Route generation device, work support system, and route generation method

Abstract

To provide a route enabling efficient work by a work implement while driving a work vehicle.SOLUTION: The route generation device comprises an input device configured to input work information relating to work performed by a work implement mounted on a work vehicle while driving the work vehicle in a field, and a control device configured, based on field information relating to the field and the work information, to create a plurality of work routes for performing the work by the work vehicle and the work implement respectively in a first region of the field, a second region and a third region separated by the first region, and to create a plurality of movement routes for sequentially moving the work implement by the work vehicle to the plurality of work routes according to a work order of the first region, the second region, and the third region.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique for generating a route for performing work using a work vehicle and a work implement equipped on the work vehicle. [Background technology]

[0002] For example, Patent Document 1 discloses an autonomous driving system that autonomously drives a work vehicle equipped with a work implement (working device). The autonomous driving system includes a work vehicle and a wireless communication terminal. The wireless communication terminal includes an inner work path creation unit that rotates the work vehicle in a first circular direction to create an inner work path for performing work in an inner area in the center of a field; an outer work path creation unit that rotates the work vehicle in a second circular direction opposite the first circular direction to create an outer work path for performing work in an outer area located outside the inner area; and a mode selection unit that selects one of multiple path creation modes for determining the content and travel order of the inner work path and the outer work path. The work vehicle's control unit autonomously drives the vehicle along one of the inner and outer work paths received from the wireless communication terminal while performing work using the work implement, and then autonomously turns the vehicle while turning back and forth to reverse the vehicle's direction 180°, and then autonomously drives the vehicle along the next work path. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-81822 Summary of the Invention [Problem to be solved by the invention]

[0004] It is difficult for the control unit of a work vehicle on-site to determine which route the work vehicle and work equipment should take from the previous work route to the next work route among multiple work routes created in each of multiple areas of a field. This is difficult even for humans to determine. In particular, when multiple areas are far apart, when the end point of the previous work route is far away from the start point of the next work route, or when multiple areas are isolated by other areas, it is extremely difficult to determine the movement route for moving the work vehicle and work equipment from the previous work route to the next work route. This can take a long time to determine the movement route, or the movement route may not be determined appropriately, which could result in inefficient work.

[0005] In view of the above problems, the present invention has an object to provide a route that allows work to be efficiently performed by a work device while a work vehicle is traveling. [Means for solving the problem]

[0006] The technical means of the present invention for solving the above technical problems is characterized by the following points.

[0007] The route generation device of the present invention comprises an input device that inputs work information related to work to be performed by a work implement equipped on a work vehicle while the work vehicle is traveling in a field, and a control device that, based on field information related to the field and the work information, creates a plurality of work routes for the work vehicle and the work implement to be performed in a first area of ​​the field and in a second area and a third area separated by the first area, respectively, and creates a plurality of movement routes for the work vehicle to move the work implement sequentially through the plurality of work routes according to the order of work in the first area, the second area, and the third area. The work support system supports the work performed by the work vehicle and the work device, and includes the input route device and the control device.

[0008] The work assistance device of the present invention is a work assistance system that assists in carrying out the work in a field using the work vehicle and the work equipment, and includes the input route device and the control device.Furthermore, the route creation method of the present invention is a route creation method for generating a route for carrying out work in a field using a work vehicle and a work equipment equipped on the work vehicle, and includes the steps of: inputting work information related to the work using an input device; creating, by a control device, a plurality of work routes for carrying out the work using the work vehicle and the work equipment in a plurality of areas of the field based on the field information related to the field and the work information; and creating, by the control device, a plurality of movement routes for moving the work equipment by the work vehicle sequentially to a plurality of the work routes according to the order of work in the plurality of areas. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a work route and a travel route that allow work to be performed efficiently by a work device while a work vehicle is traveling. [Brief explanation of the drawings]

[0010]

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[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 15 is a side view showing an example of a work vehicle 1. The work vehicle 1 of this embodiment is configured as a tractor. However, the work vehicle of the present invention is not limited to a tractor, and may be configured as other agricultural machinery or work vehicles that can travel. The work vehicle 1 is capable of autonomous travel.

[0012] The work vehicle 1 comprises a vehicle body 3, a prime mover 4, a transmission 5, and a traveling device 7. A pair of traveling devices 7 are provided on the left and right sides and support the vehicle body 3. The traveling device 7 is provided with front wheels 7F, rear wheels 7R, a forward / reverse switching mechanism, a differential mechanism, etc. The front wheels 7F and rear wheels 7R are tire-type wheels, but may also be crawler-type wheels. The prime mover 4 is composed of a diesel engine, an electric motor, or the like. In this embodiment, the prime mover 4 is composed of a diesel engine. The transmission 5 is capable of switching the propulsive force of the traveling device 7 by changing gears, and can also switch the traveling device 7 between forward and reverse movement. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, which drives the traveling device 7, causing the vehicle body 3 to travel forward and backward (forward A1, backward A2).

[0013] A cabin 9 is provided on the vehicle body 3. A driver's seat 10 is provided inside the cabin 9. A lifting device 8 composed of a three-point linkage mechanism, a drawbar, or the like is provided at the rear of the vehicle body 3. A working device 2 for performing work can be connected to the lifting device 8. More specifically, the working device 2 can be connected to coupling parts 8g, 8h provided on the lifting device 8. By connecting the working device 2 to the coupling parts 8g, 8h, the working device 2 is mounted at the rear of the work vehicle 1.

[0014] The working device 2 performs work to cultivate crops in the open field. Examples of the working device 2 include a tilling device (rotary tiller) that tills the field, a spraying device that sprays fertilizer or water, a seeding device that sows crop seeds or seed potatoes, a soil-raising device (also called a "ridge-making device") that performs soil-raising work, a pest control device that sprays chemicals, or a harvesting device that harvests crops grown in the field.

[0015] FIG. 1 is a configuration diagram of a work assistance system 100. The work assistance system 100 includes a work vehicle 1 and a route generation device 50. The work assistance system 100 assists the work vehicle 1 in traveling in a field while performing work using a work device 2. To assist in the work, the route generation device 50 generates a route for the work vehicle 1 and work device 2 to perform the work.

[0016] In addition to the prime mover 4, transmission 5, and running gear 7 described above, the work vehicle 1 is equipped with a control device 60, braking device 6, steering device 29, lifting device 8, memory device 61, operating device 62, communication device 64, positioning device 40, internal sensor unit 65, and external sensor unit 66 shown in FIG. 1.

[0017] The control device 60 is made up of an ECU (Electronic Control Unit) that includes a processor such as a CPU (Central Processing Unit), internal memory, electrical circuits, etc. The internal memory of the control device 60 includes volatile memory and non-volatile memory. The control device 60 controls the operation of each part of the work vehicle 1 and the work implement 2 based on software programs and control data stored in the internal memory. In other words, the control device 60 is a controller for the work vehicle 1 and the work implement 2.

[0018] The storage device 61 includes a non-volatile memory, etc. Various data and information are stored in a readable and writable manner in the storage device 61. The operating device 62 is made up of switches, levers, pedals, other keys, etc. that can be operated by an operator such as a driver seated in the driver's seat 10 or a worker near the work vehicle 1.

[0019] The drive, stop, and rotation speed of the prime mover 4 are controlled by the control device 60. The transmission 5 changes the speed of the power of the prime mover 4 and transmits it to the traveling device 7. The braking device 6 brakes the work vehicle 1. The control device 60 controls the traveling device 7 via the transmission 5. In detail, the control device 60 controls the transmission 5 to switch the operating speed and operating direction of the traveling device 7, thereby changing the vehicle speed of the work vehicle 1 (body 3) and switching between forward and reverse travel of the work vehicle 1.

[0020] If the working apparatus 2 is equipped with an electronic control unit, the electronic control unit is electrically connected to an in-vehicle network established in the control device 60 and is able to communicate with the control device 60. The electronic control unit also controls the operation of each part of the working apparatus 2 based on work commands received from the control device 60, causes the working apparatus 2 to perform work, and transmits information or data indicating the status of each part of the working apparatus 2 to the control device 60. The control device 60 detects the status of the working apparatus 2 based on the information or data received from the working apparatus 2.

[0021] If the working device 2 is not equipped with an electronic control unit, the control device 60 starts and stops work by using the lifting device 8 to raise and lower the working device 2 and change the position of the working device 2, thereby detecting the position and state of the working device 2. Furthermore, if the working device 2 is a working device that has a fixed height, such as a pest control device, the control device 60 determines the position and state of the working device 2 from the on / off state of the PTO (Power take off) or the on / off operation state of the operating device 62 of the working device 2.

[0022] The steering device 29 includes a steering shaft and a power steering mechanism, and steers the vehicle body 3 by changing the direction of the front wheels 7F included in the traveling device 7. The work vehicle 1 is capable of manual steering, in which the steering device 29 steers the vehicle body 3 in response to operation of a steering wheel provided in the cabin 9, and automatic steering, in which the control device 60 controls the steering device 29 to steer the vehicle body 3.

