Route generation system and working machine

Abstract

To generate a target travel route that suppresses a machine body crossing over a working ground.SOLUTION: A route generation system includes: a border crossing diagnostic part which diagnoses whether or not a control point is located outside a border line, seen from the center of a working ground, when a machine body exists on a generated target travel route (#3); and a border line correction part which moves the border line just for an evacuation distance inward the working ground when the border crossing diagnostic part determines that the control point can be in a cross-border state and sets a corrected border line (#4). A route generation part corrects or regenerates a target travel route on the basis of the corrected border line when the corrected border line is set (#5).SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a work machine that travels for work by automatic travel, and a route generation system that generates a target travel route for the work machine to travel automatically. [Background technology]

[0002] As disclosed in Patent Document 1, a rice transplanter (working machine) performs work travel by self-propelled back and forth travel across a field (work area). During automatic travel, the machine is controlled so that it does not cross a border line (crossing boundary) that is set based on the outer shape of the work area so that it does not protrude from the work area. The round-trip travel is performed automatically along a target travel path, which includes a straight path (working travel path) generated in the inner area and a turning path that is generated mainly in the outer area. The target travel path is generated based on the outer shape (boundary line) of the work area. The target travel path is also generated so that the machine does not cross the border line (crossing the border) when traveling along the target travel path. In particular, the turning start position is set based on the turning performance of the machine and the width of the turning area (outer area), and the turning path is generated so that the machine does not cross the border when turning. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-155424 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the work site is irregularly shaped and not rectangular, even if the machine travels along the target travel route, the machine may cross the border line and leave the work site.

[0005] The present invention aims to generate a target driving route that prevents the vehicle from crossing the boundary of a work site. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, a route generation system according to one embodiment of the present invention is a route generation system that generates a target driving route for a work machine that travels around a work site by automatic driving to and from work, and includes: a boundary line setting unit that sets the boundary line of the work site based on the external shape of the work site; a position calculation unit that calculates position information regarding the position of the work machine's body; a control point setting unit that sets a control point of the body based on the position information; a route generation unit that generates the target driving route for traveling around the work site by automatic driving based on the boundary line; a crossing line generation unit that generates a crossing line based on the boundary line; a crossing line diagnosis unit that diagnoses whether, when the body is present on the generated target driving route, the control point may be in a crossing state where it is located outside the crossing line as viewed from the center of the work site; and a boundary line correction unit that, when the crossing line diagnosis unit determines that the control point may be in the crossing state, moves the boundary line by a retreat distance toward the inside of the work site to set a corrected boundary line; and when the corrected boundary line is set, the route generation unit corrects or regenerates the target driving route based on the corrected boundary line.

[0007] Depending on the external shape of the work site, it may be difficult to prevent the machine from crossing the boundary even if the machine travels along the target travel route.

[0008] According to the above configuration, a target driving route is generated based on a boundary line that is set according to the external shape of the work site, and if a boundary crossing diagnosis is performed and the target driving route is found to be in a boundary crossing state, the boundary line can be moved by an evacuation distance inside the work site and the target driving route can be regenerated. As a result, the target driving route is moved inside the work site as the boundary line moves, and it is possible to prevent the vehicle from crossing the work site during automatic driving.

[0009] The target travel route may also include a work travel route provided between the two boundary lines facing each other, and a turning route connecting the two work travel routes.

[0010] With the above configuration, when the work site is rectangular, the extension line of the work travel path and the turning edge of the work site are roughly perpendicular, whereas when the work site is irregular, the inclination of the turning edge relative to the extension line of the work travel path may be large. When the extension line of the work travel path and the turning edge are perpendicular, it is possible to turn without crossing the boundary line if the turning is started from a position a predetermined distance away from the turning edge (boundary line). However, when the inclination of the turning edge relative to the extension line of the work travel path is large, the machine may approach the turning edge during the turn and cross the boundary line, even if the turning is started from a position a predetermined distance away from the turning edge (boundary line).

[0011] According to the above configuration, a target driving route is generated based on a boundary line set according to the external shape of the work site, and if a boundary crossing diagnosis is performed and the target driving route is found to be in a boundary crossing state, the boundary line can be moved a retreat distance inside the work site and the target driving route can be regenerated. As a result, the turning route is moved inside the work site as the boundary line is moved, and it is possible to prevent the machine from crossing the work site during turning.

[0012] The boundary correction unit may also automatically determine the retreat distance according to the angle formed between the boundary line and an extension of the work travel path in the direction of travel of the machine body.

[0013] The retraction distance for generating a turning path that allows the machine to turn without crossing the boundary is determined according to the magnitude of the inclination of the turning edge relative to the extension of the work driving path. With the above configuration, the retraction distance can be automatically determined, and a turning path (target driving path) that prevents the machine from crossing the boundary of the work site during turning can be easily generated.

[0014] The apparatus may further include a retraction distance receiving unit that receives a manual input of the retraction distance, and the boundary line correction unit may set the corrected boundary line using the retraction distance received by the retraction distance receiving unit.

[0015] The operator (worker / driver) can estimate to some extent the retreat distance required to generate a turning path that allows the machine to turn without crossing the border (a target driving path that allows the machine to travel without crossing the border).With the above configuration, the operator can arbitrarily set the retreat distance depending on the external shape and conditions of the work site, and can easily generate a turning path (target driving path) that prevents the machine from crossing the border of the work site during turning.In addition, since there is no need to calculate the retreat distance by taking into account the inclination of the turning edge relative to the extension line of the work driving path, the configuration of the path generation system can be simplified.

[0016] The apparatus may further include a display unit that displays predetermined information, and the boundary line correction unit may cause the display unit to display the recommended value of the retraction distance.

[0017] With this configuration, the operator can easily determine the evacuation distance to be set (input) based on the recommended value, and can easily generate a turning path (target driving path) that prevents the aircraft from crossing the work site during turning (automatic driving).

