Automatic traveling system for work vehicle and automatic traveling method for work vehicle

Abstract

To reduce uncultivated land remaining after work by automatic traveling by facilitating the generation of a round trip guide route and enabling the generation of a circular guide route.SOLUTION: An automatic traveling system for a work vehicle includes a target route generation unit. The target route generation unit generates a round-trip guide route P1 for guiding a work vehicle 1 back and forth in a serpentine manner within work area A, and a circular guidance route P2 for guiding the work vehicle 1 in a circular motion on the outer periphery of work area A. The circular guidance route P2 is a route generated inside the boundary line separating a margin area Aa, which is set inside the periphery of the work area A to prevent the work vehicle 1 from straying from the work area A or coming into contact with obstacles on the periphery of the work area A, from a work area Ab on the central side of the work area A.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an automatic driving system for a work vehicle including a target route generation unit that generates a reciprocating guide route for reciprocatingly guiding the work vehicle in a serpentine shape and a circular guide route for circularly guiding the work vehicle on the outer peripheral side of the work area, and an automatic driving method for a work vehicle.

Background Art

[0002] As such an automatic driving system for a work vehicle, division data for dividing a central work area and outlying areas located around it from the shape of a farm field is generated, and a central work area driving route (reciprocating guide route) having a linear reciprocating route and a U-turn route is calculated as a target driving route for a sub-work vehicle. After the sub-work vehicle automatically drives based on the target driving route ahead of the parent work vehicle, as the parent work vehicle manually drives ahead of the sub-work vehicle and circularly travels on the outlying areas, there is one provided with a route calculation module that calculates an outlying area driving route (circular guide route) that becomes a target driving route for the sub-work vehicle on the outlying areas based on the traveling locus of the parent work vehicle (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] In the automatic driving system for a work vehicle described in Patent Document 1, the central working area becomes an automatic working area where work is performed by the automatic driving of a work vehicle based on a reciprocating guide path, and the outlying area becomes a semi-automatic working area where work is performed by the automatic driving of a sub-work vehicle based on the manual operation of the parent work vehicle. Thus, the working area in the field is divided. As a result, for example, even if uneven residual tillage remains on the turning side of the central working area due to work by automatic driving based on a reciprocating guide path, the uneven residual tillage remaining on the turning side of the central working area can be tilled together with the uncultivated land in the outlying area by the circumferential travel of the work vehicle by semi-automatic operation in the outlying area. On the other hand, in generating a reciprocating guide path or the like, it is necessary to generate the above-described division data in a previous stage. This division data is for dividing the working area in the field so that each of the central working area obtained by dividing the working area in the field based on this and the outlying area located around it becomes an area having a width dimension that is an integer multiple of, for example, the working width in consideration of the working width of the work vehicle. Therefore, complicated arithmetic processing is required for its generation. That is, in generating a reciprocating guide path or the like, since it is necessary to generate division data that requires complicated arithmetic processing, there is room for improvement in facilitating the generation of a reciprocating guide path or the like. Also, since the circumferential travel in the outlying area is based on the manual operation of the parent work vehicle by the user, there is also room for improvement in reducing the burden on the user.

[0005] By the way, in generating a reciprocating guide path, the closer the first outward path in the reciprocating guide path serving as the reference path is generated close to the edge of the field, the easier it is to generate the reciprocating guide path. Also, as the reciprocating guide path becomes longer, the amount of uncultivated land remaining after work by automatic driving based on the reciprocating guide path can be reduced. On the other hand, it becomes difficult to secure an area for generating a path for circumferential travel between the reference path and the edge of the field. If this area cannot be secured, the uneven residual tillage remaining on the turning side of the central working area cannot be tilled by circumferential travel.

[0006] In view of the above circumstances, the main problem of the present invention is to reduce the unworked area at the work site remaining after the work by automatic driving while facilitating the generation of the reciprocating guide path and the circular guide path.

Means for Solving the Problem

[0007] An automatic driving system for a work vehicle according to an aspect of the present invention includes a target path generation unit. The target path generation unit generates a reciprocating guide path for guiding a work vehicle in a meandering manner in a work site, and a circular guide path for guiding the work vehicle to circulate on the outer peripheral side of the work site. The circular guide path is a path generated inside a boundary line that divides a margin area set inside the outer periphery of the work site and a work area on the central side of the work site in order to avoid the work vehicle from protruding from the work site or contacting an obstacle on the outer periphery of the work site.

