Route generation method, route generation program, and route generation system

Abstract

To provide a route generation method, a route generation program, and a route generation system capable of generating an appropriate turning route for connecting work routes.SOLUTION: The generation processing portion 312 sets a plurality of turning circles having different traveling directions of the combine 1 for at least one of the first traveling route and the second traveling route next to the first traveling route, and generates a connecting route connecting the first traveling route and the second traveling route based on a selected turning circle selected from the plurality of turning circles and a connecting line connecting to the selected turning circle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique for generating a route for a work vehicle to travel. [Background technology]

[0002] Conventionally, there has been known a work vehicle that performs a predetermined task while automatically traveling along a predetermined target route in a farm field. For example, there is known an automatic traveling system that sets a turning circle that connects work routes and causes the work vehicle to turn along the turning circle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-113960 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional technology generates a turning path by setting a specific turning circle that connects travel paths, so the turning path may be inappropriate depending on the field conditions and travel method.

[0005] An object of the present invention is to provide a route generation method, a route generation program, and a route generation system that are capable of generating an appropriate connecting route that connects travel routes. [Means for solving the problem]

[0006] A route generation method according to the present invention is a method for generating a route for a work vehicle to travel. The route generation method executes the following steps: setting a plurality of turning circles, each of which has a different traveling direction for the work vehicle, for at least one of a first travel route and a second travel route following the first travel route; and generating a connecting route connecting the first travel route and the second travel route based on a selected turning circle selected from the plurality of turning circles and a connecting line connecting the selected turning circle.

[0007] A route generation program according to the present invention is a program for generating a route for a work vehicle to travel. The route generation program causes one or more processors to execute the following steps: set a plurality of turning circles, each of which has a different traveling direction for the work vehicle, for at least one of a first travel route and a second travel route following the first travel route; and generate a connecting route that connects the first travel route and the second travel route based on a selected turning circle selected from the plurality of turning circles and a connecting line that connects the selected turning circle.

[0008] A route generation system according to the present invention generates a route for a work vehicle to travel. The route generation system sets a plurality of turning circles, each of which has a different traveling direction for the work vehicle, for at least one of a first traveling route and a second traveling route following the first traveling route, and generates a connecting route connecting the first traveling route and the second traveling route based on a selected turning circle selected from the plurality of turning circles and a connecting line connecting to the selected turning circle. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a route generation method, a route generation program, and a route generation system that are capable of generating an appropriate turning route that connects travel routes. [Brief explanation of the drawings]

[0010] [Figure 1]FIG. 1 is a functional block diagram showing the configuration of a traveling system according to an embodiment of the present invention. [Figure 2] FIG. 2 is an external view showing the configuration of the combine harvester according to the embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a target route set in a farm field according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of a turning circle set on a travel route according to an embodiment of the present invention. [Figure 5A] FIG. 5A is a diagram showing a specific example of a first pattern of connection paths according to an embodiment of the present invention. [Figure 5B] FIG. 5B is a diagram showing a specific example of a second pattern of connection paths according to the embodiment of the present invention. [Figure 5C] FIG. 5C is a diagram showing a specific example of a third pattern of connection paths according to an embodiment of the present invention. [Figure 5D] FIG. 5D is a diagram showing a specific example of a fourth pattern of connection paths according to an embodiment of the present invention. [Figure 6A] FIG. 6A is a diagram showing a specific example of a fifth pattern of connection paths according to an embodiment of the present invention. [Figure 6B] FIG. 6B is a diagram showing a specific example of a sixth pattern of connection paths according to an embodiment of the present invention. [Figure 6C] FIG. 6C is a diagram showing a specific example of a seventh pattern of connection paths according to an embodiment of the present invention. [Figure 6D] FIG. 6D is a diagram showing a specific example of an eighth pattern of connection paths according to an embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of determination information for determining a connection path according to the embodiment of the present invention. [Figure 8A] FIG. 8A is a diagram showing another example of a connection path of the first pattern according to the embodiment of the present invention. [Figure 8B] FIG. 8B is a diagram showing another example of the connection path of the first pattern according to the embodiment of the present invention. [Figure 8C]FIG. 8C is a diagram showing another example of the connection path of the first pattern according to the embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing another example of the connection path of the first pattern according to the embodiment of the present invention. [Figure 10A] FIG. 10A is a diagram showing an example of a turning circle set on a travel route according to the first modification of the embodiment of the present invention. [Figure 10B] FIG. 10B is a diagram showing a specific example of a connection path according to the first modification of the embodiment of the present invention. [Figure 11A] FIG. 11A is a diagram showing an example of a turning circle set on a travel route according to the second modification of the embodiment of the present invention. [Figure 11B] FIG. 11B is a diagram showing a specific example of a connection path according to the second modification of the embodiment of the present invention. [Figure 12A] FIG. 12A is a diagram showing an example of a turning circle set on a travel route according to the third modification of the embodiment of the present invention. [Figure 12B] FIG. 12B is a diagram showing a specific example of a connection path according to the third modification of the embodiment of the present invention. [Figure 13] FIG. 13 is a flowchart showing an example of the procedure of a route generation process executed by the traveling system according to the embodiment of the present invention. [Figure 14A] FIG. 14A is a diagram showing an example of a turning circle set on a travel route according to another embodiment of the present invention. [Figure 14B] FIG. 14B is a diagram showing a specific example of a connection path according to another embodiment of the present invention. [Figure 14C] FIG. 14C is a diagram showing a specific example of a connection path according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

[0012] A combine harvester 1 will be described as an example of a work vehicle of the present invention. As shown in FIG. 1, a traveling system 10 according to an embodiment of the present invention includes the combine harvester 1 and an operation terminal 3. The combine harvester 1 and the operation terminal 3 can communicate with each other via a communication network N1. For example, the combine harvester 1 and the operation terminal 3 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN. The traveling system 10 is an example of a route generation system of the present invention.

[0013] The combine harvester 1 is a work vehicle that performs agricultural work such as harvesting in a field. The combine harvester 1 performs work while traveling and transmits GNSS information from a GNSS antenna mounted on the combine harvester 1, i.e., the combine harvester's own position, to the operation terminal 3 as measurement point data.

[0014] The combine harvester 1 can also travel automatically according to a preset target route. The combine harvester 1 may be configured to manually travel in some areas of the field (for example, the outer periphery) and automatically travel in other areas (for example, the inner periphery). The combine harvester 1 may also be configured to receive various setting information from the operation terminal 3 and automatically travel according to the setting information.

[0015] The operation terminal 3 is a mobile terminal capable of remotely operating the combine harvester 1, and is configured, for example, as a tablet terminal, a laptop personal computer, a smartphone, etc. Note that an operation device similar to the operation terminal 3 may be mounted on the combine harvester 1.

[0016] An operator (worker) can perform setting operations for various setting items (for example, automatic driving route) on the operation terminal 3. The operation terminal 3 also displays information such as the work status and driving status of the combine harvester 1 while it is automatically traveling. The operator can grasp the work status and driving status on the operation terminal 3. The operation terminal 3 can be installed in the driver's seat of the combine harvester 1, and the operator can also operate the operation terminal 3 while on board the combine harvester 1.