[0018] The vehicle may further include a display unit that displays specified information, and the border crossing diagnosis unit diagnoses whether or not the border crossing state may occur on the target driving route regenerated based on the corrected boundary line generated using the evacuation distance received by the evacuation distance receiving unit, and if it diagnoses that the border crossing state may occur, the display unit may display a message prompting the driver to re-input the evacuation distance.

[0019] Even if a target driving route is regenerated using a certain evacuation distance, there are cases where the vehicle still crosses the border when traveling along the target driving route. In such cases, as in the above configuration, by prompting the user to re-input the evacuation distance, it is possible to correct the evacuation distance and generate a target driving route that prevents the vehicle from crossing the border of the work site during turning (automatic driving).

[0020] In addition, the work site may be divided into an inner area where work is performed by the round-trip driving and an outer peripheral area outside the inner area, and in the outer peripheral area, circular driving is performed along the outer periphery of the work site, and when the circular driving consists of one lap, the border crossing diagnosis unit may diagnose whether or not the border crossing state may occur.

[0021] The width of the outer periphery area (the distance between the outer periphery of the inner area and the outer periphery of the outer periphery area) is determined according to the number of laps made in the outer periphery area. As the width of the outer periphery area becomes narrower, the margin for turning becomes smaller. As the margin for turning becomes smaller, the possibility of the vehicle crossing the border during turning increases, and conversely, if the width of the outer periphery area is large, the possibility of the vehicle crossing the border becomes smaller. With the above configuration, whether or not a border crossing state may occur is diagnosed only when the number of laps is one, making it difficult to turn with ease. Therefore, the target driving path can be regenerated only when necessary to prevent the vehicle from crossing the work site.

[0022] The boundary line correction unit may set the corrected boundary lines for all of the boundary lines.

[0023] With this configuration, it is possible to easily generate a target driving route that prevents the vehicle from crossing the boundary of the work site.

[0024] The work area may further include a correction edge selection receiving unit that receives input to select the outer periphery of the work area on which the correction boundary line is to be set, and the boundary line correction unit may set the correction boundary line for the boundary line corresponding to the selected outer periphery.

[0025] With this configuration, the target driving route can be regenerated by simply modifying the minimum necessary boundary lines, making it possible to easily generate a target driving route that prevents the vehicle from crossing the work site, while also reducing areas where work driving does not take place.

[0026] The boundary line correction unit may set the corrected boundary line to the boundary line corresponding to a turning edge along which the turning path is generated within the periphery of the work site.

[0027] When turning, the machine often crosses the turning edge. With the above configuration, it is possible to easily generate a turning path (target traveling path) that prevents the machine from crossing the boundary of the work site when turning.

[0028] The control point setting unit may set the control point by moving the position of the aircraft indicated by the position information by a predetermined movement distance in a predetermined direction, and the movement distance may be variable.

[0029] This configuration allows the position of the control point used to determine whether the vehicle is crossing the border to be adjusted, thereby adjusting the sensitivity of the vehicle to detect whether the vehicle is crossing the border. As a result, the margin for detecting the crossing of the border can be adjusted according to the field conditions, etc., and the target travel path can be generated with high accuracy.

[0030] Furthermore, when it is determined that the aircraft is located at a border warning notification point and has crossed the border based on the position of the aircraft and the border crossing line, a border warning is issued at a predetermined notification timing and continues for a predetermined notification time after it is determined that the aircraft has crossed the border, and when the corrected boundary line is set, at least one of the border warning notification point, the notification timing, and the notification time may be corrected or regenerated based on the corrected boundary line.

[0031] With this configuration, it is possible to issue an accurate warning against crossing the border at the edge of a field, depending on the position of the boundary line.

[0032] In addition, the border crossing diagnosis unit may determine whether the vehicle located on the regenerated target driving route may enter the border crossing state, and if the border crossing diagnosis unit diagnoses that the vehicle located on the generated target driving route may enter the border crossing state, the route generation unit may stop generating the target driving route.

[0033] This configuration can prevent the generation of a target driving route that may cause the aircraft to cross borders and may not allow for proper automatic driving.

[0034] Furthermore, the work machine according to one embodiment of the present invention is equipped with the route generation system, a driving control unit that controls the automatic driving along the target driving route, and a border crossing detection unit that detects a state in which the machine deviates from the work site during the automatic driving based on the positional relationship between the border crossing line and the control point.

[0035] With this configuration, the work machine can easily generate a target driving route that prevents the machine from crossing the work site, and can detect when the machine is crossing the work site even while driving automatically. [Brief explanation of the drawings]

[0036] [Figure 1] FIG. 1 is a left side view illustrating the overall configuration of a rice transplanter. [Figure 2] FIG. 10 is a diagram illustrating work travel. [Figure 3] FIG. 10 is a diagram illustrating a configuration for determining border crossing. [Figure 4] FIG. 10 is a diagram illustrating the positions of control points. [Figure 5] FIG. 10 is a diagram illustrating a cross-border configuration in a deformed field. [Figure 6] FIG. 10 is a diagram illustrating a configuration for regenerating a target driving route. [Figure 7] FIG. 1 is a diagram illustrating an example of the configuration of a route generation system. [Figure 8] FIG. 10 is a diagram illustrating a flow for generating a route. DETAILED DESCRIPTION OF THE INVENTION

[0037] Hereinafter, a rice transplanter that plants seedlings in a field FL (working land) while traveling automatically will be described as an example of a working machine that travels automatically back and forth on a working land according to the present invention.

[0038] For ease of understanding, in this embodiment, unless otherwise specified, "front" (the direction of arrow F shown in FIG. 1) means the front in the longitudinal direction (traveling direction) of the machine body, and "rear" (the direction of arrow B shown in FIG. 1) means the rear in the longitudinal direction (traveling direction) of the machine body. Furthermore, the left-right direction or lateral direction means the transverse direction of the machine body (machine body width direction) that is perpendicular to the longitudinal direction of the machine body, and "left" means the direction toward the front of the paper in FIG. 1, and "right" means the direction toward the back of the paper in FIG. 1.