[0008] An automatic driving method for a work vehicle according to an aspect of the present invention generates a reciprocating guide path for guiding a work vehicle in a meandering manner in a work site, and a circular guide path for guiding the work vehicle to circulate on the outer peripheral side of the work site. In the automatic driving method for the work vehicle, the circular guide path is a path generated inside a boundary line that divides a margin area set inside the outer periphery of the work site and a work area on the central side of the work site in order to avoid the work vehicle from protruding from the work site or contacting an obstacle on the outer periphery of the work site.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiment for Carrying Out the Invention

[0010] An embodiment in which the automatic driving system for a work vehicle according to the present invention is applied to a tractor, which is an example of a work vehicle, will be described with reference to the drawings. Note that the automatic driving system for a work vehicle according to the present invention can be applied to riding work vehicles such as riding lawn mowers and unmanned work vehicles such as unmanned lawn mowers, other than tractors.

[0011] As shown in FIGS. 1 to 2, the tractor 1 exemplified in the present embodiment is configured to automatically travel in a farm field A, which is an example of a work area, by an automatic driving system for a work vehicle. The automatic driving system for a work vehicle includes an automatic driving unit 2 mounted on the tractor 1 and a mobile communication terminal 3 communicably set to communicate with the automatic driving unit 2. The mobile communication terminal 3 employs a tablet-type personal computer having a touch-operable liquid crystal panel 4 or the like. Note that a notebook-type personal computer or a smartphone or the like can be adopted for the mobile communication terminal 3.

[0012] As shown in FIG. 1, the tractor 1 has a rotary tiller 6, which is an example of a work device, connected to its rear part via a three-point link mechanism 5 so as to be liftable and rollable. Thus, this tractor 1 is configured in a rotary tilling specification. Note that a work device such as a plow or a mowing device can be connected to the rear part of the tractor 1 instead of the rotary tiller 6.

[0013] As shown in FIGS. 1 and 2, the tractor 1 includes left and right front wheels 7 that are drivable and steerable, left and right rear wheels 8 that are drivable, a cabin 9 that forms a ride-on type driver's cab, an electronically controlled diesel engine (hereinafter referred to as the engine) 10 having a common rail system, an electronically controlled transmission 11 that shifts the power from the engine 10, a full hydraulic power steering mechanism 12 that steers the left and right front wheels 7, left and right side brakes (not shown) that brake the left and right rear wheels 8, an electronically controlled brake operation mechanism 13 that enables hydraulic operation of the left and right side brakes, a work clutch (not shown) that interrupts the transmission to the rotary tillage device 6, an electronically controlled clutch operation mechanism 14 that enables hydraulic operation of the work clutch, an electro-hydraulic control type lift drive mechanism 15 that drives the rotary tillage device 6 up and down, an in-vehicle electronic control unit 16 having various control programs related to the automatic traveling of the tractor 1, a vehicle speed sensor 17 that detects the vehicle speed of the tractor 1, a steering angle sensor 18 that detects the steering angle of the front wheels 7, and a positioning unit 19 that measures the current position and current orientation of the tractor 1, etc. Note that an electronically controlled gasoline engine equipped with an electronic governor may be adopted for the engine 10. For the transmission 11, a hydro-mechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), or a belt type continuously variable transmission, etc. can be adopted. For the power steering mechanism 12, an electric type power steering mechanism equipped with an electric motor may be adopted.

[0014] As shown in FIG. 1, inside the cabin 9, there are provided a steering wheel 20 that enables manual steering of the left and right front wheels 7 via the power steering mechanism 12 and a seat 21 for passengers. Also, although not shown in the figure, there are provided a shift lever that enables manual operation of the transmission 11, left and right brake pedals that enable manual operation of the left and right side brakes, and a lift lever that enables manual up and down operation of the rotary tillage device 6, etc.

[0015] As shown in FIG. 2, the in-vehicle electronic control unit 16 includes a travel control unit 16A that controls the travel of the tractor 1, a work control unit 16B that controls the drive and lifting of the rotary tillage device 6, and a non-volatile in-vehicle storage unit 16C that stores vehicle body data including the minimum turning radius of the tractor 1 and the working width of the rotary tillage device 6, the target path P for automatic travel, and the like. The travel control unit 16A includes shift control means for controlling the operation of the transmission 11, braking control means for controlling the operation of the left and right side brakes, and steering control means for controlling the operation of the power steering mechanism 12 during automatic travel. The work control unit 16B includes work power control means for controlling the operation of the clutch operation mechanism 14 and lift control means for controlling the operation of the lift drive mechanism 15.

[0016] That is, in this tractor 1, the automatic travel unit 2 is constituted by the transmission 11, the power steering mechanism 12, the brake operation mechanism 13, the clutch operation mechanism 14, the lift drive mechanism 15, the in-vehicle electronic control unit 16, the vehicle speed sensor 17, the steering angle sensor 18, the positioning unit 19, and the communication module 28.