[0017] FIG. 3 shows an example of a target route R set for a field F. For example, the combine harvester 1 performs reaping work (circumferential reaping, back-and-forth reaping) within the field F while traveling from the outer periphery to the inner periphery according to the target route R from a start position S to an end position G. Specifically, in an outer periphery region F1 on the outer periphery of the field F, the combine harvester 1 performs reaping work while traveling along the edge of the field (outer periphery). Furthermore, in an inner periphery region F2 on the inner periphery of the field F, the combine harvester 1 performs reaping work while traveling straight in the up-and-down direction in FIG. 3, and travels in a turning direction left-and-right without performing reaping work to move along connecting routes between work routes.

[0018] Here, when the combine harvester 1 moves between travel paths, it travels on a connecting path that connects the travel paths. In conventional technology, a turning path is generated by setting a specific turning circle that connects the travel paths. However, depending on the field condition and the travel method, the turning path may be an inappropriate path. For example, in conventional technology, a turning circle is set between the first travel path and the second travel path, and the turning path is generated on the turning circle. Therefore, depending on the field condition, the travel method, and other conditions, the efficiency of turning may decrease. As such, in conventional technology, it is difficult to generate an appropriate connecting path that connects the travel paths, and it is also difficult to flexibly generate the connecting path.

[0019] In contrast, the traveling system 10 according to this embodiment is configured to generate appropriate connection paths that connect work paths and to flexibly generate the connection paths. Specific configurations for realizing the above configuration will be described below.

[0020] [Combine 1] FIG. 2 shows an external view of the combine harvester 1 as seen from the side. As shown in FIGS. 1 and 2, the combine harvester 1 includes a threshing section 4, a sorting section 5, a straw waste processing section 6, a power section 8, a steering section 9, a vehicle control device 11, a memory section 12, a positioning unit 13, a traveling section 14, a reaping section 15, a storage section 16, and a communication section 17. The combine harvester 1 travels on the traveling section 14, threshes the stalks harvested by the reaping section 15 in the threshing section 4, sorts the grain in the sorting section 5, and stores the grain in the storage section 16. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 6. The combine harvester 1 drives the traveling section 14, the reaping section 15, the storage section 16, the threshing section 4, the sorting section 5, and the straw waste processing section 6 using power supplied by the power section 8.

[0021] Traveling unit 14 is provided below body frame 29 and includes a pair of left and right crawler-type traveling devices 2 and a transmission (not shown). Traveling unit 14 rotates the crawlers of crawler-type traveling devices 2 using power (e.g., rotational power) transmitted from engine 27 of power unit 8, causing combine 1 to travel in the forward / backward direction and turn left and right. The transmission transmits the power (rotational power) of power unit 8 to crawler-type traveling devices 2 and can also change the speed of the rotational power.

[0022] The reaping unit 15 is provided in front of the traveling unit 14 and performs reaping work on rows within the number of reaping rows that can be achieved. The reaping unit 15 is equipped with a divider 28, a lifting device 20, a cutting device 23, and a transport device 7. The reaping unit 15 is also configured to be able to rise and fall, and rises and falls between a working height and a non-working height in response to instructions from the vehicle control device 11.

[0023] The divider 28 separates the stalks in the field F row by row and guides a predetermined number of stalks within the number of harvestable rows to the raising device 20. The raising device 20 raises the stalks guided by the divider 28. The cutting device 23 cuts the stalks raised by the raising device 20. The conveying device 7 conveys the stalks cut by the cutting device 23 to the threshing section 4.

[0024] The threshing unit 4 is provided behind the reaping unit 15. The threshing unit 4 includes a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stalks transported from the conveying device 7 of the reaping unit 15 for threshing, and further transports the threshed stalks, i.e., waste straw, to the straw waste processing unit 6. The threshing drum 19 threshes the stalks transported by the feed chain 18.

[0025] The sorting section 5 is provided below the threshing section 4. The sorting section 5 comprises an oscillating sorting device 21, an air blowing sorting device 22, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 21 sifts the threshed grains that have fallen from the threshing section 4 to separate them into grains, straw dust, etc. The air blowing sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw dust, etc. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the storage section 16. The straw dust discharge device discharges the straw dust, etc. sorted by the oscillating sorting device 21 and the air blowing sorting device 22 outside the machine.

[0026] The storage section 16 is provided to the right of the threshing section 4. The storage section 16 includes a storage tank (grain tank) 24 and a discharge device 25. The storage tank 24 stores the grains transported from the sorting section 5. The discharge device 25 is composed of an auger or the like, and discharges the grains stored in the storage tank 24 to a transport vehicle at a predetermined discharge position within the field F.

[0027] The straw waste processing section 6 is provided behind the threshing section 4. The straw waste processing section 6 comprises a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste conveying device transports the straw transported from the feed chain 18 of the threshing section 4 to the straw waste cutting device. The straw waste cutting device cuts the straw transported by the straw waste conveying device and discharges it outside the machine. The straw waste processing section 6 discharges the straw waste from the harvested stalks to the position of the stalks to be harvested.

[0028] The power unit 8 is provided above the traveling unit 14 and in front of the storage unit 16. The power unit 8 is equipped with an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 14, the reaping unit 15, the storage unit 16, the threshing unit 4, the sorting unit 5, and the straw waste processing unit 6.

[0029] The control unit 9 is provided above the power unit 8. The control unit 9 is provided with operating tools for controlling the travel of the combine harvester 1, such as a handle for instructing the turning of the combine harvester 1 body, and a main speed change lever and an auxiliary speed change lever for instructing changes in the forward and backward speed of the combine harvester 1, around the driver's seat where the operator sits. The manual travel of the combine harvester 1 is performed by the travel unit 14, which receives operation of the handle, main speed change lever, and auxiliary speed change lever of the control unit 9. The control unit 9 also has mechanisms for operating the reaping operation by the reaping unit 15, the threshing operation by the threshing unit 4, the discharge operation by the discharge device 25 of the storage unit 16, etc.

[0030] The positioning unit 13 acquires the vehicle position of the combine harvester 1 using a satellite positioning system such as GPS. For example, the positioning unit 13 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 13, i.e., the vehicle position (measurement point data) of the combine harvester 1, based on the positioning signal. The positioning unit 13 may be configured with a quantum compass instead of a positioning antenna.

[0031] The communication unit 17 (see Figure 1) is a communication interface that connects the combine 1 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as the operation terminal 3 via the communication network N1.

[0032] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory that stores various types of information. The storage unit 12 stores a control program for causing the vehicle control device 11 to execute predetermined processes. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The control program may be downloaded from a server (not shown) to the combine harvester 1 via the communication network N1 and stored in the storage unit 12. The storage unit 12 also stores various setting information acquired from the operation terminal 3.

[0033] The vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit that pre-stores control programs such as a BIOS and an OS that cause the CPU to execute various arithmetic processes. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory for the various processes executed by the CPU. The vehicle control device 11 controls the combine harvester 1 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 12.