[0039] As shown in Figure 1, the rice transplanter is a riding type with a four-wheel drive body 1. The body 1 is equipped with a parallel quadruple linkage mechanism 13 connected to the rear of the body 1 so that it can rise and fall and swing. The body 1 is equipped with a seedling planting device 3 connected to the rear end region of the linkage mechanism 13 so that it can roll, a fertilizer applicator 4 installed from the rear end region of the body 1 to the seedling planting device 3, and may further be equipped with a chemical sprayer 18 installed in the rear end region of the seedling planting device 3, etc., as necessary.

[0040] The machine body 1 is equipped with wheels 12 as a traveling mechanism, an engine 2, and a hydraulic continuously variable transmission 9 as a main transmission. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission). The wheels 12 have left and right front wheels 12A that can be steered and left and right rear wheels 12B that cannot be steered. Power output from the engine 2 is transmitted to the continuously variable transmission 9 via a traveling transmission mechanism, and from the continuously variable transmission 9 to the front wheels 12A, rear wheels 12B, and work implements (seedling planting device 3, fertilizer application device 4, chemical spraying device 18, etc.). The engine 2 and the continuously variable transmission 9 are mounted in the front of the machine body 1.

[0041] As an example, the seedling planting device 3 is configured in an 8-row planting format. The seedling planting device 3 is equipped with a seedling loading platform 21, a planting mechanism 22 for 8 rows, etc. Note that this seedling planting device 3 can be changed to a 2-row, 4-row, 6-row planting format by controlling the row clutches (not shown). The planting mechanism 22 of the seedling planting device 3 removes the seedlings from the mat-like seedlings placed on the seedling loading platform 21 and plants them in the muddy part of the rice paddy. The fertilizing device 4 supplies fertilizer to the field FL (see Figure 2). The chemical spraying device 18 sprays (supplies) chemicals to the field FL.

[0042] The machine body 1 is equipped with a driving section 14 in its rear side area. The driving section 14 is equipped with various operating tools for operating the rice transplanter, a fixed or detachable information terminal 5, and a driver's seat 16 for the operator (driver / worker). The information terminal 5 displays (notifies) various information and notifies (outputs) it to the operator, and also accepts input of various information. Furthermore, the machine body 1 is equipped with a spare seedling storage device 17A that stores spare seedlings. The spare seedling storage device 17A is supported on a spare seedling support frame 17 that is supported in front of the driving section 14.

[0043] The aircraft 1 is equipped with a positioning unit 8. The positioning unit 8 outputs positioning data 41 (see FIG. 7) for calculating the position and orientation of the aircraft 1. The positioning unit 8 includes a satellite positioning module 8A (equivalent to a satellite antenna) that receives radio waves (satellite signals) from satellites of a global navigation satellite system (GNSS, such as GPS, GLONASS, Galileo, Michibiki, and BeiDou), and an inertial measurement module 8B that detects the three-axial tilt and acceleration of the aircraft 1. The positioning unit 8 is supported on the top of the spare seedling support frame 17. Based on the positioning data 41 acquired by the positioning unit 8, the position of the aircraft 1 is continuously calculated and stored as position information 42 (see FIG. 7). The aircraft 1 also includes a sonar sensor 60, for example, as an example of an obstacle detection device that detects obstacles around the aircraft 1.

[0044] [Autonomous driving] The automatic driving of the rice transplanter to plant rice in the field FL will be explained using Figures 1 and 2.

[0045] The rice transplanter can be selectively operated in either manual or automatic driving mode. Manual driving or automatic driving is set using an information terminal 5 or the like. Automatic driving means that the rice transplanter drives and works under automatic control along a preset target driving route.

[0046] Furthermore, the automatic driving can be performed in two modes: manned automatic driving (manned automatic driving mode), which requires a driver on board, and unmanned automatic driving (unmanned automatic driving mode), which does not require a driver on board. In manned automatic driving, the driver performs some operations in accordance with guidance provided by the rice transplanter, while the rice transplanter automatically controls other operations associated with driving and work. In unmanned automatic driving, a driver does not need to be on board, but a driver may be on board during unmanned automatic driving. In unmanned automatic driving, the driver starts work driving under automatic control by operating the start of automatic driving using a remote control (not shown) or the like, and the preset work driving is performed under automatic control. The manned automatic mode, in which manned automatic driving is performed, and the unmanned automatic mode, in which unmanned automatic driving is performed, are set using an information terminal 5 or the like.

[0047] When starting work travel, the operator performs initial settings by operating the information terminal 5 and various operating tools, etc., following the display on the information terminal 5. The initial settings include various settings related to work travel, such as setting the manned automatic mode or unmanned automatic mode, setting the method for obtaining the field map FM (see Figure 7) described below, and setting the supply edge and turning edge TS.

[0048] When initial setting is performed, the operator manually drives the rice transplanter along the perimeter of the field FL in a non-working traveling mode without performing any work. By performing this perimeter traveling (perimeter idle traveling), the shape of the field FL is generated as a field map FM based on the position information 42 (position of the machine body 1) acquired over time. In addition, a boundary line BL of the field FL is set based on the outer shape of the field FL in the field map FM. The working area WA of the field FL is an area surrounded by the boundary line BL and is divided into an inner area IA where reciprocating traveling is performed and an outer peripheral area OA outside the inner area IA. Note that the field map FM may be obtained from a previously generated field map FM without performing perimeter traveling. The working area WA may coincide with the entire field FL or may be any area of ​​the field FL. In other words, the boundary line BL may coincide with the outer perimeter PS of the field FL, or may be a line obtained by shifting the outer perimeter PS a predetermined distance inward of the field FL.