[0017] As shown in FIGS. 1 and 2, the positioning unit 19 is provided with a satellite navigation device 22 that measures the current position and current orientation of the tractor 1 using GPS (Global Positioning System), which is an example of a satellite positioning system (NSS: Navigation Satellite System), and an inertial measurement unit (IMU) 23 that has a three-axis gyroscope and three-directional acceleration sensors and measures the attitude and orientation of the tractor 1. Examples of the positioning method using GPS include DGPS (Differential GPS: relative positioning method) and RTK-GPS (Real Time Kinematic GPS: interference positioning method). In this embodiment, RTK-GPS suitable for positioning a moving object is adopted. Therefore, a reference station 24 that enables positioning by RTK-GPS is installed at a known position around the farm field.

[0018] Both the tractor 1 and the reference station 24 are equipped with GPS antennas 26 and 27 for receiving radio waves transmitted from the GPS satellite 25, communication modules 28 and 29 for enabling wireless communication of various data including positioning data between the tractor 1 and the reference station 24, and the like. Thereby, the satellite navigation device 22 can measure the current position and current orientation of the tractor 1 with high accuracy based on the positioning data obtained by the tractor-side GPS antenna 26 receiving the radio waves from the GPS satellite 25 and the positioning data obtained by the base-station-side GPS antenna 27 receiving the radio waves from the GPS satellite 25. Further, the positioning unit 19 includes the satellite navigation device 22 and the inertial measurement device 23, and can measure the current position, current orientation, and attitude angles (yaw angle, roll angle, pitch angle) of the tractor 1 with high accuracy.

[0019] As shown in FIG. 2, the mobile communication terminal 3 is equipped with a terminal electronic control unit 30 having various control programs for controlling the operation of a liquid crystal panel 4 and the like, a communication module 31 for enabling wireless communication of various data between the communication module 28 on the tractor side, and the like. The terminal electronic control unit 30 has a non-volatile terminal storage unit 30A for storing various data obtained by manual input of the user or wireless communication with the tractor side, a target path generation unit 30B for generating a target path P based on vehicle body data, field data, and the like, and the like. Note that the various data stored in the terminal storage unit 30A includes vehicle body data and field data used for searching and generating the target path P, and the target path P generated for each field A, and the like.

[0020] As shown in FIGS. 1 to 3, when the target path generation unit 30B acquires vehicle body data of the tractor 1 to be used and field data of the work target field, etc. by manual input of the user based on the operation guidance for target path generation displayed on the liquid crystal panel 4, wireless communication with the tractor side, etc., it determines whether or not the target path P corresponding to the acquired vehicle body data and field data, etc. is stored in the terminal storage unit 30A. When the corresponding target path P is stored, the target path P is read from the terminal storage unit 30A and displayed on the liquid crystal panel 4. When the corresponding target path P is not stored, the liquid crystal panel 4 is caused to display guidance for executing a positioning data acquisition run for obtaining positioning data necessary for generating the target path P, and the user is caused to perform the positioning data acquisition run. Then, based on the positioning data, etc. obtained by wireless communication with the tractor side during this positioning data acquisition run, field data such as the sections and shape of the work target field A is acquired, and based on the acquired field data and vehicle body data, etc., target path generation control for generating a target path P suitable for automatically driving the tractor 1 in the work target field A is executed. Then, the generated target path P is displayed on the liquid crystal panel 4 and stored in the terminal storage unit 30A in association with the vehicle body data and field data, etc. The target path P includes a reference azimuth of the target path P, a work start position, a work end position, and a target engine speed, a target vehicle speed, etc. set according to the running state of the tractor 1 on the target path P.

[0021] Hereinafter, based on the flowchart shown in FIG. 4, the control operation of the target path generation unit 30B when generating a target path P suitable for the field A illustrated in FIG. 3 in the target path generation control will be described.