[0034] Specifically, as shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111 and an operation processing unit 112. The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0035] The travel processing unit 111 causes the combine harvester 1 to travel according to a target route R set for the field F. Specifically, when the travel processing unit 111 is set to manual travel mode, the travel processing unit 111 causes the combine harvester 1 to travel in a straight line according to the outer peripheral route in accordance with the operator's operation to switch between forward and reverse travel, to switch the vehicle speed, and the like in the outer peripheral region F1 of the field F (see FIG. 3). Note that the travel processing unit 111 may cause the combine harvester 1 to travel automatically only when traveling straight in the outer peripheral region F1, and may cause the combine harvester 1 to travel manually in accordance with manual steering around corners. Furthermore, the travel processing unit 111 causes the combine harvester 1 to travel automatically according to an inner peripheral route (automatic travel route) in the inner peripheral region F2.

[0036] The work processing unit 112 changes the position (posture) of the reaping unit 15 based on the position of the combine harvester 1, causing the reaping unit 15 to perform reaping work. Specifically, the work processing unit 112 changes the position (height) of the reaping unit 15 in stages (for example, raises and lowers) between the working height and the non-working height. For example, the work processing unit 112 sets the reaping unit 15 to the working height when the combine harvester 1 reaches a position a predetermined distance before the start of the work path, and sets the reaping unit 15 to the non-working height when the combine harvester 1 passes the end of the work path. Furthermore, the work processing unit 112 may set the reaping unit 15 to an intermediate height that can prevent the combine harvester 1 from getting caught in the discarded straw when it passes through it.

[0037] [Operation terminal 3] 1, the operation terminal 3 is an information processing device including an operation control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34. The operation terminal 3 is configured as, for example, a tablet terminal.

[0038] The communication unit 34 is a communication interface that connects the operation terminal 3 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with one or more external devices such as a combine 1 via the communication network N1.

[0039] The operation display unit 33 is a user interface that includes a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit to register various setting information on a setting screen (not shown) displayed on the display unit. The operator can also operate the operation unit to give automatic driving instructions to the combine harvester 1. The operator can also understand the driving status of the combine harvester 1, which is driving automatically within the field F, from a location away from the combine harvester 1, by looking at the driving trajectory displayed on the operation terminal 3. The operator can also understand the work status displayed on the operation terminal 3, from a location away from the combine harvester 1.

[0040] The storage unit 32 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 32 stores control programs such as a route generation program that causes the operation control unit 31 to execute a route generation process (see FIG. 13 ), which will be described later. For example, the route generation program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) provided in the operation terminal 3 and stored in the storage unit 32. The route generation program may be downloaded from a server (not shown) to the operation terminal 3 via the communication network N1 and stored in the storage unit 32. The storage unit 32 may also store work information transmitted from the combine harvester 1.

[0041] In addition, a dedicated application for automatically driving the combine harvester 1 is installed in the storage unit 32. The operation control unit 31 starts the dedicated application to set various setting information related to the combine harvester 1, give instructions for automatic driving to the combine harvester 1, and so on.

[0042] The operation control unit 31 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as temporary storage memory for the various types of processing executed by the CPU. The operation control unit 31 controls the operation terminal 3 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 32.

[0043] As shown in Fig. 1, the operation control unit 31 includes various processing units such as a setting processing unit 311, a generation processing unit 312, and an output processing unit 313. The operation control unit 31 functions as the various processing units by executing various processes in accordance with the path generation program using the CPU. Some or all of the processing units may be configured with electronic circuits. The path generation program may be a program for causing multiple processors to function as the processing units.

[0044] The setting processing unit 311 sets various setting information for the combine harvester 1 to travel automatically. Specifically, the setting processing unit 311 sets field information related to the field F. The field information includes, for example, the shape, size, and position information (coordinates, etc.) of the outermost periphery of the field, measurement point data that constitutes the outermost periphery of the field, and the shape, size, and position information (coordinates, etc.) of a work area within the field where work is performed in the field F. The field information also includes the address of the field F, the registration name and registration date of the field information, the registration name and registration date of the work area within the field, etc. The setting processing unit 311 accepts a registration operation of the field information by the operator and sets the field information.

[0045] The setting processing unit 311 also sets the traveling speed (vehicle speed) of the combine harvester 1. For example, the operator can set the straight vehicle speed, turning vehicle speed, and reverse vehicle speed during work and non-work times on the setting screen.

[0046] The setting processing unit 311 also sets the turning radius of the combine 1. For example, the operator can set the turning radius during turning on the setting screen. The operator may also be able to set the turning radius during forward traveling and the turning radius during reverse traveling separately. The setting processing unit 311 may also set the turning radius based on the headland width set by the operator.

[0047] In addition to the above information, the setting processing unit 311 sets well-known information such as the type of combine 1 (maximum number of reaping rows), vehicle width, and vehicle length.

[0048] The generation processing unit 312 generates a target route R including a work route and a turning route. For example, if the shape of the field F has not yet been registered, the setting processing unit 311 registers the shape and size of the field F based on the travel path (measurement point data) acquired while the operator manually drives the combine harvester 1 and performs the harvesting work. The operator also selects a route pattern, turning type, and the like on a setting screen (not shown). The route patterns include "circular mowing," which repeats a course along the inner circumference of the inner circumference region F2 while shifting toward the center, and "reciprocating mowing," which makes multiple round trips. The operator selects one of the route patterns. The turning types include "tight turning," which has a small turning radius, "wide turning (soft)," which has a large turning radius, and "standard," which is between them. The operator selects one of the turning types. The operator can also correct the turning radius on the setting screen.

[0049] The generation processing unit 312 generates a target route R (automated driving route) from the start position S to the end position G based on information such as the farm field information, the route pattern, the turning type, and the turning radius.

[0050] The output processing unit 313 outputs various setting information set by the setting processing unit 311 to the combine harvester 1. In addition, the output processing unit 313 outputs an automatic traveling start instruction (work start instruction) and an automatic traveling end instruction (work end instruction) to the combine harvester 1 based on an operation by an operator.

[0051] For example, when the combine harvester 1 satisfies the automatic driving start conditions, i.e., when the position of the combine harvester 1 is within a predetermined distance from the start position S, the orientation of the combine harvester 1 is within a predetermined angle with respect to the orientation of the work route, and other automatic driving start conditions are also satisfied, automatic driving is permitted. When automatic driving is permitted, the operator is able to issue an instruction to start automatic driving on the operation terminal 3, and when the operation control unit 31 receives the automatic driving start instruction operation from the operator, the output processing unit 313 outputs the automatic driving start instruction to the combine harvester 1. For example, when the operator wants to start automatic driving, he or she presses a start button on an operation screen (not shown).

[0052] When the vehicle control device 11 of the combine harvester 1 receives the automatic travel start instruction from the operation terminal 3, it causes the combine harvester 1 to start automatic travel and reaping work, and causes the combine harvester 1 to perform automatic travel and reaping work according to the target route R from the start position S to the end position G. Furthermore, when the operation control unit 31 receives the automatic travel stop instruction operation from the operator, the output processing unit 313 outputs the automatic travel stop instruction to the combine harvester 1. As a result, the vehicle control device 11 receives the automatic travel stop instruction from the operation terminal 3. When the vehicle control device 11 receives the automatic travel stop instruction, it causes the combine harvester 1 to stop automatic travel and reaping work.