[0049] When the field map FM is generated (acquired), the travel route along which the rice transplanter will travel for work is set as the target travel route. The generated target travel route is displayed on an information terminal 5 or the like, and when generating the target travel route, it is possible to perform predetermined operations (settings) while checking the content displayed on the information terminal 5 or the like. In the inner area IA, an internal round-trip route IPL is generated as the target travel route, connecting multiple routes (work travel routes LL) that are approximately parallel to one side of the field FL with a turning route TL. The work travel route LL is a route that travels between two opposing sides (turning sides TS) of the inner area IA, and the turning route TL is a route that connects the two work travel routes LL. Turning travel along the turning route TL is performed in the outer peripheral area OA. The internal round-trip route IPL is a travel route that travels thoroughly throughout the entire inner area IA, from the start position S to the end position G. Work travel is performed along the work travel route LL to the end point (terminal end) of the work travel route LL. The end of the work travel path LL is the position where work is carried out up to the outer periphery IAL of the internal area IA or its vicinity. Note that the turning travel that connects the work travel path LL is not limited to travel along the turning path TL, and may be travel that turns in a predetermined manner without generating the turning path TL.

[0050] In the outer peripheral area OA, a circular path OL, which is a travel path that travels around the outer peripheral area OA along the periphery of the field FL, is generated as a target travel path. The circular travel in the outer peripheral area OA is performed at least once around the periphery of the field FL, and the circular path OL makes one or more laps. The number of laps of the circular path OL may be configured to be selectable as desired, and the width of the outer peripheral area OA (the length from the outer periphery IAL of the inner area IA to the outer periphery PS of the field FL (outer peripheral area OA)) is determined according to the number of laps. By performing work travel along the circular path OL, work travel in the entire outer peripheral area OA is performed.

[0051] [Border crossing detection] During autonomous driving, border crossing detection is performed to prevent the vehicle 1 from straying from the perimeter PS of the field FL (to prevent the vehicle 1 from crossing the border). As shown in FIG. 3, border crossing detection is performed based on the position of the vehicle 1 and the border crossing line CHL, and detects whether a control point CP set on the vehicle 1 has crossed (contacted) a pre-set border crossing line CHL, or whether the control point CP has approached the border crossing line CHL by more than a predetermined distance (border crossing detection). When border crossing is detected, it is determined that the vehicle 1 is approaching the edge of the field, a predetermined notification is issued (border crossing warning notification), the vehicle 1 is stopped, and the vehicle 1 is restarted by automatic or manual control to prevent border crossing. The border crossing line CHL is generated based on the boundary line BL (outer perimeter PS) of the field FL. It may be the outer perimeter PS (boundary line BL) of the field FL, or it may be a line obtained by shifting the outer perimeter PS (boundary line BL) of the field FL inward by a predetermined distance.

[0052] As shown in Figure 4, the control points CP are located in the front, rear, left and right end areas of the machine body 1, for example, at the front and right end of the right-side spare seedling storage device 17A, the front and left end of the left-side spare seedling storage device 17A, the square of the seedling loading platform 21, the center of each of the left and right front wheels 12A, etc.

[0053] Control points CP used for border crossing determination (border crossing detection, border crossing diagnosis) during border crossing control are generated based on position information 42 or positioning data 41 regarding the position of the aircraft 1. As shown in FIG. 4, the position information 42 is calculated based on the positioning data 41 detected as the position of the satellite positioning module 8A. Therefore, each control point CP is generated by shifting the position of the positioning data 41 or the position information 42 by a predetermined distance MD in a predetermined direction MR. Instead of control points CP, border crossing determination may be performed by comparing a rectangular or arbitrarily shaped control range CPL indicating the area of ​​the aircraft 1 with the border crossing line CHL. Note that, to control travel along a target travel route, a travel control point CPR indicating the center of the aircraft 1 is similarly generated, and travel is controlled so that the travel control point CPR follows the target travel route.

[0054] [Crossing borders in deformed fields] As described above, work travel in the round trip travel is performed along the work travel path LL to the turning start position, which is the end point of the work on the work travel path LL, and then turning travel is performed from the turning start position (end point of the work travel path LL) along the turning path TL. The end points (turning start positions) of each work travel path LL are set the same distance inward from the boundary line BL (outer periphery PS). For example, the intersection of each work travel path LL with a turning start line TLS set parallel to the boundary line BL (outer periphery PS) a predetermined distance inward from the boundary line BL (outer periphery PS) is set as the turning start position. Note that the turning start line TLS may be the outer periphery IAL of the internal area IA. The turning path TL is generated as a path that allows the machine 1 to move to the next work travel path LL without crossing the boundary by starting to turn from the turning start position. In addition, other target travel paths, such as the circular path OL and the work travel path LL, are also generated as paths that the machine 1 can move along without crossing the boundary.

[0055] When a target driving route is generated in this manner, if the outer shape of the field FL is rectangular, as shown in Figure 5, the vehicle 1 is expected to drive properly without crossing borders by driving along the target driving route, unless the condition of the field FL particularly hinders driving (the state on the left side of Figure 5).

[0056] On the other hand, if the field FL is not rectangular but a deformed field (deformed work area), the machine body 1 may cross the boundary even when traveling along the target traveling path. For example, if the outer perimeter PS (boundary line BL) of the field FL is curved or not linear, the machine body 1 may cross the boundary if it travels along a target traveling path generated in a straight line along the outer perimeter PS. Furthermore, if the turning edge TS is not perpendicular to the extension line of the work traveling path LL, the machine body 1 may cross the boundary during turning (the state on the right side of Figure 5). Furthermore, not only in deformed fields, but depending on the shape of the field FL, the machine body 1 may cross the boundary even when traveling along a uniformly generated target traveling path.

[0057] Therefore, the path generation system according to this embodiment diagnoses, for a generated target travel path, whether or not a boundary crossing state occurs in which, when the vehicle 1 is located on the target travel path, the control point CP is located outside the boundary crossing line CHL as viewed from the center of the field FL, or the distance between the control point CP and the boundary crossing line CHL is less than a predetermined distance. If the path generation system determines that the control point CP may be in a boundary crossing state, the path generation system sets a corrected boundary line BLN by moving the boundary line BL toward the inside of the field FL by a setback distance SD, as shown in FIG. 6 , and regenerates the target travel path based on the corrected boundary line BLN. For example, as the boundary line BL moves, the turn start line TLS is also moved inward to set a corrected turn start line TLN, and the turning path TL is generated based on the corrected turn start line TLN.