[0022] As shown in FIGS. 3 to 4, the target path generation unit 30B first performs an area division process (step #1 in FIG. 4) of dividing the field A into a margin area Aa adjacent to the outer periphery of the field A and a working area Ab on the field center side based on the overall length of the tractor 1 included in the vehicle body data, the size of the rotary tillage device 6, the shape and size of the field A included in the field data, and the like. The margin area Aa is a narrow area secured between the outer periphery of the field A and the working area Ab to avoid the risk of the tractor 1 protruding from the field A or the rotary tillage device 6 contacting the ridges adjacent to the field A when the tractor 1 automatically travels on the outer peripheral side of the field A. Next, a target path generation process (steps #2 to 8 in FIG. 4) of generating the target path P is performed based on the minimum turning radius of the tractor 1 included in the vehicle body data, the working width of the rotary tillage device 6, the entry / exit path R of the tractor 1 with respect to the field A included in the field data, the working area Ab divided by the area division process, and the like. In the target path generation process, first, a reference path generation process (step #2 in FIG. 4) of generating a single reference path Pa adjacent to the first end side A1a of the field A in the first end area A1 of the field A as the generation reference of the target path P is performed. Next, a parallel path generation process (step #3 in FIG. 4) of generating 10 parallel paths Pb arranged at regular intervals corresponding to the working width and parallel to the reference path Pa is performed. Then, a first turning path generation process (step #4 in FIG. 4) of generating 10 first turning paths Pc that connect the reference path Pa and the 10 parallel paths Pb in series is performed. And by these generation processes, a reciprocating guide path P1 having a single reference path Pa, 10 parallel paths Pb, and 10 first turning paths Pc and guiding the tractor 1 to reciprocate in a meandering shape is generated. Note that for each first turning path Pc, a U-turn suitable when the minimum turning radius is less than or equal to half of the working width, a switchback turn using a switchback suitable when the minimum turning radius is greater than half of the working width, and the like can be adopted. Next, an end path generation process (step #5 in FIG. 4) is performed to generate a pair of end paths Pd extending in the arrangement direction of the first turning path Pc in the second end region A2 and the third end region A3 of the farm field A where a predetermined number of first turning paths Pc are located. After that, a second turning path generation process (step #6 in FIG. 4) is performed to generate two second turning paths Pe that connect the reference path Pa and the pair of end paths Pd in series. Then, through these generation processes, a circular guide path P2 is generated that has a single reference path Pa, a pair of end paths Pd, and two second turning paths Pe, and guides the tractor 1 to go around the outer periphery of the farm field A. Note that a switchback turn suitable for aligning the outer periphery of the work area Ab is adopted for each second turning path Pe. Next, a connection path generation process (step #7 in FIG. 4) is performed to generate a connection path Pf that connects the end portion of the reciprocating guide path P1 to the start portion of the circular guide path P2. Thereby, a target path P having the reciprocating guide path P1 and the circular guide path P2 is generated. Note that a switchback turn suitable for aligning the outer periphery of the work area Ab is adopted for the connection path Pf. After that, a work path setting process (step #8 in FIG. 4) is performed to set each of the paths Pa to Pf in the reciprocating guide path P1 and the circular guide path P2 as a work path (the path indicated by the solid line in FIG. 3) where the tractor 1 performs work or a non-work path (the path indicated by the broken line in FIG. 3) where the tractor 1 does not perform work. In the reciprocating guide path P1, the reference path Pa and each first turning path Pc are set as non-work paths, and each parallel path Pb is set as a work path. Also, in the circular guide path P2, the reference path Pa and the pair of end paths Pd are set as work paths, and each second turning path Pe is set as a non-work path. Then, the connection path Pf is set as a non-work path. In FIG. 3, in order to facilitate the discrimination between the reciprocating guide path P1 and the circular guide path P2 on the target path P and the discrimination between the working path and the non-working path, the reciprocating guide path P1 in the target path P is indicated by a thick line, each working path on the reciprocating guide path P1 is indicated by a thick solid line, and each non-working path on the reciprocating guide path P1 is indicated by a thick dashed line. Also, the circular guide path P2 in the target path P is indicated by a thin line, each working path on the circular guide path P2 is indicated by a thin solid line, and each non-working path on the circular guide path P2 is indicated by a thin dashed line. Therefore, the reference path Pa that is included as a non-working path in the reciprocating guide path P1 and included as a working path in the circular guide path P2 is the same path, but in FIG. 3, it is indicated by two lines, a thick dashed line and a thin solid line, that are parallel and displaced. Similarly, in order to facilitate the discrimination of each path Pa - Pf of the target path P, the overlapping path portions thereof are also displaced and shown.

[0023] Accordingly, in the field A illustrated in FIG. 3, by the control operation of the travel control unit 16A based on this target path P and the positioning result of the positioning unit 19, the tractor 1 can be automatically traveled so that after traveling on the reciprocating guide path P1, it travels on the circular guide path P2 and exits the field from the entry / exit path R. And, by the control operation of the work control unit 16B based on this target path P and the positioning result of the positioning unit 19, while the tractor 1 automatically travels on the reference path Pa and each first turning path Pc included in the reciprocating guide path P1, each second turning path Pe included in the circular guide path P2, and the connection path Pf, the travel state of the tractor 1 can be set to a non-working travel state in which the rotary tilling device 6 floats and the drive of the rotary tilling device 6 is stopped. Also, while the tractor 1 automatically travels on each parallel path Pb included in the reciprocating guide path P1 and the reference path Pa and the pair of end paths Pd included in the circular guide path P2, the travel state of the tractor 1 can be set to a working travel state in which the rotary tilling device 6 is grounded and the rotary tilling device 6 is driven.