[0023] Furthermore, the work vehicle 1 can travel and stop by operating the transmission 5, the traveling device 7, or the braking device 6 in response to manual operation of the accelerator member or brake pedal provided on the operating device 62. Furthermore, the travelling device 7 is operated or stopped in response to control of the transmission 5 and the braking device 6 by the control device 60, so that the work vehicle 1 can automatically travel, stop, and change vehicle speed.

[0024] That is, the work vehicle 1 is capable of manual driving, in which the operator performs driving and steering operations; automatic driving, in which the control device 60 automatically performs driving and steering (this refers to "autonomous driving" or "automatic driving"); and automatic steering, in which the control device 60 automatically performs steering and the operator performs driving operations.

[0025] The lifting device 8 includes a control valve and a hydraulic actuator. The control device 60 electrically controls the switching position or opening of the control valve to adjust the hydraulic pressure supplied to the hydraulic actuator of the lifting device 8, thereby operating the hydraulic actuator. When the hydraulic actuator of the lifting device 8 is operated, the connecting parts 8g, 8h rotate up and down, and the working device 2 connected to the connecting parts 8g, 8h moves up and down. Note that the height of the working device 2, such as a pest control device, is not changed by the lifting device 8 and remains constant at all times.

[0026] The communication device 64 is a communication interface for the work vehicle 1 and includes a communication circuit for an in-vehicle network established in the work vehicle 1 and a communication circuit for a public network. The control device 60 communicates with the route generation device 50 wirelessly or via a cable via the communication device 64. The control device 60 also communicates wirelessly with external devices such as a server 80 via a public communication network such as the Internet. In other words, the communication device 64 is an output device (output interface) and an input device (input interface) that inputs and outputs (transmits and receives) information, data, signals, etc. to and from the route generation device 50 and the server 80. The server 80 is an external device and information management device that manages various types of information related to the field, the work vehicle 1, and the work device 2.

[0027] The positioning device 40 is, for example, a GPS (Global Positioning System) or a GNSS (Global Navigation Satellite System). The position (current position) of the vehicle body 3 of the work vehicle 1 is determined by a satellite positioning system such as the Global Navigation Satellite System. Specifically, for example, the positioning device 40 is installed near the center of the vehicle body 3, and detects its own coordinate position determined by the satellite positioning system as the position of the vehicle body 3. The positioning device 40 has an inertial measurement unit (IMU) that includes an acceleration sensor, a gyro sensor, etc. The positioning device 40 detects the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3 using the inertial measurement unit.

[0028] The internal sensor unit 65 includes multiple sensors installed in various parts of the work vehicle 1 and the work implement 2. Based on output signals output from the multiple sensors of the internal sensor unit 65, the control device 60 detects the status (driving and stopped status, attitude, position, etc.) of the transmission 5, braking device 6, traveling device 7, lifting device 8, steering device 29, operating device 62, and work implement 2.

[0029] The external sensor unit 66 includes a laser sensor such as LiDAR, an ultrasonic sensor, a camera, etc. An appropriate number of such laser sensors, ultrasonic sensors, cameras, etc. are installed at the front, rear, left and right sides of the vehicle body 3, above the cabin 9, etc. The external sensor unit 66 senses the surroundings of the work vehicle 1 and work implement 2 using the laser sensors, ultrasonic sensors, cameras, etc. to detect the presence or absence of an object and the distance to the object, etc. The external sensor unit 66 also outputs the detection information obtained by sensing to the control device 60 as sensing information.

[0030] The route generating device 50 is configured from an information processing device (computer) such as a tablet terminal device or a smartphone. The route generating device 50 is mounted, for example, inside the cabin 9 of the work vehicle 1 and is detachable from the work vehicle 1. In other words, the work vehicle 1 is equipped with the route generating device 50. The operator can detach the route generating device 50 from the work vehicle 1 and carry it with them.

[0031] The route generation device 50 is equipped with a control device 51, a display / operation device 52, a storage device 53, and a communication device 54. The control device 51 is a processor such as a CPU, and includes an internal memory. The internal memory of the control device 51 includes a volatile memory and a non-volatile memory. The control device 51 controls the operation of each part of the route generation device 50 based on the software program and control data stored in the internal memory. In other words, the control device 51 is a controller of the route generation device 50.

[0032] The display operation device 52 is composed of a touch panel display and displays various types of information on the screen. The operator performs predetermined operations on the display screen of the display operation device 52 to input various types of information or instructions. The display operation device 52 is a user interface and includes a display device, an output device (output interface), and an input device (input interface). Instead of the display operation device 52, independent display devices, output devices, and input devices may be provided in the route generation device 50 or the work vehicle 1.

[0033] The storage device 53 is composed of non-volatile memory, etc. Information or data that supports the travel and work of the work vehicle 1 is stored in a readable and writable manner in the storage device 53. The control device 51 controls each part of the route generation device 50 based on software programs, control data, etc. stored in the storage device 53 or internal memory.

[0034] The communication device 54 is a communication interface for the route generation device 50 and includes a communication circuit. The control device 51 communicates with the control device 60 of the work vehicle 1 wirelessly or via a wired connection using the communication device 54, and communicates wirelessly with the server 80 via a public communication network such as the Internet. In other words, the communication device 54 inputs and outputs information, data, signals, etc. to and from the work vehicle 1 and the server 80. The input device (input interface) and output device (output interface) input (transmit and receive) data.

[0035] By the operator operating the display operation device 52, field information about the field, work information about work in the field, vehicle information about the work vehicle 1, and equipment information about the work equipment 2 are each input to the route generation device 50. Alternatively, the field information, work information, vehicle information, and equipment information input by another information processing device are stored in the server 80, and the control device 51 receives the field information, work information, vehicle information, and equipment information from the server 80 via the communication device 54 and inputs (acquires) it into the route generation device 50. The field information, work information, vehicle information, and equipment information input to the route generation device 50 in this way is stored by the control device 51 in the storage device 53 or its internal memory.

[0036] The field information includes information indicating the field's identification information, position (coordinates), area, and a field map showing the field. The field map shows the outline of the field and various areas set in the field. The information indicating the field's position, area, outline, and field map is created by the control device 51 or the like (or another information processing device) based on map information acquired from an external device, or based on multiple vehicle positions periodically measured by the positioning device 40 while the work vehicle 1 is traveling along the ridges in the field. In addition to the above, the field information may also include information indicating the use of the field, the crops to be cultivated, and the crop cultivation plan (schedule).

[0037] Work information includes work information related to work that has been performed in the past in a field and work information related to work that is planned to be performed in the field. Work information related to past work includes information indicating work conditions, work history, usage status of work vehicles and work equipment, and work plans. Work information related to planned work includes information indicating work conditions, planned usage of work vehicles and work equipment, and work plans. Work information and field information are associated with each other for each field.

[0038] The vehicle information includes information indicating the identification information, type, dimensions, specifications, etc. of the work vehicle 1. The vehicle information is also stored in the internal memory of the control device 60 of the work vehicle 1. The device information includes information indicating the identification information, type, dimensions, specifications, etc. of the work device 2. There are cases where the work device 2 is provided with a memory, and the device information is also stored in this memory.

[0039] The control device 51 creates a virtual planned route for performing work using the work implement 2 equipped on the work vehicle 1 while the work vehicle 1 travels through the field, based on at least the field information and work information out of the field information, work information, vehicle information, and equipment information. Specifically, the control device 51 creates multiple work routes for performing work using the work implement 2 while the work vehicle 1 travels through multiple areas set in the field. The control device 51 also creates multiple movement routes for moving the work implement 2 sequentially through the multiple work routes while the work vehicle 1 travels, according to the order of work in the multiple areas. Furthermore, the control device 51 may also create a movement and work route. The control device 51 then displays a field map including the created routes on the display / operation device 52 and transmits the created routes to the work vehicle 1 via the communication device 54.

[0040] The control device 60 of the work vehicle 1 controls the traveling device 7, steering device 29, etc. based on the route received (acquired) from the route generating device 50 by the communication device 64, causing the vehicle body 3 to travel in the field and perform work using the work device 2. In other words, the work vehicle 1 travels autonomously based on the route.

[0041] 2 and 3 show examples of screens displayed on the display operation device 52 of the route generating device 50. When an operator performs a predetermined operation on the display operation device 52, the control device 51 reads the display data stored in the storage device 53 and causes the display operation device 52 to display each of the screens D1 and D2 shown in Figures 2 and 3. In addition, the control device 51 changes the display contents of each of the screens D1 and D2 using the display operation device 52 in response to an input operation on the display operation device 52.

[0042] The field selection screen D1 shown in Fig. 2 is a screen for selecting a field to be worked on by the work vehicle 1 and work implement 2. The control device 51 causes the display operation device 52 to display, on the field selection screen D1, a plurality of field maps MP1 each showing a plurality of fields pre-registered (stored) in the storage device 53. Although only two field maps MP1 are displayed in Fig. 2, when the operator taps the next candidate key B10, the control device 51 causes the display operation device 52 to display, on the field selection screen D1, a plurality of other field maps MP1 registered in the storage device 53. In addition to the field map MP1, various keys are also displayed on the field selection screen D1.