[0058] This allows a diagnosis to be made in advance as to whether a border crossing state will occur when traveling along the target traveling path. If a border crossing state may occur, the boundary line BL, which serves as a reference when generating the target traveling path, is moved inward, a corrected boundary line BLN is set, and the target traveling path is regenerated. By moving the boundary line BL inward, the regenerated target traveling path is also moved inward, and the distance between the regenerated target traveling path and the periphery PS of the field FL increases. As a result, when the vehicle 1 travels along the regenerated target traveling path, the vehicle 1 is prevented from crossing the field FL. For example, by moving the boundary line BL inward, the turning start position is also moved inward, and the turning path TL itself is also moved inward. Then, because the turning path TL is moved inward, the distance between the regenerated turning path TL and the periphery PS of the field FL increases, and when the vehicle 1 travels along the regenerated turning path TL, the vehicle 1 is prevented from crossing the field FL. Note that, although the border crossing line CHL may also be moved inward as the boundary line BL is moved inward, it is preferable that the border crossing line CHL not be moved.

[0059] [Route Generation] Next, a configuration for generating a target driving route by the route generation system will be described using FIGS. 7 and 8 while also referring to FIGS. 1 to 6.

[0060] The rice transplanter as a path generation system includes a control unit 25 and a memory unit 27. The control unit 25 includes a processor such as a CPU, and each functional block included in the control unit 25 operates under the control of the processor. The memory unit 27 is connected to the control unit 25 in a manner that allows data communication, and stores various information. The control unit 25 is also connected to the positioning unit 8, the information terminal 5, other devices, operating tools, etc. in a manner that allows data communication.

[0061] The control unit 25 includes a communication unit 29, a position calculation unit 31, a control point setting unit 32, a boundary setting unit 33, a border crossing line generation unit 35, a route generation unit 36, a border crossing diagnosis unit 38, a boundary line correction unit 39, and the like.

[0062] The communication unit 29 controls data communication. The position calculation unit 31 calculates position information 42 relating to the position of the body 1 of the rice transplanter based on the positioning data 41.

[0063] The control point setting unit 32 sets a control point CP for the aircraft 1 based on the position information 42. The control point CP, together with the border crossing line CHL, is used as a criterion for border crossing detection and border crossing diagnosis, which will be described later. In this case, the control point setting unit 32 may set a driving control point CPR for the aircraft 1 based on the position information 42. Note that the control point CP and the driving control point CPR may be set based on the positioning data 41, not limited to the position information 42.

[0064] The boundary line setting unit 33 sets a boundary line BL of the field FL based on the outer shape of the field FL (step #1 in FIG. 8). The boundary line setting unit 33 acquires the outer shape of the field FL from the field map FM. The boundary line BL corresponds to the outer periphery of the work area WA where work travel is performed, and may coincide with the outer periphery PS of the field FL.

[0065] The crossing line generating unit 35 generates the crossing line CHL based on the boundary line BL. The crossing line generating unit 35 may generate the boundary line BL itself as the crossing line CHL, or may generate the crossing line CHL by moving at least a portion of the boundary line BL a predetermined distance toward the center of the field FL. In this case, the crossing line generating unit 35 may vary the distance by which the boundary line BL is moved for each portion of the boundary line BL that corresponds to the outer perimeter PS of the field FL.

[0066] Based on the boundary lines BL, the path generation unit 36 ​​generates a work travel path LL between two opposing boundary lines BL (turning edges TS), and a turning path TL connecting the two work travel paths LL, as target travel paths (step #2 in FIG. 8). Similarly, in the outer circumferential area OA, based on the boundary lines BL, the path generation unit 36 ​​generates a circular path OL with a predetermined number of laps as a target travel path. The work travel path LL and the turning path TL are target travel paths used for round trip travel in the inner area IA, and the circular path OL is a target travel path used for circular travel in the outer circumferential area OA.

[0067] The border crossing diagnosis unit 38 diagnoses whether or not there is a possibility that the vehicle 1 will cross a border when traveling along the generated target traveling route. In other words, when the vehicle 1 is on the generated target traveling route, the border crossing diagnosis unit 38 diagnoses whether or not there is a possibility that the control point CP will be located outside the border crossing line CHL as viewed from the center of the field FL, or whether or not there is a possibility that a border crossing state will occur in which the distance between the control point CP and the border crossing line CHL is less than a predetermined distance (step #3 in FIG. 8). This makes it possible to determine, at the stage when the target traveling route is generated, whether or not there is a possibility that the vehicle 1 will cross a border when traveling along the target traveling route.

[0068] When the border crossing diagnosis unit 38 determines that the control point CP may be in a border crossing state (step #3 Yes in FIG. 8), the boundary line correction unit 39 moves the boundary line BL toward the inside of the field FL by the retreat distance SD to set a corrected boundary line BLN (step #4 in FIG. 8). Note that the retreat distance SD may be determined in advance and stored in the memory unit 27, but the retreat distance SD may also be determined by any method. Furthermore, even if the boundary line BL is moved, it is preferable that the border crossing line CHL is not moved.

[0069] When a corrected boundary line BLN is set due to a possible border crossing state, the route generation unit 36 ​​regenerates the target travel route based on the corrected boundary line BLN (step #5 in FIG. 8). At this time, the route generation unit 36 ​​may correct the target travel route by moving (offsetting) a portion of the target travel route generated based on the boundary line BL by a predetermined distance. Note that the predetermined distance may be a distance determined in advance, or may be determined depending on the distance between the boundary line BL and the corrected boundary line BLN, etc.

[0070] In this way, the target driving path regenerated based on the corrected boundary line BLN in which the boundary line BL is moved inward is generated so as to be positioned more inward with respect to the boundary line BL than the target driving path generated based on the boundary line BL. Therefore, by traveling along the regenerated target driving path, the aircraft 1 is prevented from crossing the boundary line BL (crossing line CHL).