[0024] Then, by generating the target path P as described above, the reference path Pa that is first generated in generating the target path P can be actually generated on the first side A1a of the farmland A. As a result, it becomes easier to perform arrangement settings, number settings, etc. considering the working width related to the generation of each subsequent parallel path Pb. As a result, it becomes easy to generate a long reciprocating guide path P1 that guides the tractor 1 in a meandering manner from the first end region A1 of the farmland A toward the fourth end region A4 located on the opposite side thereof. Also, by generating the reciprocating guide path P1 including the reference path Pa in this way, even if it becomes impossible to secure a region for generating a circumferential path between the reciprocating guide path P1 and the first side A1a, in the reciprocating guide path P1, since the reference path Pa is set as a non-working path, the reference path Pa can be included in the circumferential guide path P2 as a working path. As a result, a circumferential guide path P2 having the reference path Pa and a pair of end paths Pd as working paths can be generated. And since each end path Pd is a working path that extends in the arrangement direction of the first turning paths Pc in the second end region A2 and the third end region A3 of the farmland A where a predetermined number of first turning paths Pc are located, by the automatic traveling of the tractor 1 on the reciprocating guide path P1, even if uneven remaining tillage remains in the second end region A2 and the third end region A3 where the first turning paths Pc are located, by the automatic traveling of the tractor 1 on the circumferential guide path P2 including each subsequent end path Pd, etc., the uneven remaining tillage remaining in the second end region A2 and the third end region A3 can be tilled together with the uncultivated land such as the reference path Pa.

[0025] That is, even if the working area Ab divided into the margin area Aa by the area division process is not further divided into the working area on the central side of the field tilled by reciprocating travel and the working area on the outer peripheral side of the field tilled by circular travel, for the field A illustrated in FIG. 3, the target path generation unit 30B can generate the target path P shown in FIG. 3. Then, based on the control operations of the travel control unit 16A and the work control unit 16B based on this target path P and the positioning result of the positioning unit 19, the travel state of the tractor 1 can be appropriately controlled. As a result, without causing the inconvenience of overlapping tilling operations on the reference path Pa, the entire working area Ab can be surely tilled without after-tillage by the automatic travel of the tractor 1. And at the end of the automatic travel, the tractor 1 can be quickly withdrawn from the field outside through the entry / exit path R of the field A illustrated in FIG. 3.

[0026] Hereinafter, the control operation of the target path generation unit 30B when generating the target path P suitable for the field A illustrated in FIG. 5 in the target path generation control will be described. Note that the field A illustrated in FIG. 5 has different exit positions and exit directions of the tractor 1 with respect to the field A compared to the field A illustrated in FIG. 3. Therefore, the control operation of the target path generation unit 30B when generating the target path P suitable for the field A illustrated in FIG. 5 is only slightly different in the processing contents in the first turning path generation process (step #4 in FIG. 4) and the second turning path generation process (step #6 in FIG. 4) from the case of generating the target path P suitable for the field A illustrated in FIG. 3, and the other processes are the same. Specifically, when generating the target path P suitable for the farm field A illustrated in FIG. 5, the target path generation unit 30B generates, in the first turning path generation process (step #4 in FIG. 4), nine first turning paths Pc that successively connect the reference path Pa and nine parallel paths Pb excluding the final parallel path Pb located in the fourth end region A4. Thereby, a reciprocating guide path P1 that does not include the final parallel path Pb can be generated. Also, in the second turning path generation process (step #6 in FIG. 4), three second turning paths Pe that successively connect the reference path Pa, a pair of end paths Pd, and the final parallel path Pb such that the parallel path Pb becomes the final path are generated. Thereby, a circular guide path P2 that includes the final parallel path Pb can be generated.

[0027] That is, for the farm field A illustrated in FIG. 5, the target path generation unit 30B can generate the target path P shown in FIG. 5. Then, based on the control operations of the travel control unit 16A and the work control unit 16B based on this target path P and the positioning result of the positioning unit 19, the travel state of the tractor 1 can be appropriately controlled. As a result, also in the farm field A illustrated in FIG. 5, the entire work area Ab can be properly and reliably cultivated by the automatic travel of the tractor 1, and at the end of the automatic travel, the tractor 1 can be quickly withdrawn from the farm field outside through the entry / exit path R of the farm field A illustrated in FIG. 5.