[0043] When the operator selects one of the field maps MP1 by tapping it, the control device 51 displays the selected field map MP1 in a different display format from the other field maps MP1. In FIG. 2, the outline of the selected field map MP1 is shown in bold. When the operator taps the Next key B9 while one of the field maps MP1 is selected, the control device 51 determines the field corresponding to the selected field map MP1 as the work target, reads out the field information corresponding to that field map MP1 from the storage device 53, and stores that field information in its internal memory. In addition, the control device 51 displays the route creation screen D2 shown in FIG. 3 on the display operation device 52 instead of the field selection screen D1.

[0044] The route creation screen D2 is a screen for inputting the work conditions required to create a route for work to be performed by the work vehicle 1 and work implement 2. Note that the type of work and the equipment information for the work implement 2 that will perform that work (such as the relative position and work width of the work implement 2 with respect to the work vehicle 1) have already been input by the operator on another screen that was displayed on the display operation device 52 before the field selection screen D1.

[0045] The control device 51 displays on the route creation screen D2 a field map MP1 corresponding to the field selected on the field selection screen D5, and displays multiple areas C1, E1, E2, and J1 set in the field indicated by the field information corresponding to that field map MP1. (See also FIG. 5A, which shows the field corresponding to the field map MP1 shown in FIG. 3.)

[0046] In this example, a wide central area C1 (first area) is set as a work area in the center of the field (field map MP1) to perform tasks such as sowing, soiling, pest control, and harvesting in the upland farming field. In addition, a headland E1 (second area) is set with a predetermined width at the northern end of the field, and a headland E2 (third area) is set with a predetermined width at the southern end. The headlands E1 and E2 are separated by the central area C1. The farmer decides at his discretion whether or not to work in the headlands E1, E2. A non-work area J1 with a predetermined width is set between each of the headlands E1, E2 and the central area C1. In addition, non-work areas J1 with a predetermined width are set at both the east and west ends of the field.

[0047] In addition to the field map MP1, the route creation screen D2 in FIG. 3 also displays various keys and input fields. The central work key B11 is a key for setting whether or not work will be performed in the central region C1. The headland work key B12 is a key for setting whether or not work will be performed in the headlands E1 and E2. When the operator selects "Yes" with the central work key B11, the central region C1 is set as the work target, and when the operator selects "No," the central region C1 is set as a non-work target. When the operator selects "Yes" with the headland work key B12, the headlands E1 and E2 are set as work targets, and when the operator selects "No," each of the headlands E1 and E2 is set as a non-work target. As another example, a headland work key for setting whether or not work will be performed for each of the headlands E1 and E2 may be provided.

[0048] When "Yes" is selected with each task key B11, B12, a numerical value indicating the work direction can be entered in the corresponding input field K1, K2. When the operator operates the display operation device 52 to input, for example, "1" in the input field K1, the north-south direction corresponding to "1" (the longitudinal direction of the field map MP1, the up-down direction in FIG. 3) is set as the work direction V1, V2 (FIG. 5A) for the central area C1. Also, when the operator inputs, for example, "2" in the input field K2, the east-west direction corresponding to "2" (the lateral direction of the field map MP1, the longitudinal direction of the headlands E1, E2, the left-right direction in FIG. 3) is set as the work direction Y1, Y2 (FIG. 5A) for the headlands E1, E2.

[0049] As another example, the control device 51 may automatically set the working direction of the central area C1 and the headlands E1 and E2 based on the contour H1 of the field, the contour of the central area C1, and the contours of the headlands E1 and E2.

[0050] In the work order input field K3, the names of the areas set to be worked on with the work keys B11 and B12 ("central area," "headland (1)," and "headland (2)") are displayed one above the other. The input field K3 indicates that each displayed area will be worked on in order from top to bottom. In Fig. 3, it is indicated that work will be done in the order of central area C1, headland E1, and headland E2. After the operator selects one of the areas displayed in the input field K3 by tapping, each time he taps the up key B13, the work order of the selected area moves up by one (it moves earlier), and each time he taps the down key B14, the work order of the selected area moves down by one (it moves later).

[0051] As another example, the operator may input the work order for the central area C1 and the headlands on the route creation screen D2, and the control device 51 may set the work order for the multiple headlands E1, E2 based on the positions of the entrances / exits H1z of the field, etc. Alternatively, the control device 51 may set the work order for the central area C1 and the multiple headlands E1, E2 based on the positions of the entrances / exits H1z of the field, etc.

[0052] As described above, after the operator sets the work conditions on the route creation screen D2, when the operator taps the route creation key B15, the control device 51 stores the work conditions in the internal memory as part of the work information, and executes the route generation process.

[0053] Fig. 4 is a flowchart showing an example of a route generation process. The control device 51 executes each sub-process of Fig. 4 in accordance with a software program stored in the storage device 53. Fig. 5A is a diagram showing an example of a farm field. Figs. 5B to 5H are diagrams showing an example of a route creation procedure for the farm field shown in Fig. 5A. In this example, the control device 51 creates a route for the work vehicle 1 and the work device 2 to perform work such as sowing, soil cultivation, or harvesting in the farm field.

[0054] 4 begins, the control device 51 first reads field information corresponding to the field to be worked on, and work information and equipment information related to the work to be performed in that field from its internal memory or the storage device 53 (S1). Next, the control device 51 identifies the work area of ​​the field (central area C1, headlands E1, E2) from the field information and work information, and creates a work line along which work will be performed by the work equipment 2 while the work vehicle 1 travels through that work area (S2).

[0055] For example, if the work information indicates that the central area C1 shown in FIG. 5A is the work target, the control device 51 creates a work line L1a (shown by a thick solid line) for performing the work in the central area C1 as shown in FIG. 5B (S2 in FIG. 4). A work line L1a is created parallel to the work directions V1 and V2 of the central area C1 shown, at an interval equal to the work width Wa of the work device 2 shown in the device information or the work width equivalent to the work width Wa minus a predetermined overlapping amount.

[0056] More specifically, the control device 51 creates the first work line L1a at a position where one side of the region C1 parallel to the work directions V1, V2 is shifted inward from the central region C1 by half the work width Wa or the equivalent work width, and then creates work lines L1a in the central region C1 at intervals of the work width or the equivalent work width from the first work line L1a. If the width of the central region C1 perpendicular to the work directions V1, V2 is at least twice the work width Wa or the equivalent work width, multiple work lines L1a are created in the central region C1 as shown in Figure 5B.

[0057] If the work information indicates that headlands E1, E2 are work targets, the control device 51 creates work lines L1a for the work on the headlands E1, E2, parallel to the work directions Y1, Y2 of the headlands E1, E2, at intervals of the work width Wa or the work equivalent width, as shown in Fig. 5B (S2 in Fig. 4). At this time, the control device 51 creates the first work line L1a at a position where one side of each headland E1, E2 parallel to the work directions V1, V2 is shifted inward of each headland E1, E2 by half the work width Wa or the work equivalent width, and then creates work lines L1a on each headland E1, E2 at intervals of the work width Wa or the work equivalent width from the first work line L1a. If the width of each headland E1, E2 perpendicular to the work directions Y1, Y2 is more than twice the work width or the work equivalent width, multiple work lines L1a are created on each headland E1, E2.

[0058] The work line L1a is the route along which the work implement 2 moves while performing work. In this example, the center of the work vehicle 1 in the vehicle width direction and the center of the work implement 2 in the width direction coincide with each other, so the work line L1a is also the route along which the work vehicle 1 travels to perform work using the work implement 2.

[0059] Next, if there are multiple work target areas (S3: YES in FIG. 4), the control device 51 creates a movement line along which the work vehicle 1 travels and the work implement 2 moves in the non-working area J1, which is the passageway (movement area) for the work vehicle 1 and the work implement 2 (S4). At this time, as shown in FIG. 5C, the control device 51 creates movement lines L2a (shown as thin dashed lines) in each non-working area J1 located east-west of the central area C1 (left and right in FIG. 5C) and in each non-working area J1 located between the central area C1 and each headland E1, E2. The movement lines L2a are candidate movement routes, which will be described later.

[0060] Next, the control device 51 identifies the position of the field entrance / exit H1z indicated in the field information and the work order of the multiple work target areas indicated in the work information (the work order of the central area C1 and the multiple headlands E1, E2). Then, the control device 51 creates a work route L1 including the work line L1a of each work target area according to the position of the entrance / exit H1z and the work order of the multiple work target areas, and creates a movement route L2 including at least one of the multiple movement lines L2a (S5). The work route L1 is a route along which the work vehicle 1 travels and the work implement 2 performs continuous work on the corresponding work target areas. The movement route L2 is a route along which the work vehicle 1 travels and the work implement 2 moves from the previous work route L1 to the next work route L1 without performing work.