[0053] The operation terminal 3 may be able to access a website (agricultural support site) for an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 3 can function as an operation terminal for the server by executing a browser program by the operation control unit 31. The server is provided with the above-mentioned processing units and executes each process.

[0054] [How to generate target route R] Next, a specific example of a method for generating the target route R will be described. The generation processing unit 312 generates a target route R that includes multiple work routes and connecting routes that connect the work routes based on information such as the field information, the route pattern, the turning type, and the turning radius. Specifically, the generation processing unit 312 generates connecting routes that connect the work routes by using a predetermined turning circle. For example, the generation processing unit 312 generates multiple parallel work routes based on the work width and work direction.

[0055] A specific example of a method for generating the connecting path will be described below. A method for generating a connecting path Ra that connects a traveling path R1 and a traveling path R2 that follows the traveling path R1 will be described below. Note that the traveling path R1 and the traveling path R2 may be work paths along which the combine harvester 1 performs reaping work, or may be non-work paths along which the combine harvester 1 does not perform reaping work. The traveling path R1 is an example of a first traveling path of the present invention, and the traveling path R2 is an example of a second traveling path of the present invention.

[0056] First, the generation processing unit 312 sets (generates) turning circles for each of the travel path R1 and the travel path R2. Specifically, the generation processing unit 312 sets a plurality of turning circles for each of the travel path R1 and the travel path R2, each of which has a different traveling direction of the combine harvester 1. For example, as shown in FIG. 4, the generation processing unit 312 sets a clockwise turning circle R11 (corresponding to a first turning circle of the present invention) and a counterclockwise turning circle R12 (corresponding to a second turning circle of the present invention) that are tangent to the end Pe of the travel path R1 and to the right of the traveling direction of the combine harvester 1 on the travel path R1. In addition, the generation processing unit 312 sets a clockwise turning circle R13 (corresponding to a third turning circle of the present invention) and a counterclockwise turning circle R14 (corresponding to a fourth turning circle of the present invention) that are tangent to the end Pe of the travel path R1 and to the left of the traveling direction of the combine harvester 1 on the travel path R1.

[0057] Furthermore, the generation processing unit 312 sets turning circles R11 to R14 corresponding to the travel route R1 based on turning radii preset by the operator. In Fig. 5, the turning radii of the turning circles R11 to R14 are the same, but the turning radii may be different.

[0058] The generation processing unit 312 also sets a clockwise turning circle R21 (corresponding to the fifth turning circle of the present invention) and a counterclockwise turning circle R22 (corresponding to the sixth turning circle of the present invention) that are tangent to the starting end Ps of the travel path R2 and on the right side of the traveling direction of the combine 1 on the travel path R2. The generation processing unit 312 also sets a clockwise turning circle R23 (corresponding to the seventh turning circle of the present invention) and a counterclockwise turning circle R24 (corresponding to the eighth turning circle of the present invention) that are tangent to the starting end Ps of the travel path R2 and on the left side of the traveling direction of the combine 1 on the travel path R2.

[0059] Furthermore, the generation processing unit 312 sets turning circles R21 to R24 corresponding to the travel route R2 based on turning radii preset by the operator. In Fig. 5, the turning radii of the turning circles R21 to R24 are the same, but the turning radii may be different. Furthermore, the turning radii of the turning circles R11 to R14 and the turning radii of the turning circles R21 to R24 may be the same or different.

[0060] Next, the generation processing unit 312 generates a tangent line R3 that is tangent to the turning circle set for the travel route R1 and the turning circle set for the travel route R2. Specifically, the generation processing unit 312 generates a tangent line R3 that is tangent to one turning circle selected from the turning circles R11 to R14 set for the travel route R1 (hereinafter referred to as the "first selected turning circle") and one turning circle selected from the turning circles R21 to R24 set for the travel route R2 (hereinafter referred to as the "second selected turning circle"). The tangent line R3 is an example of a connecting line in the present invention.

[0061] The generation processing unit 312 also selects the first and second selected turning circles based on predetermined conditions. For example, the generation processing unit 312 selects the first and second selected turning circles of a pattern that satisfies the predetermined conditions from all combination patterns (16 patterns) that combine each of the turning circles R11 to R14 with each of the turning circles R21 to R24. The generation processing unit 312 then generates a connecting route Ra that connects the traveling route R1 and the traveling route R2 based on the first and second selected turning circles and a tangent line R3 that is tangent to the first and second selected turning circles. For example, the generation processing unit 312 generates the connecting route Ra based on the first selected turning circle selected from the turning circles R11 to R14 set for the traveling route R1, the second selected turning circle selected from the turning circles R21 to R24 set for the traveling route R2, and the tangent line R3 that is tangent to the first and second selected turning circles.

[0062] 5A to 5D illustrate four of the 16 patterns (patterns 1 to 4), and FIGS. 6A to 6D illustrate the other four of the 16 patterns (patterns 5 to 8). For example, FIG. 5A illustrates a pattern (pattern 1) that combines turning circles R11 and R21. The generation processing unit 312 generates a tangent line R3 that is tangent to the turning circles R11 and R21. The generation processing unit 312 then generates a connecting route Ra that connects the traveling routes R1 and R2 based on the turning circle R11 that connects to the end point Pe of the traveling route R1, the turning circle R21 that connects to the start point Ps of the traveling route R2, and the tangent line R3 that is tangent to the turning circle R11 and the turning circle R21.

[0063] 5A, the combine harvester 1 travels forward along a straight-line travel path R1. When the combine harvester 1 reaches a terminal end Pe of the travel path R1, it travels forward along a clockwise turning path of a turning circle R11 connecting the terminal end Pe and a point P11 on the turning circle R11. When the combine harvester 1 reaches point P11, it travels forward along a straight-line travel path of a tangent R3 connecting point P11 and a point P21 on the turning circle R21. When the combine harvester 1 reaches point P21, it travels forward along a clockwise turning path of a turning circle R21 connecting point P21 and a starting point Ps of the travel path R2. When the combine harvester 1 reaches the starting point Ps, it travels forward along a straight-line travel path R2. The connection path Ra corresponding to the first pattern allows the combine harvester 1 to move from the travel path R1 to the travel path R2. Therefore, the generation processing unit 312 selects the connection path Ra as a selection candidate.

[0064] 5B shows a connecting path Ra of a pattern (second pattern) that combines turning circles R11 and R23. In the second pattern, the combine harvester 1 travels forward along the straight-line traveling path R1, and when it reaches the end point Pe of the traveling path R1, it travels forward along the turning path of the clockwise turning circle R11 that connects the end point Pe and point P11 on the turning circle R11. When it reaches point P11, it travels forward along the straight-line traveling path of the tangent R3 that connects point P11 and point P21 on the turning circle R23. When it reaches point P21, it switches to reverse traveling and travels backward along the turning path of the clockwise turning circle R23 that connects point P21 and the starting point Ps of the traveling path R2. When it reaches the starting point Ps, it switches to forward traveling and travels forward along the straight-line traveling path R2. According to the connection route Ra corresponding to the second pattern, the combine harvester 1 can move from the travel route R1 to the travel route R2, and therefore the generation processing unit 312 selects the connection route Ra as a selection candidate.