[0028] Hereinafter, the control operation of the target path generation unit 30B when generating the target path P suitable for the farm field A illustrated in FIG. 6 in the target path generation control will be described. Note that the farm field A illustrated in FIG. 6 is a trapezoidal deformed farm field in which the fourth side A4a along the withdrawal direction of the tractor 1 with respect to the farm field A is inclined, as compared with the rectangular farm field A illustrated in FIG. 5. Therefore, the control operation of the target path generation unit 30B when generating the target path P suitable for the farm field A illustrated in FIG. 6 is only slightly different in the processing content in the parallel path generation process (step #3 in FIG. 4) from when generating the target path P suitable for the farm field A illustrated in FIG. 5, and the other processes are the same. Specifically, when the target path generation unit 30B generates a target path P suitable for the farm field A illustrated in FIG. 6, in the parallel path generation process (step #3 in FIG. 4), among the 10 parallel paths Pb arranged in parallel to the reference path Pa, the 9 parallel paths Pb on the reference path side are parallel to the reference path Pa, and each parallel path Pb is generated such that the final parallel path Pb follows the fourth side A4a. As a result, the circular guide path P2 including the final parallel path Pb can be generated such that in the final path of the circular guide path P2 consisting of the final parallel path Pb, the tractor 1 automatically travels parallel to the fourth side A4a along the inclined fourth side A4a. Then, the width dimension of the area portion (side margin) secured between the final path (final parallel path Pb) of the circular guide path P2 and the fourth side A4a in the margin area Aa secured between the outer periphery of the farm field A and the work area Ab can be adjusted to a constant width that is N times the working width of the tractor 1.

[0029] That is, for the farm field A illustrated in FIG. 6, the target path generation unit 30B can generate the target path P shown in FIG. 6. Then, based on the control operations of the travel control unit 16A and the work control unit 16B based on this target path P and the positioning result of the positioning unit 19, the travel state of the tractor 1 can be appropriately controlled. As a result, also in the farm field A illustrated in FIG. 6, the entire work area Ab can be properly and surely cultivated by the automatic travel of the tractor 1, and at the end of the automatic travel, the tractor 1 can be quickly withdrawn from the farm field outside through the entry / exit path R of the farm field A illustrated in FIG. 6.

[0030] Note that in FIGS. 5 to 6 as well, in order to facilitate the discrimination between the reciprocating guide path P1 and the circular guide path P2 on the target path P and the discrimination between the working path and the non-working path, similar to FIG. 3, the reciprocating guide path P1 in the target path P is shown by a thick line, each working path in the reciprocating guide path P1 is shown by a thick solid line, and each non-working path in the reciprocating guide path P1 is shown by a thick dashed line. Further, the circular guide path P2 in the target path P is shown by a thin line, each working path in the circular guide path P2 is shown by a thin solid line, and each non-working path in the circular guide path P2 is shown by a thin dashed line. And the reference path Pa that serves as both the non-working path of the reciprocating guide path P1 and the working path of the circular guide path P2 is the same path, but in FIGS. 5 to 6, it is shown by two lines, a thick dashed line and a thin solid line, that are parallel and displaced. Similarly, in order to facilitate the discrimination of each path Pa to Pf of the target path P, their overlapping path portions are also displaced and shown.

[0031] 〔Alternative Embodiment〕 Another embodiment of the present invention will be described. Note that the configurations of the respective embodiments described below are not limited to being applied individually, and can also be applied in combination with the configurations of other embodiments.

[0032] (1) The configuration of the work vehicle 1 can be variously changed. For example, the work vehicle 1 may be configured in a hybrid specification including an engine 10 and a traveling electric motor, or may be configured in an electric specification including a traveling electric motor instead of the engine 10. For example, the work vehicle 1 may be configured in a semi-crawler specification including left and right crawlers instead of the left and right rear wheels 8. For example, the work vehicle 1 may be configured in a full-crawler specification including left and right crawlers instead of the left and right front wheels 7 and the left and right rear wheels 8.

[0033] (2) The automatic driving system for the work vehicle may be configured such that, by the control operation of the travel control unit 16A, the work vehicle 1 automatically travels on the target path P from the parallel path Pb adjacent to the reference path Pa without passing through the reference path Pa.

[0034] (3) The automatic driving system for the work vehicle is such that, after the target path generation unit 30B generates the reference path Pa based on the positioning result of the positioning unit 19 obtained by the manual driving of the work vehicle 1 along the first end side A1a in the first end region A1, the subsequent paths Pb to Pf connected to the reference path Pa are generated based on the reference path Pa, the work site data, and the vehicle body data. After the manual driving of the work vehicle 1 in the first end region A1, the travel of the work vehicle 1 is controlled by the control operation of the travel control unit 16A so that the work vehicle 1 passes through the paths Pb to Pf, and by the control operation of the work control unit 16B, the work vehicle 1 is in the work travel state on each work path of the target path P, and the work vehicle 1 is in the non-work travel state on each non-work path of the target path P. The travel state (operation of the work device) of the work vehicle 1 may be controlled.

[0035] (4) For example, in the farm field A illustrated in FIG. 5, when there is an obstacle such as a tower protruding from the fourth end side A4a to the fourth end region A4 in the target path generation unit 30B, and the parallel path Pb generated in the fourth end region A4 is a path that detours around the obstacle, the parallel path (detour path) Pb in the fourth end region A4 may be included in the round-trip guide path P1, and the parallel path Pb adjacent to the parallel path Pb in the fourth end region A4 may be included in the final path of the circular guide path P2 without being included in the round-trip guide path P1.