[0061] For example, if the central area C1 and headlands E1 and E2 are the areas to be worked on, and work is specified to be carried out in the order of central area C1, headland E1, and headland E2, the control device 51 checks the position of the corresponding work line L1a for working on headland E2, which is the last area in the work order.The control device 51 then determines the end point of the work line L1a corresponding to headland E2 that is closest to the field entrance / exit H1z shown in Figure 5D, etc., as the end position Pg of the work in the entire field.The control device 51 then calculates the distance from the end position Pg to the central area C1, headland E1, and headland E2. The end points and start points of multiple work lines L1a are determined in the reverse order of the work order of C1, headland E1, and headland E2, i.e., in the order of headland E2, headland E1, and central area C1, and multiple movement routes are created and the end points and start points of the multiple movement routes are determined.

[0062] Specifically, the control device 51 determines the end point of the work line L1a that corresponds to the headland E2 and determines the other end point of the work line L1a as the start point of the work line L1a. If there is another work line L1a corresponding to the headland E2, the control device 51 determines the end point of the work line L1a that is closest to the most recently determined start point as the end point of the work line L1a, and determines the other end point of the work line L1a as the start point of the work line L1a. In this way, the control device 51 determines the start and end points of all work lines L1a corresponding to the headland E2. This also determines the direction of travel of the work line L1a corresponding to the headland E2. In Figure 5D and other figures, the work line L1a is marked with an arrow indicating the direction of travel, with the arrowhead positioned at the end point of the work line L1a.

[0063] The control device 51 also determines the work order of the work lines L1a corresponding to the headland E2 in order of furthest from the entrance / exit H1z. The control device 51 then determines information indicating the work line L1a corresponding to the headland E2, the start and end points of the work line L1a, and the work order of the work line L1a, as the work route L1 corresponding to the headland E2. That is, the control device 51 creates a work route L1 that includes the work line L1a corresponding to the headland E2. The control device 51 also determines the end point of the work line L1a corresponding to the headland E2 that is last in the work order to be the end point P3g (the same as the end position Pg) of the work route L1 corresponding to the headland E2, and determines the start point of the work line L1a that is first in the work order to be the start point P3s of the work route L1 corresponding to the headland E2.

[0064] Next, as shown in Figure 5E, the control device 51 selects the movement line L2a closest to the starting point P3s of the work route L1 corresponding to the headland E2 from among the multiple movement lines L2a extending from the headland E2 to the headland E1. The control device 51 then determines the end point of the movement line L2a that is closest to the starting point P3s as the end point of the movement line L2a, and determines the other end point as the start point of the movement line L2a. This also determines the direction of travel of the movement line L2a. In Figure 5E and other figures, an arrow indicating the direction of travel is attached to the movement line L2a, with the arrowhead positioned at the end point of the movement line L2a.

[0065] The control device 51 then determines the information indicating the movement line L2a and the start and end points of the movement line L2a as a movement route L2 (shown by a thick dashed line) from headland E1 to headland E2 and the start and end points of the movement route L2. In other words, the control device 51 creates a movement route L2 in the non-work area J1 that causes the work vehicle 1 to move the work implement 2 toward (move) the start point of the work route L1 corresponding to the headland E2 without performing any work. The control device 51 may extend or shorten the movement route L2 depending on the positions of the headlands E1, E2.

[0066] Next, as shown in FIG. 5F, the control device 51 determines the end point of the work line L1a corresponding to the headland E1 that is closest to the starting point of the movement route L2 as the end point of that work line L1a, and determines the other end point of that work line L1a as the starting point of that work line L1a. If there is another work line L1a corresponding to the headland E1, the control device 51 determines the end point of the work line L1a that is closest to the most recently determined starting point as the end point of that work line L1a, and determines the other end point of that work line L1a as the starting point of that work line L1a. In this way, the control device 51 determines the start and end points of all work lines L1a corresponding to the headland E1. This also determines the direction of travel of the work line L1a corresponding to the headland E1.

[0067] The control device 51 also determines the work order of the work line L1a corresponding to the headland E1 in order of furthest from the entrance / exit H1z. The control device 51 then determines information indicating the work line L1a corresponding to the headland E1, the start and end points of the work line L1a, and the work order of the work line L1a as the work route L1 corresponding to the headland E1. That is, the control device 51 creates a work route L1 that includes the work line L1a corresponding to the headland E1. The control device 51 also determines the end point of the work line L1a corresponding to the headland E1 that is last in the work order as the end point P2g of the work route L1 corresponding to the headland E1, and determines the start point of the work line L1a that is first in the work order as the start point P2s of the work route L1 corresponding to the headland E1.

[0068] Furthermore, the control device 51 determines a movement route L2 that heads from the end point P2g of the work route L1 corresponding to the headland E1 to the start point P3s of the work route L1 corresponding to the headland E2. In other words, the movement route L2 is a movement route that moves the work implement 2 by the work vehicle 1 from the previous work route L1 corresponding to the headland E1 where work will be performed first, to the next work route L1 corresponding to the headland E2 where work will be performed next, among the multiple work routes L1 for performing work on the multiple headlands E1, E2 respectively.

[0069] Next, the control device 51 selects a movement line L2a that is closest to the start point of the work route L1 that corresponds to the headland E1, as shown in Fig. 5G. At this time, the control device 51 may exclude from the selection candidates a movement line L2a that is parallel to the work line L1a that corresponds to the headland E1. This makes it possible to make the turning angle of the work vehicle 1 smaller (particularly avoiding a 180° turn) when the work vehicle 1 moves from the headland E1 towards the headland E2, making it easier to turn.

[0070] The control device 51 determines the end point of the movement line L2a selected as described above that is closest to the starting point of the work route L1 corresponding to the headland E1 as the end point of the movement line L2a, and determines the other end point as the starting point of the movement line L2a. The control device 51 then determines information indicating the movement line L2a and the starting and ending points of the movement line L2a as the movement route L2 and the starting and ending points of the movement route L2. In other words, the control device 51 creates a movement route L2 in the non-working area J1 that directs the work implement 2 by the work vehicle 1 toward the starting point of the work route L1 corresponding to the headland E1 without performing any work. The control device 51 may extend or shorten the movement route L2 depending on the positions of the headland E1 and the central area C1.

[0071] In Figure 5G and other figures, for convenience, the movement route L2 heading toward the starting point of the work route L1 corresponding to the headland E1 and the movement route L2 heading toward the starting point of the previously created work route L1 corresponding to the headland E2 are shown offset from each other, but the two movement routes L2 are created on the same axis based on the same movement line L2a. Furthermore, the two movement routes L2 have opposite directions of travel.

[0072] As described above, the control device 51 is able to select the same movement line L2a multiple times to create multiple movement routes L2. Furthermore, because the control device 51 selects a movement line L2a that is perpendicular to the work route L1 (and work line L1a) that corresponds to the headlands E1, E2 and creates a movement route L2 that is superimposed on the movement line L2a, when the work vehicle 1 moves between the work route L1 that corresponds to the headlands E1, E2 and the movement route L2, the number of times the work vehicle 1 switches its steering direction and forward / backward traveling direction can be kept to a minimum, making it easier to turn the work vehicle 1.

[0073] Next, the control device 51 controls the work line L1 corresponding to the central area C1 as shown in FIG. Among the work lines L1a, the control device 51 determines the end point of the work line L1a closest to the starting point of the movement route L2 to the headland E1 as the end point of the work line L1a, and determines the other end point of the work line L1a as the starting point of the work line L1a. If there is another work line L1a corresponding to the central area C1, the control device 51 determines the end point of the work line L1a closest to the most recently determined starting point as the end point of the work line L1a, and determines the other end point of the work line L1a as the starting point of the work line L1a. In this way, the control device 51 determines the starting points and end points for all work lines L1a corresponding to the central area C1. This also determines the direction of travel of the work line L1a corresponding to the central area C1.

[0074] The control device 51 also determines the work order of the work lines L1a corresponding to the central area C1 in order of furthest from the entrance / exit H1z. The control device 51 then determines information indicating the work lines L1a corresponding to the central area C1, the start and end points of the work lines L1a, and the work order of the work lines L1a as the work route L1 corresponding to the central area C1. That is, the control device 51 creates a work route L1 that includes the work lines L1a corresponding to the central area C1. The control device 51 also determines the end point of the work line L1a corresponding to the central area C1 that is last in the work order as the end point P1g of the work route L1 corresponding to the central area C1, and determines the start point of the work line L1a corresponding to the first in the work order as the start point P1s of the work route L1 corresponding to the central area C1, which is also the start position Ps of the work in the field.

[0075] Furthermore, the control device 51 determines a movement route L2 that heads from the end point P1g of the work route L1 corresponding to the central area C1 to the start point P2s of the work route L1 corresponding to the headland E1. In other words, this movement route L2 is a movement route that moves the work implement 2 by the work vehicle 1 from the previous work route L1 corresponding to the central area C1 where work will be performed first, to the next work route L1 corresponding to the headland E1 where work will be performed next, between the work route L1 for performing work in the central area C1 and the work route L1 for performing work on one of the multiple headlands E1, E2 (headland E1). The control device 51 erases other movement lines L2a that were not selected to create the movement route L2.