[0065] 5C shows a connecting path Ra of a pattern (third pattern) that combines turning circles R11 and R24. In the third pattern, the combine harvester 1 travels forward along the straight-line traveling path R1, and when it reaches the end point Pe of the traveling path R1, it travels forward along the turning path of the clockwise turning circle R11 that connects the end point Pe and point P11 on the turning circle R11. When it reaches point P11, it travels forward along the straight-line traveling path of the tangent R3 that connects point P11 and point P21 on the turning circle R24. When it reaches point P21, it switches to reverse traveling and travels backward along the turning path of the counterclockwise turning circle R24 that connects point P21 and the starting point Ps of the traveling path R2. When it reaches the starting point Ps, it travels backward along the straight-line traveling path R2. According to the connection route Ra corresponding to the third pattern, the combine harvester 1 moves backward and enters the travel route R2, so the generation processing unit 312 excludes this connection route Ra from the selection targets.

[0066] 5D shows a connecting path Ra of a pattern (fourth pattern) that combines turning circles R11 and R22. In the fourth pattern, the combine harvester 1 travels forward along the straight-line traveling path R1, and when it reaches an end point Pe of the traveling path R1, it travels forward along the turning path of the clockwise turning circle R11 that connects the end point Pe and point P11 on the turning circle R11. When it reaches point P11, it travels forward along the straight-line traveling path of the tangent R3 that connects point P11 and point P21 on the turning circle R22. When it reaches point P21, it travels forward along the turning path of the counterclockwise turning circle R22 that connects point P21 and a starting point Ps of the traveling path R2. When it reaches the starting point Ps, it switches to a reverse direction and travels backward along the straight-line traveling path R2. According to the connection route Ra corresponding to the fourth pattern, the combine harvester 1 moves backward and enters the travel route R2, so the generation processing unit 312 excludes this connection route Ra from the selection targets.

[0067] 6A shows a connecting path Ra of a pattern (a fifth pattern) that combines turning circles R14 and R24. In the fifth pattern, the combine harvester 1 travels forward along the straight traveling path R1. When it reaches the end point Pe of the traveling path R1, it travels forward along the turning path of the counterclockwise turning circle R14 that connects the end point Pe and point P11 on the turning circle R14. When it reaches point P11, it switches to reverse and travels backward along the straight traveling path of the tangent R3 that connects point P11 and point P21 on the turning circle R24. When it reaches point P21, it switches to forward and travels forward along the turning path of the counterclockwise turning circle R24 that connects point P21 and the starting point Ps of the traveling path R2. When it reaches the starting point Ps, it travels forward along the straight traveling path R2. According to the connection route Ra corresponding to the fifth pattern, the combine harvester 1 can move from the travel route R1 to the travel route R2, and therefore the generation processing unit 312 sets the connection route Ra as a selection candidate.

[0068] 6B shows a connecting path Ra of a pattern (sixth pattern) that combines turning circle R14 and turning circle R22. In the sixth pattern, the combine harvester 1 travels forward along the straight-line traveling path R1, and when it reaches end point Pe of traveling path R1, it travels forward along the counterclockwise turning path of turning circle R14 that connects end point Pe and point P11 on turning circle R14. When it reaches point P11, it switches to reverse and travels backward along the straight-line traveling path of tangent R3 that connects point P11 and point P21 on turning circle R22. When it reaches point P21, it travels backward along the counterclockwise turning path of turning circle R22 that connects point P21 and starting point Ps of traveling path R2. When it reaches starting point Ps, it switches to forward and travels forward along the straight-line traveling path R2. According to the connection route Ra corresponding to the sixth pattern, the combine harvester 1 can move from the travel route R1 to the travel route R2, and therefore the generation processing unit 312 sets the connection route Ra as a selection candidate.

[0069] 6C shows a connecting path Ra of a pattern (seventh pattern) that combines turning circles R14 and R21. In the seventh pattern, the combine harvester 1 travels forward along the straight-line traveling path R1. When it reaches the end point Pe of the traveling path R1, it travels forward along the counterclockwise turning path of the turning circle R14 that connects the end point Pe and point P11 on the turning circle R14. When it reaches point P11, it switches to reverse traveling and travels backward along the straight-line traveling path of the tangent R3 that connects point P11 and point P21 on the turning circle R21. When it reaches point P21, it travels backward along the clockwise turning path of the turning circle R21 that connects point P21 and the starting point Ps of the traveling path R2. When it reaches the starting point Ps, it travels backward along the straight-line traveling path R2. According to the connection route Ra corresponding to the seventh pattern, the combine harvester 1 moves backward and enters the travel route R2, so the generation processing unit 312 excludes this connection route Ra from the selection targets.

[0070] 6D shows a connecting path Ra of a pattern (pattern 8) that combines turning circles R14 and R23. In the eighth pattern shown in FIG. 6D, the combine harvester 1 travels forward along the straight-line traveling path R1, and when it reaches the end point Pe of the traveling path R1, it travels forward along the counterclockwise turning path of the turning circle R14 that connects the end point Pe and point P11 on the turning circle R14. When it reaches point P11, it switches to reverse and travels backward along the straight-line traveling path of the tangent R3 that connects point P11 and point P21 on the turning circle R23. When it reaches point P21, it switches to forward and travels forward along the clockwise turning path of the turning circle R23 that connects point P21 and the starting point Ps of the traveling path R2. When it reaches the starting point Ps, it switches to reverse and travels backward along the straight-line traveling path R2. According to the connection route Ra corresponding to the eighth pattern, the combine harvester 1 moves backward and enters the travel route R2, so the generation processing unit 312 excludes this connection route Ra from the selection targets.

[0071] Similarly, the generation processing unit 312 generates a connection route Ra for each of four patterns that combine the turning circle R12 corresponding to the travel route R1 with each of the turning circles R21 to R24 corresponding to the travel route R2, and four patterns that combine the turning circle R13 corresponding to the travel route R1 with each of the turning circles R21 to R24 corresponding to the travel route R2.The generation processing unit 312 then selects one connection route Ra pattern (first selected turning circle and second selected turning circle) that satisfies a predetermined condition from the 16 patterns of connection routes Ra.The generation processing unit 312 also selects one connection route Ra pattern that satisfies a predetermined condition from eight selection candidate patterns out of the 16 patterns of connection routes Ra.

[0072] In addition, if the preset turning radius is small, a pattern may occur in which the combine 1 cannot travel along the connection route Ra. In this case, the generation processing unit 312 excludes the pattern in which the combine 1 cannot travel from the selection candidates.

[0073] A specific example of the predetermined condition will be described. For example, the generation processing unit 312 selects the connection route Ra (first selected turning circle and second selected turning circle) that minimizes the required travel time required for the combine 1 to travel along the connection route Ra (corresponding to the "first condition"). The generation processing unit 312 may also select the connection route Ra that minimizes the required travel time (reverse time) required for traveling backward along a reverse route included in the connection route Ra (corresponding to the "second condition").

[0074] Furthermore, for example, the generation processing unit 312 may select the connection route Ra (first selected turning circle and second selected turning circle) that has the shortest route length (distance) (corresponding to the "third condition"). Furthermore, the generation processing unit 312 may select the connection route Ra that has the shortest length of the reverse route (reverse distance) included in the connection route Ra (corresponding to the "fourth condition").

