths from the first to the (N - 1)th, making the shape or orientation of each first work path approach the shape or orientation of the second reference line as the distance from the first reference line increases, Making the shape or orientation of the Nth first work path coincide with the shape or orientation of the second reference line, The path generation method according to Claim 1.

8. Based on the set number, setting a subtraction amount of deviation between each first work path and the second reference line for each first work path, The path generation method according to Claim 7.

9. Setting two non-parallel first reference lines, For a first work path set on one side of the first reference line among the plurality of first work paths, making the shape or orientation of the first work path approach the shape or orientation of the second reference line as the distance from the one first reference line increases, Among the plurality of the first working paths, the shape or orientation of the first working path set on the other first reference line side is made to approach the shape or orientation of the second reference line as the distance from the other first reference line increases. The path generation method according to claim 1.

10. The positions of the two first working paths are set so that the working widths of the two adjacent first working paths do not overlap. The path generation method according to any one of claims 1 to 9.

11. An operation of setting whether to generate the target path so that the working widths of the two adjacent first working paths do not overlap is received from the user. The path generation method according to any one of claims 1 to 9.

12. A path generation program for generating a target path for automatically driving a work vehicle in a work area, setting a first reference line that serves as a reference when generating the target path and a second reference line that has a different shape or orientation from the first reference line; generating the target path for automatically driving the work vehicle based on the shape or orientation of the first reference line; setting the shape or orientation of one or more first working paths among the plurality of working paths included in the target path based on the shape or orientation of the second reference line; A path generation program for causing one or more processors to execute.

13. A path generation system for generating a target path for automatically driving a work vehicle in a work area, a setting processing unit that sets a first reference line that serves as a reference when generating the target path and a second reference line that has a different shape or orientation from the first reference line; a generation processing unit that generates the target path for automatically driving the work vehicle based on the shape or orientation of the first reference line and sets the shape or orientation of one or more first working paths among the plurality of working paths included in the target path based on the shape or orientation of the second reference line; A path generation system comprising the above.

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