[0076] As a result of the above, the control device 51 determines multiple work routes L1 corresponding to the central area C1 and headlands E1 and E2, which are multiple work target areas in the field; starting points P1s, P2s, and P3s, end points P1g, P2g, and P3g, and the work order of each work route L1; multiple movement routes L2 for sequential movement to the multiple work routes L1; and the start and end points and work order of each movement route L2. This results in a state in which a series of routes (multiple work routes L1 and multiple movement routes L2) for work to be performed by the work vehicle 1 and work implement 2 in the field have been created. The circled numbers (encircled numbers) attached to the symbols L1a, L1, L2a, and L2 shown in Figure 5H indicate the order of the work line L1a and movement line L2a (movement route L2) for work to be performed by the work vehicle 1 and work implement 2 in the field. (The same applies to the circled numbers attached to each symbol in Figures 8A to 14, described later.)

[0077] On the other hand, if the field has a single work area (S3: NO in FIG. 4), the control device 51 creates a work route L1 including a work line L1a corresponding to the work area based on the location of the field's entrance / exit H1z (S6). At this time, if there is only one work line L1a corresponding to the single work area, the control device 51 determines the end point of the work line L1a closest to the entrance / exit H1z as the end point of the work line L1a, and the end point farthest from the entrance / exit H1z as the start point of the work line L1a. This also determines the direction of travel of the work line L1a. The control device 51 then determines the information indicating the position of the work line L1a and the start and end points of the work line L1a as the work route L1 for the single work area. The control device 51 also determines the start and end points of the work line L1a as the start and end points of the work route L1, which are also the start position Ps and end position Pg of the work in the field. and decide.

[0078] Furthermore, if there are multiple work lines L1a corresponding to a single work area, the control device 51 determines the endpoint of the work line L1a closest to the entrance / exit H1z as the end point of that work line L1a, and determines the other endpoint of that work line L1a as the start point of that work line L1a.The control device 51 also determines the endpoint of the work line L1a next to the start point as the end point of that work line L1a, and determines the other endpoint of that work line L1a as the start point of that work line L1a.In this way, the control device 51 determines the start points and end points for all of the multiple work lines L1a.This also determines the direction of travel for each of the multiple work lines L1a.

[0079] The control device 51 also determines the order of work for the multiple work lines L1a corresponding to a single work area in order of furthest from the entrance / exit H1z. The control device 51 then determines the information indicating the multiple work lines L1a, the starting points and ending points of the multiple work lines L1a, and the work order for the multiple work lines L1a as the work route L1 corresponding to the single work area.

[0080] After creating the work route L1 for a single work area as described above, the control device 51 determines the start point of the work line L1a included in the work route L1 that is first in the work order as the start point of the work route L1 and the work start position Ps in the field. The control device 51 also determines the start point of the work line L1a that is last in the work order as the end point of the work route L1 and the work end position Pg in the field.

[0081] As described above, after executing step S5 or step S6 in Figure 4, the control device 51 outputs information about the work route L1 and the movement route L2 (S7). At this time, the control device 51 stores information indicating the positions, start points, end points (directions), order, etc. of the work route L1 and the movement route L2 as route information in its internal memory or the storage device 53. The control device 51 also displays (outputs) the work route L1 and the movement route L2 (or just the work route L1) on the field map MP1 in the route creation screen D2, as shown in Figure 6, for example.

[0082] Then, when the operator taps the Next key B9 on the route creation screen D2 in Fig. 6, the control device 51 transmits (outputs) the route information and the corresponding field information and equipment information as work control information for automatic driving (autonomous traveling) to the work vehicle 1 via the communication device 54. The control device 51 also stores the work control information in its internal memory or the storage device 53, and displays the work guidance screen D3 shown in Fig. 7 on the display operation device 52 in place of the route creation screen D2.

[0083] The work guidance screen D3 displays a field map MP1 corresponding to the field to be worked on, a vehicle object M1 indicating the work vehicle 1 and work implement 2, and a number of operation keys. Of these, the field map MP1 is the same field map MP1 as the immediately preceding route creation screen D2, and includes a work route L1 and a travel route L2.

[0084] The control device 60 of the work vehicle 1 receives the work control information transmitted from the route generation device 50 via the communication device 64 and stores it in the storage device 61. Then, when the operator operates at least one of the display operation device 52 and the operation device 62 to input a command to start the automatic driving mode of the work vehicle 1, the control device 60 starts the automatic driving mode. After starting the automatic driving mode, the control device 60 controls the prime mover 4, the transmission 5, the braking device 6, the steering device 29, the lifting device 8, and the work device 2 based on the work control information, the vehicle information of the work vehicle 1, the position of the work vehicle 1 (body 3) detected by the positioning device 40, the detection results of the internal sensor unit 65 and the external sensor unit 66, etc., to control the traveling and steering of the work vehicle 1. While the operation is being carried out automatically, automatic operation is carried out in which the work implement 2 performs work on the field.

[0085] That is, the control device 60 causes the work vehicle 1 to travel automatically (autonomously) based on each work route L1 included in the work control information, while the work device 2 performs work in the central region C1 of the field and the headlands E1, E2. The control device 60 also causes the work vehicle 1 to travel automatically based on each movement route L2 included in the work control information, while moving the work device 2 sequentially to each work route L1. During the automatic driving of the work vehicle 1, the control device 51 of the route generation device 50 acquires, via the communication device 54, the current position of the work vehicle 1 measured periodically or at predetermined timing by the positioning device 40, and causes the display operation device 52 to display, as needed, the vehicle object M1 on the field map MP1 in the work guidance screen D3 corresponding to the current position.

[0086] Furthermore, when a command to start the auto-steer mode (automatic steering, manual driving) of the work vehicle 1 is input by the driver or the like of the work vehicle 1 operating at least one of the display operation device 52 and the operation device 62, the control device 60 starts the auto-steer mode and automatically steers the work vehicle 1 based on work control information, etc. At this time, the driver operates the accelerator operation member, brake operation member, gear change operation member, work operation member, etc. included in the operation device 62, so that the work vehicle 1 drives, the speed of the work vehicle 1 is changed, and work is performed by the work device 2. That is, in the auto-steer mode, the driving (change in vehicle speed) of the work vehicle 1 (vehicle body 3) is left to manual control, and the steering of the work vehicle 1 is performed automatically based on the work control information, etc.

[0087] When working in such auto-steer mode, if the driver manually drives the work vehicle 1, the control device 60 controls the steering of the work vehicle 1 using the steering device 29 based on each work route L1 included in the work control information, and the work implement 2 performs work in the central region C1 of the field and in the headlands E1 and E2. The control device 60 also controls the steering of the work vehicle 1 based on each movement route L2 included in the work control information, and moves the work implement 2 sequentially to each work route L1. The control device 51 also displays a field map MP1 using the display operation device 52, and displays a vehicle object M1 indicating the current position of the work vehicle 1 on the field map MP1.

[0088] The field map MP1 showing the work route L1 and travel route L2 can also be used when the work vehicle 1 is being manually driven (in manual driving mode). That is, the driver of the work vehicle 1 operates the display operation device 52 to drive the work vehicle 1 so that it travels along the work route L1 and travel route L2, respectively, while visually checking the work route L1 and travel route L2 on the field map MP1 displayed on the display operation device 52 and the position of the work vehicle 1. More specifically, the driver operates the accelerator operation member, etc. of the operation device 62, and operates the steering wheel to perform work using the work implement 2 while causing the work vehicle 1 to travel along the work route L1, and to move the work implement 2 to each work route L1 while causing the work vehicle 1 to travel along the travel route L2. At this time, too, the control device 51 displays a vehicle object M1 indicating the current position of the work vehicle 1 on the field map MP1 displayed on the display operation device 52.

[0089] In the embodiment shown in Figure 5G, an example is shown in which the movement route L2 is created based on a movement line L2a that is not parallel to the work line L1a corresponding to the headland E1, but the control device 51 may also create the movement route L2 based on a movement line L2a that is parallel to the work line L1a corresponding to the headland E1, as shown in Figures 8A and 8B, for example.

[0090] For example, in step S5 of Fig. 4, the control device 51 selects a movement line L2a that is parallel to the work line L1a corresponding to the headland E1 and is closest to the start point of the work route L1 corresponding to the headland E1, as shown in Fig. 8A. That is, the control device 51 selects the movement line L2a that is closest to the work line L1a that is in both the central area C1 and the headland E1, where the work order is continuous. .

[0091] The control device 51 then determines the end point of the selected movement line L2a that is closest to the starting point of the work route L1 corresponding to the headland E1 as the end point of the movement line L2a, and determines the other end point as the starting point of the movement line L2a. The control device 51 also determines information indicating the movement line L2a and the starting and ending points of the movement line L2a as the movement route L2 and the starting and ending points of the movement route L2. The control device 51 may also combine the movement route L2 created in this way that is parallel to the work line L1a on the headland E1 with a movement route L2 created based on the movement line L2a that is perpendicular to the work line L1a on the headland E1 (shown by the white arrow in FIG. 8A).