[0075] Furthermore, for example, the generation processing unit 312 may select a connecting route Ra (first selected turning circle and second selected turning circle) that prevents the body of the combine harvester 1 from protruding outside the field F (or the boundary line of the margin area) when the combine harvester 1 travels along the connecting route Ra (corresponding to the "fifth condition"). Note that if a part of the body of the combine harvester 1 is permitted to protrude outside the field F, the fifth condition may be excluded.

[0076] Furthermore, for example, the generation processing unit 312 may select a connection route Ra (first selected turning circle and second selected turning circle) that prevents the vehicle body of the combine harvester 1 from entering an unworked area when the combine harvester 1 travels along the connection route Ra (corresponding to the "sixth condition"). For example, in the second pattern of connection route Ra shown in FIG. 5B, if the travel route R2 is a work route within the unworked area, the connection route Ra is generated within the unworked area, and the combine harvester 1 will enter the unworked area when traveling along the connection route Ra. In this case, the generation processing unit 312 excludes the second pattern of connection route Ra from the selection candidates.

[0077] Furthermore, for example, the generation processing unit 312 may select a connection route Ra (first selected turning circle and second selected turning circle) according to the settings made by the operator (corresponding to the "seventh condition"). For example, when the operator sets a turning radius, the generation processing unit 312 selects a connection route Ra along which the combine harvester 1 can travel at the set turning radius without trampling on the field F. For example, when the operator sets a headland width, the generation processing unit 312 selects a connection route Ra along which the combine harvester 1 can travel at a turning radius according to the set headland width without trampling on the field F. For example, when the operator sets a preference for forward traveling over reverse traveling, the generation processing unit 312 excludes connection routes Ra that include reverse traveling from the selection candidates, and selects a connection route Ra that does not include reverse traveling.

[0078] Furthermore, for example, the generation processing unit 312 may select a connection route Ra (first selected turning circle and second selected turning circle) that requires fewer forward and reverse switches when the combine harvester 1 travels on the connection route Ra (corresponding to the "eighth condition"). By selecting a connection route Ra that requires fewer forward and reverse switches, it is possible to prevent the field F from being trampled, shorten the travel time on the connection route Ra, and further improve the riding comfort of the passengers.

[0079] Furthermore, for example, the generation processing unit 312 may select a connecting route Ra (first selected turning circle and second selected turning circle) with a short turning route length (or a small turning angle) (corresponding to the "ninth condition"). By selecting a connecting route Ra with a short turning route length (or a small turning angle), trampling of the field F can be suppressed.

[0080] The generation processing unit 312 may select a connection route Ra that satisfies any one of the first to ninth conditions described above, or may select a connection route Ra that satisfies at least two of the first to ninth conditions. FIG. 7 shows determination information D1 for each pattern of connection route Ra (first selected turning circle and second selected turning circle), including the required travel time, the route length, whether or not the route has ventured outside the field F, and whether or not the route has entered an unworked area. After generating connection routes Ra for each pattern, the generation processing unit 312 registers each piece of information for each pattern in the determination information D1. The determination information D1 is stored in the memory unit 12. The generation processing unit 312 may select a connection route Ra by referring to the determination information D1.

[0081] Furthermore, the generation processing unit 312 may set weights for the conditions, calculate an evaluation value for each of the connection routes Ra that are candidates for selection, and select (determine) one connection route Ra based on the calculated evaluation values. For example, the generation processing unit 312 may set a large weight for the required travel time and a small weight for the reverse distance, calculate an evaluation value for each connection route Ra, and select the connection route Ra with the largest evaluation value. The weights may be set by the operator.

[0082] When the generation processing unit 312 selects one connection route Ra based on the above conditions, it generates a target route R that includes multiple work routes (travel routes) and a connection route Ra that connects the work routes. The generation processing unit 312 registers the target route R in association with the field F. In this way, the generation processing unit 312 simulates multiple patterns of connection routes Ra to determine one connection route Ra, and generates the target route R based on the determined connection route Ra.

[0083] In each of the above-described embodiments, the generation processing unit 312 generates the tangent line R3 according to the distance between the travel route R1 and the travel route R2. For example, in the first pattern shown in Fig. 8A, the distance between the travel route R1 and the travel route R2 is narrower than in the first pattern shown in Fig. 5A, and the turning circle R11 and the turning circle R21 partially overlap. In this case, the generation processing unit 312 generates a tangent line R3 with a shorter path length than in the configuration shown in Fig. 5A.

[0084] 8B, the distance between the travel path R1 and the travel path R2 is even narrower, and the entire turning circle R11 and the entire turning circle R21 overlap. In this case, the generation processing unit 312 omits the tangent line R3 and connects the turning path of the turning circle R11 and the turning path of the turning circle R21.

[0085] 8C, the distance between the travel path R1 and the travel path R2 is even narrower, and the positional relationship between the center position C1 of the turning circle R11 and the center position C2 of the turning circle R21 is reversed from the positional relationship between the travel path R1 and the travel path R2. In other words, the travel path R1 is located to the left of the travel path R2, and the center position C1 is located to the right of the center position C2. In this case, the generation processing unit 312 generates a tangent line R3 (reverse path) that moves the combine harvester 1 backward from point P11 on the turning circle R11 to point P21 on the turning circle R21. In this case, the combine harvester 1 switches to the reverse direction at point P11 and the forward direction at point P21.

[0086] In another embodiment of the configuration shown in FIG. 8C , the generation processing unit 312 may generate the tangent R3 as a curved path (turning path). For example, as shown in FIG. 9 , the generation processing unit 312 generates a curved tangent R3 (reverse turning path) connecting point P11 on the turning circle R11 and point P21 on the turning circle R21. The generation processing unit 312 may generate the curved tangent R3 when the distance between points P11 and P21 is equal to or greater than a threshold (the distance between the travel path R1 and the travel path R2 is less than a predetermined distance), and may generate a straight tangent R3 when the distance between points P11 and P21 is less than the threshold (the distance between the travel path R1 and the travel path R2 is equal to or greater than a predetermined distance). The generation processing unit 312 may also generate the curved tangent R3 based on a turning path preset by the operator. With the above configuration, the length of the tangent R3 can be shortened, thereby reducing the travel distance and enabling the combine 1 to turn smoothly on the connecting path Ra.

[0087] [Variation 1] In the above-described embodiment, the travel paths R1 and R2 are parallel to each other, but the travel paths R1 and R2 may be non-parallel. For example, Fig. 10A shows an example in which the travel path R1 is a path set in the headland area, and the travel path R2 is a work path (reaper work path) in the inner circumferential area F2. For example, when the storage tank 24 becomes full during reaper work, the combine harvester 1 moves to a discharge position set in the headland area and discharges the grain stored in the storage tank 24 to the transport vehicle, and then moves from the travel path R1 set in the headland area to the travel path R2 and resumes reaper work on the travel path R2.

[0088] In this case, too, the generation processing unit 312 selects the first selected turning circle and the second selected turning circle of a pattern that satisfies a predetermined condition (see FIG. 7) from among all combination patterns that combine each of the turning circles R11 to R14 set for the driving route R1 with each of the turning circles R21 to R24 set for the driving route R2.