[0071] For example, by regenerating the turning path TL based on the modified boundary line BLN in which the boundary line BL is moved inward, the turning start position moves inward, thereby preventing the aircraft 1 from crossing the boundary line BL (crossing line CHL) during turning.

[0072] The route generation unit 36 ​​may regenerate the target driving route only once, but the border crossing diagnosis unit 38 may also perform a border crossing diagnosis on the regenerated target driving route to determine whether or not there is a possibility of border crossing (a border crossing state), and the boundary correction unit 39 may gradually increase the retreat distance SD and set the corrected boundary line BLN until the border crossing diagnosis unit 38 diagnoses that there is no possibility of border crossing, and the route generation unit 36 ​​may repeatedly regenerate the target driving route. Conversely, if the border crossing diagnosis unit 38 diagnoses that there is a possibility that the aircraft 1 present on the regenerated target driving route may be in a border crossing state, the route generation unit 36 ​​may stop generating the target driving route.

[0073] If the target driving route is generated and it is determined that there is no possibility of a border crossing state (step #3 No in Figure 8), the target driving route is regenerated, or if the regenerated target driving route is generated and it is determined that there is no possibility of a border crossing state, automatic driving is performed using that target driving route.

[0074] The rice transplanter further includes a travel control unit 45, a border crossing detection unit 46, and the like. The travel control unit 45 controls the travel of the rice transplanter and may also control its work. In the case of automatic travel, the travel control unit 45 controls the vehicle 1 to travel along a target travel path. The border crossing detection unit 46 detects a state in which the vehicle 1 deviates from the field FL (boundary line BL) during automatic travel based on the positional relationship between the border crossing line CHL and the control point CP. Specifically, the border crossing detection unit 46 detects that the control point CP of the vehicle 1 touches the border crossing line CHL while traveling, or that the distance between the control point CP and the border crossing line CHL becomes a predetermined distance. When the border crossing detection unit 46 detects border crossing, the travel control unit 45 performs predetermined processing, such as stopping the vehicle 1. This prevents the vehicle 1 from crossing a border while traveling. Note that border crossing detection may be performed only during automatic travel, but may also be performed during manual travel.

[0075] [Another embodiment] (1) In the above embodiment, the retreat distance SD may be determined in advance and stored in the storage unit 27, but the retreat distance SD may also be set each time it is diagnosed that there is a possibility of crossing the border.

[0076] For example, the boundary line correction unit 39 may automatically determine the retreat distance SD according to the angle α formed between the boundary line BL and an extension of the work travel path LL in the traveling direction of the machine body 1.

[0077] When turning, as shown in Figures 5 and 6, even if turning can be performed appropriately in a rectangular field FL, if the turning edge TS is inclined with respect to the work travel path LL in a deformed field, the machine body 1 may cross the boundary line during turning. The smaller the angle α formed by the boundary line BL and an extension of the work travel path LL in the machine body 1's direction of travel, the more likely the machine body 1 will cross the boundary line during turning. In other words, the smaller the angle α, the farther the turning path TL needs to be generated from the boundary line BL.

[0078] Therefore, by increasing the retraction distance SD as the angle α becomes smaller, the regenerated target driving route is prevented from crossing the boundary line. Furthermore, since the retraction distance SD can be automatically set according to the angle α, the boundary line correction unit 39 can easily set an appropriate retraction distance SD, and the route generation unit 36 ​​can easily generate a target driving route that is less likely to cross the boundary line.

[0079] Alternatively, the boundary line correcting unit 39 may set the corrected boundary line BLN using a manually input retraction distance SD. Specifically, the control unit 25 further includes a retraction distance receiving unit 49 that receives the manually input retraction distance SD, and the rice transplanter further includes a retraction distance input operation unit 48 for manually inputting the retraction distance SD. Then, the boundary line correcting unit 39 sets the corrected boundary line BLN using the retraction distance SD input from the retraction distance input operation unit 48 and accepted by the retraction distance receiving unit 49.

[0080] The operator may be able to predict to some extent from the shape and condition of the field FL whether the machine body 1 will cross the boundary. For example, if the boundary line BL (the outer perimeter PS of the field FL) is not straight, the operator may be able to predict to some extent from the state and degree of curvature whether the machine body 1 will cross the boundary, and may be able to predict what the necessary evacuation distance SD should be to prevent the machine body 1 from crossing the boundary.

[0081] By setting the corrected boundary line BLN using the retreat distance SD estimated and input by the operator, a more appropriate corrected boundary line BLN can be set with high accuracy.The route generation unit 36 ​​can then regenerate the target traveling route based on the more appropriate corrected boundary line BLN, thereby generating a target traveling route that is less likely to result in a border crossing state.The retreat distance input operation unit 48 may be the information terminal 5.

[0082] In addition, in a configuration in which the retraction distance SD is manually input, the boundary line correction unit 39 may cause the display unit to display a recommended value RSD of the retraction distance SD.

[0083] As described above, the necessary evacuation distance SD can be estimated to some extent depending on the external shape of the field FL, etc. By displaying the recommended value RSD for the evacuation distance SD, the operator can easily determine the evacuation distance SD to be input by referring to the recommended value RSD. The display unit may be the information terminal 5 or may be separately provided in the rice transplanter.

[0084] Furthermore, in a configuration in which the retreat distance SD is manually input, the border crossing diagnosis unit 38 may cause the display unit to display a message prompting the user to input the retreat distance SD if it determines that the target driving route or the regenerated target driving route may result in a border crossing state. For example, the border crossing diagnosis unit 38 diagnoses whether or not a border crossing state may occur on the target driving route regenerated based on the corrected boundary line BLN generated using the retreat distance SD received by the retreat distance receiving unit 49, and if it determines that a border crossing state may occur, causes the display unit to display a message prompting the user to re-input the retreat distance SD. The message prompting the user to re-input the retreat distance SD may be displayed by transitioning the screen displayed on the information terminal 5 to a screen for re-inputting the retreat distance SD.