[0092] In the above case, the control device 51 then determines the endpoint of the work line L1a corresponding to the central area C1 that is closest to the starting point of the movement route L2 parallel to the work line L1a in the headland E1 (the work line L1a on the right in FIG. 8A) as the end point of that work line L1a and the end point P1g of the work route L1 corresponding to the central area C1. Then, as described above, the control device 51 determines the end points and starting points of all work lines L1a corresponding to the central area C1, the work order of all those work lines L1a, the work route L1 corresponding to the central area C1, the starting point of that work route L1, and the work start position Ps in the field. Furthermore, the control device 51 determines the movement route L2 that runs from the end point of the work route L1 corresponding to the central area C1 to the starting point of the work route L1 corresponding to the headland E1. At this time, the control device 51 shortens the movement route L2 as shown by the thick dashed line in FIG. 8A, and positions the starting point of the movement route L2 near the end point P1g of the work route L1 corresponding to the central area C1.

[0093] Alternatively, the control device 51 determines the endpoint of the work line L1a corresponding to the central area C1 that is closest to the starting point of the work route L1 corresponding to the headland E1 (the work line L1a on the left in FIG. 8B) as the end point of that work line L1a and the end point P1g of the work route L1 corresponding to the central area C1. Then, as described above, the control device 51 determines the end points and starting points of all work lines L1a corresponding to the central area C1, the work order of all those work lines L1a, the work route L1 corresponding to the central area C1, the starting point of that work route L1, and the work start position Ps in the field. Furthermore, the control device 51 determines a movement route L2 that runs from the end point of the work route L1 corresponding to the central area C1 to the starting point of the work route L1 corresponding to the headland E1. At this time, the control device 51 shortens the movement route L2 as shown by the thick line in FIG. 8B, and positions the starting point of the movement route L2 near the end point P1g of the work route L1 corresponding to the central area C1.

[0094] According to the travel route L2 that runs from the work route L1 corresponding to the central area C1 to the work route L1 corresponding to the headland E1 as described above, the free-travel distance that the work vehicle 1 travels without performing work using the work device 2 can be shortened.

[0095] In the above-described embodiment, a movement route L2 for moving the work implement 2 without performing work was created in the non-work area J1, but in addition to this, the control device 51 may also create a movement and work route for moving the work implement 2 using the work vehicle 1 while performing work in the central area C1 using the work implement 2.

[0096] For example, as shown in FIG. 9, the control device 51 may create a travel and work route L3 (shown by a two-dot chain line) in the central area C1, based on the end work line L1a of the work lines L1a where work is performed in the central area C1, by driving the work vehicle 1 and moving the work implement 2 while performing work in the central area C1 with the work implement 2. In FIG. 9, the work lines L1a at both ends of the central area C1 are set as the travel and work route L3, but the control device 51 may also create a travel and work route L3 in the central area C1, based on the end work line L1a of the work lines L1a where work is performed in the central area C1. A travel and work route L3 may be created based on the work line L1a at one end of the area C1.

[0097] 10, when the working implement 2 is mounted in an offset (eccentric) state to one side in the vehicle width direction of the work vehicle 1, the control device 51 may create a movement and work route L3 in the non-working area J1, in which the working implement 2 performs work in the central area C1 while moving the working implement 2 with the work vehicle 1. In FIG. 10, the control device 51 moves the work vehicle 1 in one direction relative to the central area C1, creating a work route L1 (multiple work lines L1a numbered 1 to 5 in circle, also referred to as an "inner work route") in which work is performed from the outside to the inside with the working implement 2.

[0098] Furthermore, as shown in Figure 11, when non-work areas J1 are not set at either the east or west end of a field that does not have headlands E1, E2, the control device 51 may create a travel and work route L3 in the central area C1 in which the work implement 2 is moved by the work vehicle 1 while work is performed in the central area C1 by the work implement 2.

[0099] 9 to 11 is a travel and work route in which work is performed while the work apparatus 2 is moved from the work route L1 (where work is performed) corresponding to the central area C1 to the work route L1 corresponding to the headland E1, but is not limited to this. The control device 51 may create a travel and work route in which work is performed while the work apparatus 2 is moved from a previous work route L1 to a next work route L1 out of the multiple work routes L1 corresponding to each of the multiple headlands E1, E2, depending on the order of work in the central area C1 and the multiple headlands E1, E2, or may create a travel and work route in which work is performed while the work apparatus 2 is moved from the work route L1 corresponding to one of the headlands E1, E2 to the work route L1 corresponding to the central area C1.

[0100] Furthermore, for example, when the work device 2 is a pest control device, the working width Wa of the work device 2 may be equal to or greater than the width of the headlands E1, E2, as shown in Figures 12 to 14. If the work device 2 is a pest control device mounted on both sides of the work vehicle 1, protruding to the left and right as shown in Figure 12, the control device 51 may create a travel and work route L3 (circled numbers 3 and 5) in which the work device 2 performs work in either of the headlands E1, E2 and the central area C1 while moving the work device 2 using the work vehicle 1 in a non-work area J1 set between the central area C1 and the headlands E1, E2. Furthermore, when a non-work area J1 is not set at either end of the east-west side of the field (left-right direction in Figure 12), the control device 51 may create a travel and work route L3 (circled numbers 2 and 4) in the central area C1 in which the work device 2 performs work in the central area C1 while moving the work device 2 using the work vehicle 1.

[0101] 13, if the work device 2 is a pest control device mounted on one side of the work vehicle 1 and protruding on only one side in the width direction of the vehicle, the control device 51 may create a movement and work route L3 in which the work device 2 is moved by the work vehicle 1 to a non-work area J1 set between the central area C1 and headlands E1, E2, while the work device 2 performs work on the headlands E1, E2. Note that the work line L1a (circled number 1) and work line L1a (circled number 4) shown in the center of the central area C1 in FIG. 13 are created in the same position, but because their orientations and orders are different, they are shown shifted for convenience.

[0102] As another example, the control device 51 may create a travel and work route L3 in a non-work area J1 set between the central area C1 and headlands E1, E2, in which the work vehicle 1 moves the work implement 2 while the work implement 2 performs work in the central area C1. In other words, the control device 51 may create a travel and work route L3 in at least one of the non-work area J1 and the central area C1, in which the work vehicle 1 moves the work implement 2 while the work implement 2 performs work in at least one of the headlands E1, E2 and the central area C1.

[0103] 14, if a non-work area J1 has not been set between the central area C1 and headlands E1, E2, the control device 51 may create a travel and work route L3 in the headlands E1, E2, along which the work device 2 performs work in the headlands E1, E2 and the central area C1 while moving the work device 2 by the work vehicle 1. Furthermore, if the work device 2 is a pest control device implemented on one side, for example, the control device 51 may create a travel and work route L3 in the headlands E1, E2, and the central area C1 while moving the work device 2 by the work vehicle 1.

[0104] That is, the control device 51 may create a movement and work route L3 in the headlands E1, E2, along which work is performed in at least one of the headlands E1, E2 and the central area C1 while moving the work device 2. In this way, the configuration in which the control device 51 creates a movement and work route L3 in the headlands E1, E2 is not limited to cases in which the work device 2 is a pest control device, but may also be applied when other work device 2 is used.

[0105] In the embodiment shown in Figure 6, the control device 51 creates multiple movement lines L2a (S4) and then creates a movement route L2 based on one of the movement lines L2a (S5).However, in addition to this, the control device 51 may create multiple work routes L1 and then create the movement line L2a and the movement route L2.

[0106] In the embodiment described above, the control device 51 created the work route L1 and movement route L2, each including at least one straight work line L1a and one movement line L2a. However, the control device 51 may also create a work route and movement route that include at least one curved work line and one movement line, for example. The control device 51 may also create a work route and movement route that includes a turning line for turning the work vehicle 1. Furthermore, the number of lines included in each of the work lines and movement lines is not limited to the number of work lines L1a and movement lines L2a shown in the embodiment described above.

[0107] In the above-described embodiment, the entrance / exit H1z is shown as both an exit and an entrance to the field, but the exit and entrance may be provided separately. In this case, the control device 51 may create the work route L1 and the movement route L2 according to the position of the exit of the field. Alternatively, in the case of a specific task such as harvesting, the control device 51 may create the work route L1 and the movement route L2 according to the position of the entrance to the field. Alternatively, the control device 51 may create the work route L1 and the movement route L2 according to an arbitrary position in the field by the farmer.

[0108] In the above-described embodiment, a field having a rectangular outline H1 is used as an example, but the control device 51 may also create a work route L1 and a movement route L2 for a field having an outline other than a rectangle. The control device 51 may also create a work route L1 and a movement route L2 as appropriate for the central area C1 of the field, headlands E1, E2, non-work area J1, and other areas.