[0089] For example, FIG. 10B shows a connecting route Ra that connects the driving route R1 and the driving route R2, which is generated based on the turning circle R14, the turning circle R21, and the tangent line R3 that is tangent to the turning circle R14 and the turning circle R21. 10B, the combine harvester 1 travels forward along a straight-line travel path R1. When the combine harvester 1 reaches a terminal end Pe of the travel path R1, it travels forward along a counterclockwise turning path of a turning circle R14 connecting the terminal end Pe and a point P11 on the turning circle R14. When the combine harvester 1 reaches point P11, it switches to a reverse direction and travels backward along a straight-line travel path of a tangent R3 to a tangent R3 connecting point P11 and a point P21 on the turning circle R21. When the combine harvester 1 reaches point P21, it switches to a forward direction and travels forward along a clockwise turning path of a turning circle R21 connecting point P21 and a starting point Ps of the travel path R2. When the combine harvester 1 reaches the starting point Ps, it travels forward along a straight-line travel path R2. Since the connection path Ra allows the combine harvester 1 to move from the travel path R1 to the travel path R2, the generation processing unit 312 selects the connection path Ra as a selection candidate.

[0090] The generation processing unit 312 selects the connecting route Ra (the first selected turning circle and the second selected turning circle) that satisfies a predetermined condition from among the selection candidates, and generates the target route R.

[0091] [Variation 2] FIG. 11A shows an example of a state in which travel path R1 and travel path R2 are inclined at a predetermined angle (for example, 90 degrees). For example, after the combine harvester 1 performs a reaping operation on travel path R1, which is a work path, it turns 90 degrees and moves to the next work path, travel path R2, and performs a reaping operation on travel path R2. Note that while FIG. 11A shows the end point Pe of travel path R1 and the start point Ps of travel path R2 as being offset, the end points Pe and Pe may be in the same position.

[0092] In this case, too, the generation processing unit 312 selects the first selected turning circle and the second selected turning circle of a pattern that satisfies a predetermined condition (see FIG. 7) from among all combination patterns that combine each of the turning circles R11 to R14 set for the driving route R1 with each of the turning circles R21 to R24 set for the driving route R2.

[0093] 11B shows a connecting path Ra connecting the travel path R1 and the travel path R2, which is generated based on the turning circle R11, the turning circle R21, and a tangent line R3 tangent to the turning circle R11 and the turning circle R21. In the example shown in FIG. 11B, the combine harvester 1 travels forward along the straight travel path R1, and when it reaches the end point Pe of the travel path R1, it travels forward along the turning path of the clockwise turning circle R11 connecting the end point Pe and a point P11 on the turning circle R11. When it reaches point P11, it switches to a reverse direction and travels backward along the straight travel path of the tangent line R3 connecting point P11 and point P21 on the turning circle R21. When it reaches point P21, it switches to a forward direction and travels forward along the turning path of the clockwise turning circle R21 connecting point P21 and a starting point Ps of the travel path R2. When it reaches the starting point Ps, it travels forward along the straight travel path R2. According to the connection route Ra, the combine harvester 1 can move from the travel route R1 to the travel route R2, and therefore the generation processing unit 312 selects the connection route Ra as a selection candidate.

[0094] The generation processing unit 312 selects the connecting route Ra (the first selected turning circle and the second selected turning circle) that satisfies a predetermined condition from among the selection candidates, and generates the target route R.

[0095] [Variation 3] FIG. 12A shows an example in which the travel path R1 and the travel path R2 in the headland area are inclined at a predetermined angle (e.g., 90 degrees). For example, the combine harvester 1 travels on the travel path R1 along the right edge of the field F, then travels on the travel path R2 along the top edge of the field F, turns on the turning path R4 that follows the travel path R2, and enters the working path R5 in the inner peripheral area F2. Here, the turning path R4 that connects to the starting point P4 of the working path R5 and the travel path R2 that connects to the starting point P3 of the turning path R4 are set in advance. For example, the travel path R2 is a detour path for moving from the travel path R1 to the working path R5.

[0096] In this case, too, the generation processing unit 312 selects the first selected turning circle and the second selected turning circle of a pattern that satisfies a predetermined condition (see FIG. 7) from among all combination patterns that combine each of the turning circles R11 to R14 set for the driving route R1 with each of the turning circles R21 to R24 set for the driving route R2.

[0097] 12B shows a connecting path Ra connecting the travel path R1 and the travel path R2, which is generated based on the turning circle R12, the turning circle R24, and a tangent line R3 tangent to the turning circle R12 and the turning circle R24. In the example shown in FIG. 12B, the combine harvester 1 travels forward on the straight travel path R1, and when it reaches the end point Pe of the travel path R1, it travels forward on the turning path of the counterclockwise turning circle R12 connecting the end point Pe and a point P11 on the turning circle R12. When it reaches point P11, it travels straight on the straight travel path of the tangent line R3 connecting point P11 and a point P21 on the turning circle R24. When it reaches point P21, it travels forward on the turning path of the counterclockwise turning circle R24 connecting point P21 and a starting point Ps of the travel path R2. When it reaches the starting point Ps, it travels forward on the straight travel path R2. According to the connection route Ra, the combine harvester 1 can move from the travel route R1 to the travel route R2, and therefore the generation processing unit 312 selects the connection route Ra as a selection candidate.

[0098] The generation processing unit 312 selects a connecting route Ra (first selected turning circle and second selected turning circle) that satisfies predetermined conditions from the selection candidates, and generates a target route R. As described above, the travel routes R1 and R2 may be work routes, non-work routes, or detour routes. The generation processing unit 312 may also select a connecting route Ra (first selected turning circle and second selected turning circle) with an optimal pattern depending on the position within the field F.

[0099] [Route generation process] Hereinafter, an example of the process for generating the target route R (route generation process) executed by the traveling system 10 will be described with reference to FIG.

[0100] The present invention can be understood as a route generation method that executes one or more steps included in a route generation process. One or more steps included in the route generation process described herein may be omitted as appropriate. The steps in the route generation process may be executed in a different order as long as the same effects are achieved. While the description here uses an example in which the operation control unit 31 executes each step in the route generation process, other embodiments of the route generation method may include one or more processors that execute each step in the route generation process in a distributed manner. For example, the vehicle control device 11 may execute each step in the route generation process, or the operation control unit 31 and the vehicle control device 11 may execute each step in the route generation process in a distributed manner.

[0101] <Step S1> In step S1, the operation control unit 31 determines whether or not an instruction to create a target route R has been received from the operator. If the operation control unit 31 receives the route creation instruction (S1: Yes), the operation control unit 31 shifts the processing to step S2. The operation control unit 31 waits until the route creation instruction is received (S1: No).

[0102] <Step S2> In step S2, the operation control unit 31 generates a travel route. Specifically, when the operation control unit 31 receives an operation from the operator to select a field, an operation to select a turning method, an operation to set a headland width, etc., the operation control unit 31 generates a travel route based on each operation information. Note that the travel route may include a work route along which the combine 1 performs work (reaps) and a non-work route along which the combine 1 travels in the headland area.