[0036] (5) The work site (farm field) A where the work vehicle automatically travels by the automatic driving system for the work vehicle may have a deformed shape, such as a concave shape, an L shape, a shape in which at least one end side is curved or bent in an S shape, etc., instead of the rectangular shape shown in FIGS. 3 and 5 or the trapezoidal shape shown in FIG. 6, and may have a protruding portion protruding into the work site. When the work area (field) A is the deformed area (deformed field) as described above, the target path P generated by the target path generation unit 30B includes a path different from each of the paths Pa to Pf included in the target path P shown in FIGS. 3 and 5 to 6. However, the present invention can be applied even in such a case.

[0037] (Supplementary Note of the Invention) The first characteristic configuration of the present invention is In an automatic driving system for a work vehicle, A reference path adjacent to the first end side of the work area in the first end area of the work area, a plurality of parallel paths arranged in parallel to the reference path, and a plurality of turning paths connecting the reference path and a predetermined number of the parallel paths in series, to generate a reciprocating guide path for guiding the work vehicle to reciprocate in a meandering shape, and connected to the reciprocating guide path, and having a pair of end paths extending in the arrangement direction of the turning paths in the second end area and the third end area of the work area where the reference path and a predetermined number of the turning paths are located, a target path generation unit that generates a circumferential guide path for guiding the work vehicle to circle on the outer peripheral side of the work area; A travel control unit that controls the travel of the work vehicle so that the work vehicle travels on the circumferential guide path after traveling on the reciprocating guide path so as to pass through the reference path or after traveling on the reciprocating guide path so as not to pass through the reference path; In the reciprocating guide path, the travel state of the work vehicle on the reference path and the turning path is set as a non-work travel state, the travel state of the work vehicle on the parallel path is set as a work travel state, and in the circumferential guide path, the work control unit that sets the travel state of the work vehicle on the reference path and the end path as a work travel state; It lies in the point of being provided with.

[0038] According to this configuration, the reference path that is first generated when generating each path can be actually generated at the first side edge at the work site. As a result, it becomes easier to perform arrangement settings, number settings, etc. considering the working width of the work vehicle regarding the generation of each subsequent parallel path. As a result, it becomes easier to generate a long reciprocating guide path that guides the work vehicle in a meandering manner from the first end region of the work site toward the opposite end region. Also, by generating a reciprocating guide path including a reference path in this way, even if it becomes impossible to secure an area for generating a circumferential path between the reciprocating guide path and the first side edge, in the reference path of the reciprocating guide path, since the work vehicle is in a non-working traveling state, the reference path can be included in the circumferential guide path as a working path. As a result, a circumferential guide path in which the work vehicle is in a working traveling state in the reference path and a pair of end paths can be generated. And since each end path is a working path that extends in the arrangement direction of the turning paths in the second end region and the third end region of the work site where a predetermined number of turning paths are located, even if uneven unworked areas are left in the second end region and the third end region where the turning paths are located due to the automatic traveling of the work vehicle in the reciprocating guide path, by the automatic traveling of the work vehicle in the circumferential guide path including each subsequent end path, etc., the uneven unworked areas remaining in the second end region and the third end region can be eliminated together with the unworked areas such as the reference path.

[0039] That is, even without dividing the work site into a work area on the central side of the work site that is worked by reciprocating travel and a work area on the outer peripheral side of the work site that is worked by circumferential travel, the target path generation unit can generate a reciprocating guide path and a circumferential guide path suitable for the automatic travel of the work vehicle at each work site. And by the control operations of the travel control unit and the work control unit based on these paths, the travel state of the work vehicle can be appropriately controlled. As a result, without causing inconveniences such as overlapping work being performed in the reference path, the work at the work site can be satisfactorily performed with little work remaining by the automatic travel of the work vehicle.

[0040] In addition, when the travel control unit controls the travel of the work vehicle so that the work vehicle does not pass through the reference path when automatically traveling along the reciprocating guidance path, the travel distance of the work vehicle can be shortened, thereby shortening the work time and reducing the fuel consumption.

[0041] The second characteristic configuration of the present invention is The target path generation unit does not include the parallel path located in the fourth end region on the side opposite to the first end region at the work site among the plurality of parallel paths, and includes it as the final path of the circumferential guidance path in the circumferential guidance path.

[0042] According to this configuration, when the parallel path located in the fourth end region is not included in the circumferential guidance path, the end path becomes the final path of the circumferential guidance path, and when it is included in the circumferential guidance path, the parallel path located in the fourth end region becomes the final path of the circumferential guidance path. Therefore, the direction and the end position of the final path in the circumferential guidance path are changed. That is, it is possible to generate a reciprocating guidance path and a circumferential guidance path that are more suitable for the work site in consideration of the position and direction of the entry / exit path for the work vehicle at the work site, and thereby quickly exit the work vehicle from the work site by automatic driving.