[0109] In the above-described embodiment, an example has been shown in which work information is input to the route generation device 50 via the display / operation device 52. However, other information processing devices, such as a smartphone, a terminal device fixed to the work vehicle 1, a computer installed remotely from the work vehicle 1, the server 80, or another server installed on the cloud, may input work information to the route generation device 50 via the communication device 54. Information indicating the work route L1 and the travel route L2, or a field map MP1 including only the work route L1, may be output from the route generation device 50 to an external information processing device, and the field map MP1 may be displayed on a display device connected to the information processing device. Furthermore, the input device for inputting work information, etc., the control device for creating the work route L1 and the travel route L2, and the output device for outputting the work route L1 and the travel route L2 may be included in the same information processing device, or may be separate devices.

[0110] In the above-described embodiment, each process is implemented by a processing circuit including one or more processors and one or more memories, but instead of or in addition to the processing circuit, it may be implemented by an integrated circuit combining at least one of various analog circuits and digital circuits. The processor may be not only a CPU, but also various processors suitable for computer control, such as a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit).

[0111] Furthermore, multiple physically separated processors may cooperate with each other to execute each process, etc. For example, processors installed in multiple physically separated computers may cooperate with each other via a network such as a LAN (Local Area Network), a WAN (Wide Area Network), or the Internet to execute each process, etc. Furthermore, the software program executed by the processor may be installed in memory from a server or the like via a network, or may be distributed in a state stored on a recording medium such as a memory stick or a memory card and installed in the memory of the processing circuit from the recording medium.

[0112] The work support system 100 and the route generation device 50 of the present embodiment described above have the following configurations and provide the following effects.

[0113] [Item 1] The work assistance system 100 is a system that assists in the performance of work in a field using a work vehicle 1 and a work implement 2 equipped on the work vehicle 1. The work assistance system 100 and route generation device 50 include input devices 52, 54 (display / operation device 52, communication device 54) that input work information related to work to be performed by the work implement 2 while the work vehicle 1 is traveling in the field, and a control device 51 that, based on field information and work information related to the field, creates multiple work routes L1 for the work vehicle 1 and the work implement 2 to perform work in a first area (central area) C1 of the field and in a second area (headland) E1 and a third area (headland) E2 that are separated by the first area C1, and creates multiple movement routes L2 for the work vehicle 1 to move the work implement 2 sequentially through the multiple work routes L1 according to the order of work in the first area C1, second area E1, and third area E2.

[0114] The configuration of item 1 above allows the work vehicle 1 to travel while steadily performing work in the first area C1, the second area E1, and the third area E2 of the field using the work implement 2, based on each of the multiple work routes L1, and allows the work vehicle 1 to travel while easily and reliably moving the work implement 2 sequentially to the multiple work routes L1, based on each of the multiple movement routes L2. Therefore, for example, when the work vehicle 1 is travelling autonomously or using auto-steering to perform work using the work implement 2, the control device 60 of the work vehicle 1 does not need to determine the route to the next work route L1 by calculation or the like at the work site. Also, when the work vehicle 1 is travelling manually while performing work using the work implement 2, the driver of the work vehicle 1 does not need to determine the route to the next work route L1 at the work site. This reduces the burden on the control device 60 or the driver, and allows the work vehicle 1 to quickly and easily move the work implement 2 to the next work route L1 based on the corresponding movement route L2. Therefore, it becomes possible to perform work efficiently using the work device 2 while the work vehicle 1 is traveling along the multiple work routes L1 and the multiple movement routes L2.

[0115] [Item 2] In the above item 1, the control device 51 creates a plurality of movement routes L2 along which the work implement 2 moves without performing work in the non-work area J1 of the farm field.

[0116] The configuration of item 2 above allows the work vehicle 1 to travel and quickly move the work implement 2 sequentially to multiple work routes L1 based on each of the multiple movement routes L2 created in the non-work area J1, thereby making it possible to shorten work time in the field.

[0117] [Item 3] In item 1 above, the control device 51 creates a movement and work route L3 in at least one of the non-work area J1, the first area C1, the second area E1, and the third area E2 of the field, while moving the work implement 2 to one of multiple work routes L1 using the work vehicle 1, and performing work in at least one of the first area C1, the second area E1, and the third area E2 using the work implement 2.

[0118] The configuration of item 3 above allows the work vehicle 1 to move the work implement 2 sequentially to a plurality of work routes L1 corresponding to the first area C1, the second area E1, and the third area E2, respectively, based on the travel and work route L3, while the work implement 2 performs work in the first area C1, the second area E1, and the third area E2, improving work efficiency. Also, the idle travel distance over which the work vehicle 1 travels without performing work can be shortened, thereby reducing the amount of fuel, electricity, etc. consumed by the work vehicle 1.

[0119] [Item 4] In any of items 1 to 3 above, the control device 51 creates a movement route L2 that runs from the end points P1g, P2g of the previous work route L1, which is the first work route among the multiple work routes L1, to the start points P2s, P3s of the next work route L1, which is the next work route L1, in accordance with the work order indicated in the work information.

[0120] With the configuration of item 4 above, while the work vehicle 1 is traveling based on the movement route L2, the work device 2 can be easily and reliably moved from the end points P1g, P2g of the previous work route L1 to the start points P2s, P3s of the next work route L1 among the multiple work routes L1 corresponding to the central area C1 and the multiple headlands E1, E2, respectively, and work can be reliably performed by the work device 2 from the start point to the end point of the multiple work routes L1.

[0121] [Item 5] In any of items 1 to 4 above, the control device 51 determines the starting points P1s, P2s, P3s and end points P1g, P2g, P3g of each of the multiple work routes L1 according to the position of at least one of the exit and entrance of the field and the work order, determines the work order of the multiple work routes L1, creates multiple movement routes L2, and determines the starting points and end points of the multiple movement routes L2.

[0122] The configuration of item 5 above makes it possible to determine multiple work routes L1 and multiple movement routes L2 and their order, for example, so that work ends near the exit of a field or starts near the entrance, and it becomes possible for the work vehicle 1 and work implement 2 to perform work more efficiently based on the multiple work routes L1 and multiple movement routes L2.

[0123] [Item 6] In any of items 1 to 5 above, the control device 51 creates multiple work routes L1 for carrying out the above-mentioned work in the central area C1 of the field and multiple headlands E1, E2 isolated by the central area C1, and also creates multiple movement routes L2 for moving the work device 2 by the work vehicle 1 sequentially to the multiple work routes L1 according to the order of work in the central area C1 and the multiple headlands E1, E2.

[0124] The configuration of item 6 above allows the work vehicle 1 and work device 2 to steadily perform work in the central area C1 of the field and multiple headlands E1, E2 based on each of the multiple work routes L1, and the work vehicle 1 can easily and reliably move the work device 2 sequentially to the multiple work routes L1 based on each of the multiple movement routes L2. This allows the work vehicle 1 and work device 2 to efficiently perform work based on the multiple work routes L1 and multiple movement routes L2. Furthermore, the work vehicle 1 can be autonomously driven based on the multiple work routes L1 and multiple movement routes L2, and the work device 2 can perform work continuously not only in the central area C1 but also in the multiple headlands E1, E2 isolated by the central area C1, thereby improving the automation rate of work in the field. Furthermore, when the work vehicle 1 is driven using auto-steering to perform work, the work vehicle 1 can be automatically steered based on the multiple work routes L1 and multiple movement routes L2, and the work device 2 can perform work continuously in the central area C1 and multiple headlands E1, E2, improving work efficiency. Furthermore, when the work vehicle 1 is driven manually to perform work, the driver can operate the work vehicle 1 based on multiple work routes L1 and multiple movement routes L2, and the work device 2 can easily perform work continuously in the central area C1 and multiple headlands E1, E2, thereby improving work efficiency.

[0125] [Item 7] In item 6 above, the control device 51 creates a movement route L2 in the non-working area J1 of the field that moves the work device 2 by the work vehicle 1 from the previous work route L1 where work is performed first to the next work route L1 where work is performed next, out of the work route L1 where work is performed in the central area C1 and the multiple work routes L1 where work is performed in each of the multiple headlands E1, E2.

[0126] The configuration of item 7 above allows the work vehicle 1 to travel and quickly move the work implement 2 to the work routes L1 corresponding to the central area C1 and the multiple headlands E1, E2 in accordance with the work order based on each of the multiple movement routes L2 created in the non-work area J1, thereby making it possible to shorten work time in the field.

[0127] [Item 8] In item 6 above, the control device 51 creates a moving and working route L3 in at least one of the non-working area J1, the central area C1, and the multiple headlands E1, E2, by moving the work device 2 using the work vehicle 1 from the previous work route L1 where work is performed first to the next work route L1 where work is performed next, out of the work route L1 where work is performed in the central area C1 and the multiple headlands E1, E2.

[0128] With the configuration of above item 8, the work vehicle 1 moves the work implement 2 sequentially to multiple work routes L1 corresponding to the central area C1 and multiple headlands E1, E2, respectively, based on the travel and work route L3, while the work implement 2 performs work in at least one of the central area C1 and multiple headlands E1, E2, improving work efficiency. Also, the idle travel distance over which the work vehicle 1 travels without performing work can be shortened, thereby suppressing the consumption of fuel, electricity, etc. by the work vehicle 1.