[0085] By displaying a message prompting the operator to input the retraction distance SD, the operator can easily recognize the need to input the retraction distance SD, and can quickly input the retraction distance SD as necessary.

[0086] (2) In each of the above embodiments, when the number of laps in the circuit (circuit path OL) is one lap or less than a predetermined number of laps, the path generating unit 36 ​​may regenerate the target traveling path based on the corrected boundary line BLN.

[0087] As described above, the fewer the number of laps, the narrower the width of the outer circumferential area OA becomes. When the width of the outer circumferential area OA becomes narrower, the possibility that the aircraft 1 will cross the boundary of the circuit path OL or the turning path TL increases.

[0088] Therefore, if the number of laps in the circular driving (circular route OL) is one lap or less than a predetermined number of laps, the border crossing diagnosis unit 38 diagnoses whether or not the border crossing state may occur, the boundary correction unit 39 sets a corrected boundary line BLN, and the route generation unit 36 ​​may regenerate the target driving route.

[0089] This allows the target driving route to be regenerated only when the number of laps in the circular travel (circular route OL), in which there is a relatively high possibility that the vehicle 1 will cross the border, is one lap or is less than a predetermined number of laps, thereby efficiently preventing the vehicle 1 from crossing the border on the target driving route.

[0090] (3) In each of the above embodiments, the boundary line BL is set corresponding to the perimeter PS of the field FL, and therefore has sides (lines) corresponding to each perimeter PS. The boundary line correction unit 39 may set the corrected boundary line BLN by applying the same retraction distance SD to all sides (lines) of the boundary line BL, or may set the corrected boundary line BLN by applying a different retraction distance SD to each side (line), or may set the corrected boundary line BLN by moving only some of the sides (lines).

[0091] If the target travel route is moved inside the field FL, a target travel route along which work travel is performed in the work area WA may not be generated, and even if work travel is performed along the target travel route, an unworked area may remain in the work area WA. With the above configuration, a target travel route can be generated in a manner that moves only the minimum necessary target travel route inside the field FL, and a target travel route that suppresses crossing of borders can be efficiently generated while suppressing the creation of unworked areas where work travel is not performed.

[0092] For example, the boundary line correction unit 39 may set the corrected boundary line BLN by moving only the side (line) of the boundary line BL corresponding to the turning side TS along which the turning path TL is generated, within the outer periphery PS of the field FL, by the retreat distance SD. This makes it possible to efficiently generate a target travel path that can prevent the machine 1 from crossing the boundary line during turning travel.

[0093] Alternatively, the boundary line correction unit 39 may set the corrected boundary line BLN by moving only the side (line) of the artificially selected boundary line BL by the retraction distance SD. In other words, the boundary line correction unit 39 may set the corrected boundary line BLN by moving only the side (line) of the boundary line BL that corresponds to the selected outer periphery PS by the retraction distance SD.

[0094] Specifically, the control unit 25 further includes a correction edge selection receiving unit 53 that receives input selecting the edge (line) of the boundary line BL to be moved, and the rice transplanter further includes a correction edge selection operation unit 52 that manually selects the edge (line) of the boundary line BL to be moved. The boundary line correction unit 39 then sets the corrected boundary line BLN (by moving the edge (line) of the boundary line BL to be moved) relative to the perimeter PS of the field FL for which the corrected boundary line BLN input from the correction edge selection operation unit 52 and accepted by the correction edge selection receiving unit 53 is to be set. For example, an inclined edge in the deformed field (a perimeter PS that is not perpendicular to adjacent perimeters PS) may be selected as the edge (line) of the boundary line BL to be moved.

[0095] This allows the operator to set a corrected boundary line BLN by moving only the boundary line BL corresponding to the outer perimeter PS where he or she has determined that the boundary line BL needs to be moved based on the external shape and conditions of the field FL, thereby efficiently generating a target driving path that prevents the machine 1 from crossing the boundary.

[0096] (4) In each of the above embodiments, the control point setting unit 32 sets the control point CP by moving the position of the aircraft 1 indicated by the position information 42 or the positioning data 41 in a predetermined direction MR by a predetermined distance MD (movement distance). At this time, the distance MD may be variable.

[0097] The position of the control point CP changes when the distance MD is changed, which allows the control point CP to be set with a margin to absorb errors such as measurement errors when determining and detecting border crossings.

[0098] (5) In each of the above embodiments, the border crossing line CHL may not be moved even when the corrected boundary line BLN is set. However, the border crossing line CHL may be changed based on the corrected boundary line BLN. Changing the border crossing line CHL changes the location at which the aircraft 1 approaches the border and is determined to have crossed the border (border crossing is detected), and changes the location of the aircraft 1 at which a border crossing warning is issued when border crossing is detected. In other words, changing the border crossing line CHL corrects or regenerates the border crossing warning notification point, which is the location of the aircraft 1 at which border crossing is determined. Furthermore, the notification timing, which is the timing at which a warning is issued when border crossing is determined, may be corrected or regenerated, and the notification duration for which the warning continues may be corrected or regenerated. In other words, changing the border crossing line CHL corrects or regenerates at least one of the border crossing warning notification point, the notification timing, and the notification duration. Alternatively, the border crossing line CHL and the border warning notification point may not be changed, and at least one of the notification timing and the notification duration may be corrected or regenerated by speeding up the timing from when the border crossing is determined to occur until the notification is made, or by lengthening the duration of the notification. In this way, it is possible to more accurately notify the risk of border crossing at the border.

[0099] (6) If the field FL is surrounded by ridges and the height of the ridges is lower than the height of the front region of the vehicle 1 (e.g., the spare seedling storage device 17A), it is permissible for the front region of the vehicle 1 to pass over the ridges during automatic driving. In each of the above embodiments, the position of the control point CP may be adjusted to allow the front region of the vehicle 1 to pass over the ridges, and at least one of boundary crossing diagnosis and boundary crossing detection may be performed. For example, the control point CP may not be located on the spare seedling storage device 17A, but may be located on the front wheel 12A. This makes it possible to generate a target driving path that enables more efficient automatic driving.