[0043] The third characteristic configuration of the present invention is When the fourth side opposite to the first side does not follow the reference path, the target path generation unit generates the parallel path included in the circumferential guidance path so as to follow the fourth side.

[0044] According to this configuration, even for a work site where the fourth side does not follow the reference path, the circumferential guidance path can be generated so that its final path follows the fourth side. Thereby, even at a work site where the fourth side does not follow the reference path, the work vehicle can be automatically traveled along the fourth side based on the circumferential guidance path, and the work at such a work site can be satisfactorily performed with little work left by the automatic driving of the work vehicle.

[0045] In addition, an automatic driving system for a work vehicle according to one aspect of the present invention includes a target route generation unit, a travel control unit, and a work control unit. The target route generation unit has a reference route adjacent to a first end side of a work area in a first end area of the work area, a plurality of parallel routes arranged in parallel to the reference route and extending across a fourth end area on the side opposite to the first end area in the work area, and a plurality of turning routes that connect the reference route and a predetermined number of the parallel routes in series, and generates a reciprocating guidance route for guiding the work vehicle to reciprocate in a meandering shape. The reciprocating guidance route is connected to a pair of end routes that extend in the arrangement direction of the turning routes in a second end area and a third end area of the work area where the reference route and a predetermined number of the turning routes are located, and generates a circumferential guidance route for guiding the work vehicle to circle on the outer peripheral side of the work area. The travel control unit controls the travel of the work vehicle so as to travel on the circumferential guidance route after the work vehicle travels on the reciprocating guidance route so as to pass through the reference route or after the work vehicle travels on the reciprocating guidance route so as not to pass through the reference route. In the reciprocating guidance route, the work control unit sets the travel state of the work vehicle on the reference route and the turning routes as a non-work travel state, sets the travel state of the work vehicle on the parallel routes as a work travel state, and in the circumferential guidance route, sets the travel state of the work vehicle on the reference route and the end routes as a work travel state.

[0046] An automatic driving system for a work vehicle according to one aspect of the present invention includes a target route generation unit. The target route generation unit generates a reciprocating guidance route for guiding the work vehicle to reciprocate in a meandering shape in the work area and a circumferential guidance route for guiding the work vehicle to circle on the outer peripheral side of the work area. The final route of the circumferential guidance route is a route leading to the exit of the work vehicle in the work area.

[0047] The automatic driving method for a work vehicle according to one aspect of the present invention generates a reciprocating guide path for reciprocatingly guiding the work vehicle in a meandering manner at a work site, and a circular guide path for circularly guiding the work vehicle on the outer peripheral side of the work site. In the automatic driving method for the work vehicle, the final path of the circular guide path is a path leading to the exit of the work vehicle at the work site.

Explanation of Signs

[0048] 1 Work vehicle 16A Travel control unit 16B Work control unit 30B Target path generation unit A Work site A1 First end region A1a First end side A2 Second end region A3 Third end region A4 Fourth end region A4a Fourth end side P1 Reciprocating guide path P2 Circular guide path Pa Reference path Pb Parallel path Pc First turning path Pd End path Pe Second turning path

Claims

1. A target path generation unit that generates a reciprocating guide path for reciprocatingly guiding a work vehicle in a serpentine manner at a work site and a circular guide path for circularly guiding the work vehicle on the outer peripheral side of the work site. The circular guide path is a path generated inside a boundary line that divides a margin area set inside the outer periphery of the work site and a work area on the central side of the work site in order to prevent the work vehicle from protruding from the work site or contacting an obstacle on the outer periphery of the work site. An automatic driving system for a work vehicle.

2. The final path of the circular guide path is a path extending in the same direction as the exit direction when the work vehicle exits the work site from the exit of the work vehicle at the work site. The automatic driving system for a work vehicle according to Claim 1.

3. The circular guide path includes a path that is connected to the start end portion of the circular guide path and guides the work vehicle in a direction away from the exit of the work vehicle at the work site. The automatic driving system for a work vehicle according to Claim 1 or 2.

4. The margin area is set based on information regarding the work vehicle. The automatic driving system for a work vehicle according to any one of Claims 1 to 3.

5. An automatic driving method for a work vehicle that generates a reciprocating guide path for reciprocatingly guiding a work vehicle in a serpentine manner at a work site and a circular guide path for circularly guiding the work vehicle on the outer peripheral side of the work site, wherein the circular guide path is a path generated inside a boundary line that divides a margin area set inside the outer periphery of the work site and a work area on the central side of the work site in order to prevent the work vehicle from protruding from the work site or contacting an obstacle on the outer periphery of the work site. An automatic driving method for a work vehicle.

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