[0129] [Item 9] In item 6 above, the control device 51 creates multiple work lines L1a along which work is carried out by the work implement 2 while the work vehicle 1 travels in each of the central area C1 and the multiple headlands E1, E2, based on the work directions V1, V2 of the central area C1, the work directions Y1, Y2 of the multiple headlands E1, E2, and the work width Wa of the work implement 2, determines the start and end points of each of the multiple work lines L1a based on the positions of at least one of the exit and entrance of the field and the work order, determines the work order of the multiple work lines L1a, and creates multiple work routes L1 each including multiple work lines L1a corresponding to the central area C1 and the multiple headlands E1, E2, respectively.

[0130] The configuration of item 9 above allows the work vehicle 1 and work implement 2 to steadily carry out work in the central area C1 and the multiple headlands E1, E2 based on the work lines L1a included in each of the multiple work routes L1. Furthermore, the multiple work lines L1a and multiple work routes corresponding to the central area C1 and the multiple headlands E1, E2 can be determined according to the position of at least one of the entrance and exit of the field and the work order of the central area C1 and the multiple headlands E1, E2. By creating a plurality of work routes L1 and a plurality of movement routes L2, it becomes possible to perform work efficiently using the work vehicle 1 and the work implement 2.

[0131] [Item 10] In item 9 above, the control device 51 determines the end point of the work line L1a corresponding to the last area in the work order among the central area C1 and the multiple headlands E1, E2, that is closest to the field exit (entrance / exit) H1z as the end position Pg of the work, and determines the end points and start points of the multiple work lines L1a in the reverse order of the work order from the end position Pg, creates multiple movement routes L2, and determines the end points and start points of the multiple movement routes L2.

[0132] The configuration of item 10 above makes it possible to create multiple work routes L1 and multiple movement routes L2 so that work is completed near the exit of the field while following the work order in the central area C1 and multiple headlands E1, E2, determine the end position Pg of work in the field, and perform work efficiently using the work vehicle 1 and work implement 2.

[0133] [Item 11] The route generation device 50 and work support system 100 described in any one of items 1 to 10 above include output devices 52, 54 (display operation device 52, communication device 54) that output information indicating the work route L1 and the travel route L2.

[0134] The configuration of item 11 above makes it possible for the work route L1 and travel route L2 created by the route generation device 50 to be output by the output devices 52, 54 to the driver, operator, and work vehicle 1 of the work vehicle 1. This allows the driver, operator, and the like to understand the work route L1 and travel route L2 and use the work route L1 and travel route L2 to easily and efficiently perform work in the field using the work vehicle 1 and work device 2. In addition, the control device 60 of the work vehicle 1 controls each part of the work vehicle 1 based on the work route L1 and travel route L2, allowing work to be performed efficiently using the work device 2 while the work vehicle 1 is traveling.

[0135] [Item 12] In the above item 11, the control device 51 executes at least one of the following processes using the output devices 52, 54: displaying a field map MP1 showing the field, the work route L1, and the travel route L2; and outputting the field map MP1 to the work vehicle 1 as control information for automatic driving or automatic steering of the work vehicle 1.

[0136] The configuration of item 12 above allows the driver and operator of the work vehicle 1 to visually grasp the work route L1 and travel route L2 output by the output device (display operation device) 52, and by utilizing the work route L1 and travel route L2, work can be performed more easily and efficiently in the field using the work vehicle 1 and work device 2. Furthermore, the control device 60 of the work vehicle 1 can drive the work vehicle 1 using either automatic driving or automatic steering based on the work route L1 and travel route L2 output from the output device (communication device) 54, allowing work to be performed efficiently using the work device 2, making it possible to improve the automation rate of work in the field.

[0137] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0138] 1 Work vehicle 2. Work equipment 50 Route Generator 51 Control device 52 Display operation device (input device) 54 Communication device (power device) 100 Work Support System C1 central area (first area) E1 Headland (second area) E2 Headland (3rd area) H1z Entrance / exit (exit, entrance) J1 non-work area L1 Work route, previous work route, next work route L1a Work Line L2 Movement Route L2a moving line L3 Travel and work route MP1 Field Map P1g, P2g, P3g End points of work route P1s, P2s, P3s Starting points of work routes Pg End position of the operation V1, V2 central area working direction Wa working width Y1, Y2 Headland working direction

Claims

1. an input device for inputting work information relating to work to be performed by a work device equipped on the work vehicle while the work vehicle is traveling in a field; a control device that generates, based on field information about the field and the work information, a plurality of work routes for the work vehicle and the work device to perform the work in a first area of ​​the field and a second area and a third area isolated by the first area, respectively, and that generates a plurality of movement routes for the work vehicle to move the work device sequentially to the plurality of work routes according to the order of work in the first area, the second area, and the third area.

2. The route generation device according to claim 1 , wherein the control device creates a plurality of the movement routes in a non-work area of ​​the field, along which the work implement is moved without performing the work.

3. The route generation device according to claim 1, wherein the control device creates a travel and work route in at least one of a non-work area, the first area, the second area, and the third area of ​​the field, in which the work device performs the work in at least one of the first area, the second area, and the third area while moving the work device to one of the plurality of work routes using the work vehicle.

4. The route generation device described in claim 1, wherein the control device creates the travel route from the end point of a previous work route, which is one of the multiple work routes and on which the work will be performed first, to the start point of a next work route, which is one of the multiple work routes and on which the work will be performed next, in accordance with the work order indicated in the work information.

5. The route generation device described in claim 1, wherein the control device determines the starting point and end point of each of the multiple work routes based on the position of at least one of the exit and entrance of the field and the work order of the first area, the second area, and the third area, determines the work order of the multiple work routes, creates the multiple movement routes, and determines the starting point and end point of the multiple movement routes.

6. 2. The route generation device according to claim 1, wherein the control device creates a plurality of work routes for performing the work in a central area of ​​the field and a plurality of headlands isolated by the central area, and creates a plurality of movement routes for moving the work device by the work vehicle sequentially to the plurality of work routes according to the order of work in the central area and the plurality of headlands.

7. The route generation device according to claim 6, wherein the control device creates the movement route in a non-work area of ​​the field, for moving the work device by the work vehicle from a previous work route where the work is performed first to a next work route where the work is next performed, among the work route where the work is performed in the central area and the multiple work routes where the work is performed in each of the multiple headlands.

8. 7. The route generation device according to claim 6, wherein the control device creates a travel and work route in at least one of the non-work area of ​​the field, the central area, and the plurality of headlands, in which the work device performs the work in the central area and at least one of the plurality of headlands, while moving the work device using the work vehicle from a previous work route in which the work is performed first to a next work route in which the work is performed next, among the work route in which the work is performed in the central area and the plurality of work routes in which the work is performed in each of the plurality of headlands.

9. The control device The work vehicle is driven to travel in the central area and the plurality of headlands in accordance with the working direction of the central area, the working directions of the plurality of headlands, and the working width of the work device. creating a plurality of work lines for performing the work using the device; determining a start point and an end point of each of the plurality of work lines according to the position of at least one of an exit and an entrance of the field and the work order of the first area, the second area, and the third area, and determining the work order of the plurality of work lines; The route generation device according to claim 6 , wherein a plurality of work routes are generated, each including a plurality of work lines corresponding to the central region and each of the plurality of headlands.

10. The control device determining an end point of the work line that corresponds to the last area in the work order among the central area and the plurality of headlands and is closest to the exit as an end position of the work; The route generation device according to claim 9, wherein the end points and start points of the plurality of work lines are determined in reverse order of the work order from the end position, the plurality of movement routes are created, and the end points and start points of the plurality of movement routes are determined.

11. The route generation device according to claim 1 , further comprising an output device that outputs information indicating the work route and the travel route.

12. The route generation device according to claim 11, wherein the control device executes at least one of the following processes: a process of displaying a field map showing the field, the work route, and the travel route using the output device; and a process of outputting the field map to the work vehicle as control information for automatic driving or automatic steering of the work vehicle.

13. A work assistance system that assists in carrying out work in a field using a work vehicle and a work device equipped on the work vehicle, an input device for inputting work information relating to the work; a control device that creates, based on field information about the field and the work information, a plurality of work routes for performing the work using the work vehicle and the work implement in each of a plurality of areas of the field, and that creates a plurality of movement routes for moving the work implement by the work vehicle sequentially to the plurality of work routes according to the order of work in the plurality of areas.

14. A route generation method for generating a route for performing work in a farm field using a work vehicle and a work implement equipped on the work vehicle, comprising: inputting work information relating to the work by an input device; creating, by a control device, a plurality of work routes for carrying out the work by the work vehicle and the work device in a plurality of regions of the field, based on field information related to the field and the work information; and creating, by the control device, a plurality of movement routes for moving the work device sequentially to the plurality of work routes by the work vehicle in accordance with the work order of the plurality of areas.

Images