[0100] (7) In each of the above embodiments, the control unit 25 is not limited to being composed of the above-described functional blocks and may be composed of any functional blocks. For example, each functional block of the control unit 25 may be further subdivided, or conversely, some or all of the functional blocks may be combined. The control unit 25 may also include other functional blocks. For example, the control unit 25 may further include a map generation unit that generates a field map FM or distinguishes between an inner area IA and an outer area OA. At least one of the control unit 25 and the storage unit 27 may be provided in the information terminal 5, an external management server, or the like. The functions of the control unit 25 are not limited to the above-described functional blocks and may be realized by a method executed by any functional block. Some or all of the functions of the control unit 25 may be configured by software. A software program is stored in any storage device, such as the storage unit 27, and executed by a processor, such as a CPU, provided in the control unit 25 or a separately provided processor.

[0101] (8) In each of the above embodiments, the work vehicle is not limited to a rice transplanter, but may be any other agricultural work vehicle that automatically travels on work land or any work vehicle that performs various types of work. [Industrial Applicability]

[0102] The present invention can be applied to a work vehicle that travels autonomously through a work site. [Explanation of symbols]

[0103] 1 aircraft 31 Position calculation section 32 Control point setting section 33 Boundary line setting section 35 Cross-border line generation section 36 Route generation unit 38 Cross-border Diagnostics Department 39 Boundary line correction part 42 Location information 45 Travel control unit 46 Border crossing detection unit 49 Evacuation Distance Reception Desk 53 Correction edge selection reception section BL boundary line BLN Corrected Border CHL cross-border line CP control point FL Field (working area) IA internal area LL Work route MD distance MR direction (travel distance) OA outer area OL circular route PS outer periphery Recommended RSD value SD Evacuation Distance TL Turning Path TS Swivel Edge α angle

Claims

1. A route generation system that generates a target travel route when a work machine that travels automatically to and from a work site travels back and forth, a boundary line setting unit that sets a boundary line of the work site based on the external shape of the work site; a position calculation unit that calculates position information relating to the position of the body of the work machine; a control point setting unit that sets a control point of the aircraft based on the position information; a route generation unit that generates the target travel route for traveling within the work site by the automatic travel based on the boundary line; a border crossing line generating unit that generates a border crossing line based on the boundary line; a border crossing diagnosis unit that, when the machine is located on the generated target travel route, diagnoses whether or not there is a possibility of a border crossing state in which the control point is located outside the border crossing line as viewed from the center of the work site; a boundary correction unit that, when the boundary crossing diagnosis unit determines that the control point may be in the boundary crossing state, moves the boundary line toward the inside of the work site by a retreat distance to set a corrected boundary line, The route generation system is configured such that, when the corrected boundary line is set, the route generation unit corrects or regenerates the target traveling route based on the corrected boundary line.

2. The route generation system according to claim 1 , wherein the target travel route includes a work travel route provided between two of the boundary lines facing each other, and a turning route connecting the two work travel routes.

3. The route generation system according to claim 2 , wherein the boundary correction unit automatically determines the retreat distance in accordance with an angle formed between the boundary line and an extension of the work travel route in the direction of travel of the machine body.

4. further comprising a retraction distance receiving unit that receives a manual input of the retraction distance, The path generation system according to claim 1 , wherein the boundary line correction unit sets the corrected boundary line using the retraction distance accepted by the retraction distance acceptance unit.

5. Further comprising a display unit for displaying predetermined information, The path generation system according to claim 4 , wherein the boundary line correction unit causes the display unit to display the recommended value of the evacuation distance.

6. Further comprising a display unit for displaying predetermined information, The route generation system of claim 4, wherein the border crossing diagnosis unit diagnoses whether or not the border crossing state may occur on the target driving route regenerated based on the corrected boundary line generated using the evacuation distance accepted by the evacuation distance acceptance unit, and if it diagnoses that the border crossing state may occur, causes the display unit to display a message prompting the user to re-input the evacuation distance.

7. The work site is divided into an inner area where work is performed by the reciprocating travel and an outer peripheral area outside the inner area, In the outer peripheral area, a circular trip is performed along the outer periphery of the work site, The route generation system according to claim 1 , wherein the border crossing diagnosis unit diagnoses whether or not the border crossing state may occur when the number of laps in the circumnavigation is one.

8. The path generation system according to claim 1 , wherein the boundary line correction unit sets the corrected boundary line for all of the boundary lines.

9. a correction side selection receiving unit that receives an input for selecting an outer periphery of the work area along which the correction boundary line is to be set; The path generation system according to claim 1 , wherein the boundary line correction unit sets the corrected boundary line for the boundary line corresponding to the selected perimeter.

10. The route generation system according to claim 2 , wherein the boundary line correction unit sets the corrected boundary line for the boundary line corresponding to a turning edge of the periphery of the work site along which the turning route is generated.

11. the control point setting unit moves the position of the aircraft indicated by the position information by a predetermined movement distance in a predetermined direction to set the control point; The route generation system according to claim 1 , wherein the travel distance is variable.

12. When it is determined that the aircraft is located at a border warning notification point and has crossed the border based on the position of the aircraft and the border crossing line, a border warning is issued at a predetermined notification timing after the border crossing is determined and continues for a predetermined notification time, A route generation system as described in claim 1, wherein when the corrected boundary line is set, at least one of the furrow warning notification point, the notification timing, and the notification time is corrected or regenerated based on the corrected boundary line.

13. the border crossing diagnosis unit determines whether the vehicle present on the regenerated target travel route may be in the border crossing state; A route generation system described in any one of claims 1 to 12, wherein when the border crossing diagnosis unit diagnoses that the vehicle present on the generated target driving route may enter the border crossing state, the route generation unit stops generating the target driving route.

14. The route generation system according to claim 1; a travel control unit that controls the automatic travel along the target travel route; A work machine equipped with a border crossing detection unit that detects a state in which the machine deviates from the work site during the automatic driving based on the positional relationship between the border crossing line and the control point.

Images