[0103] <Step S3> In step S3, the operation control unit 31 sets a turning circle for each travel route. Specifically, the operation control unit 31 sets turning circles for generating a connecting route Ra that connects two consecutive travel routes at each end (terminal or starting point) of the two travel routes. For example, in the example shown in FIG. 4, the operation control unit 31 sets turning circles R11 to R14 at the end Pe of the travel route R1, and sets turning circles R21 to R24 at the starting point Ps of the travel route R2. Note that the operation control unit 31 may set turning circles according to the settings made by the operator. For example, if the operator makes a setting to prohibit reverse turning at the end Pe of the travel route R1, the operation control unit 31 excludes turning circles R12 and R13 that include reverse turning, and sets turning circles R11 and R14 that include forward turning.

[0104] <Step S4> In step S4, the operation control unit 31 generates a tangent line R3 connecting the turning circles set for each travel route. Specifically, the operation control unit 31 generates a tangent line R3 that is tangent to each of the turning circles R11 to R14 set for the travel route R1 and each of the turning circles R21 to R24 set for the travel route R2 (see FIGS. 5 and 6).

[0105] <Step S5> In step S5, the operation control unit 31 selects a connecting route Ra that connects the two travel routes. Specifically, the operation control unit 31 selects the first selected turning circle and the second selected turning circle that satisfy a predetermined condition from all combination patterns (16 patterns) that combine each of the turning circles R11 to R14 with each of the turning circles R21 to R24. Specifically, the operation control unit 31 determines a combination of the first selected turning circle and the second selected turning circle that satisfies one or more predetermined conditions from the first condition to the ninth condition described above, and determines the connecting route Ra based on the first selected turning circle and the second selected turning circle and the tangent line R3 that is tangent to the first selected turning circle and the second selected turning circle.

[0106] For example, the operation control unit 31 selects, from among eight of the 16 connection route Ra candidate patterns, the connection route Ra (see FIG. 5A) that is generated based on the turning circle R11, the turning circle R21, and the tangent line R3 and that has the shortest required travel time (corresponding to the "first condition").

[0107] Furthermore, for example, the operation control unit 31 selects, from among eight candidate patterns, a connection route Ra that has the shortest reversing distance, that does not cause a part of the combine 1 to extend outside the field F (or the boundary line of the margin area) when traveling along the connection route Ra, and that does not enter an unworked area (uncut land). The operation control unit 31 may select a different pattern of connection route Ra for each position within the field F or for each travel route. Alternatively, the operator may select the connection route Ra.

[0108] <Step S6> In step S6, the operation control unit 31 generates a target route R. Specifically, the operation control unit 31 generates a target route R (see FIG. 3) that includes the travel route generated in step S2 and the connecting route Ra selected in step S5.

[0109] <Step S7> In step S7, the operation control unit 31 registers the generated target route R in association with the field F selected by the operator.

[0110] In this way, the operation control unit 31 generates a target route R for automatic travel of the combine harvester 1 corresponding to the field F. When the operation control unit 31 receives an automatic travel start instruction (work start instruction) from the operator, it outputs the automatic travel start instruction and route data of the target route R to the combine harvester 1. When the combine harvester 1 acquires the automatic travel start instruction, it starts automatic travel from the start position S according to the target route R and starts reaping work. When the combine harvester 1 reaches the end position G, it ends automatic travel and reaping work.

[0111] As described above, the traveling system 10 generates a route (automatic traveling route) along which the combine harvester 1 travels. The traveling system 10 sets multiple turning circles, each with a different traveling direction for the combine harvester 1, for each of the traveling route R1 (first traveling route) and the traveling route R2 (second traveling route) following the traveling route R1, and generates a connecting route Ra connecting the traveling routes R1 and R2 based on a first selected turning circle selected from the multiple turning circles corresponding to the traveling route R1, a second selected turning circle selected from the multiple turning circles corresponding to the traveling route R2, and a tangent line R3 (connecting line) connecting the first selected turning circle and the second selected turning circle. The traveling system 10 also generates a target route R along which the combine harvester 1 travels automatically, including the traveling route R1, the traveling route R2, and the connecting route Ra.

[0112] For example, the multiple turning circles include multiple turning circles R11 to R14 that are tangent to the end point Pe of the travel path R1 and have different directions of travel for the combine 1, and multiple turning circles R21 to R24 that are tangent to the start point Ps of the travel path R2 and have different directions of travel for the combine 1 (see Figure 4).

[0113] According to the above configuration, for the connecting route Ra connecting the travel route R1 and the travel route R2, a desired pattern of the connecting route Ra can be selected from a plurality of patterns to generate the target route R. For example, the target route R can be generated by selecting a connecting route Ra according to conditions such as the state of the field F and the travel method, or by selecting a connecting route Ra according to setting information set by the operator (turning radius, headland width, etc.). Therefore, it is possible to generate an appropriate connecting route Ra that connects the travel routes, and it is also possible to flexibly generate the connecting route Ra.

[0114] [Other embodiments] The present invention is not limited to the above-described embodiments, and other embodiments of the present invention will be described below.

[0115] In another embodiment of the present invention, the generation processing unit 312 may set multiple turning circles for either the driving route R1 (first driving route) or the driving route R2 (second driving route), and set one turning circle for the other driving route.

[0116] 4, the generation processing unit 312 sets turning circles R11 to R14 for the travel route R1, and sets one of turning circles R21 to R24 for the travel route R2. Also, for example, the generation processing unit 312 sets one of turning circles R11 to R14 for the travel route R1, and sets turning circles R21 to R24 for the travel route R2.

[0117] The generation processing unit 312 may set one turning circle selected from a plurality of turning circles based on predetermined conditions for the other travel route. For example, the generation processing unit 312 may set turning circles R11 to R14 for travel route R1, and set one turning circle R21 for travel route R2 that does not enter an unworked area and requires the shortest travel time.

[0118] Furthermore, the generation processing unit 312 may set one turning circle selected by the operator from among a plurality of turning circles for the other travel route.

[0119] That is, in the present invention, the generation processing unit 312 sets a plurality of turning circles, each of which has a different traveling direction for the work vehicle, for at least one of the travel route R1 and the travel route R2.

[0120] In the above-described embodiments, a combine harvester 1 is given as an example of a work vehicle, but the work vehicle of the present invention is not limited to the combine harvester 1 and may be various work vehicles such as a tractor, a rice transplanter, or construction machinery. The generation processing unit 312 may also select the connection route Ra (first selected turning circle and second selected turning circle) based on the type of work vehicle or the work content. As described above, in a combine harvester 1 performing harvesting work, if the combine harvester 1 enters an unworked area (uncut land) when traveling, for example, on the connection route Ra of the second pattern shown in FIG. 5B or the connection route Ra of the sixth pattern shown in FIG. 6B, the connection route Ra is excluded from the selection targets.

[0121] On the other hand, if the work vehicle is a tractor that performs tillage work, it may enter an unworked area when traveling along the connecting route Ra, or it may travel through an already worked area. In this case, the generation processing unit 312 may select the connecting route Ra as a selection candidate.

[0122] In the above-described embodiment, the generation processing unit 312 sets connection routes Ra (FIGS. 5A, 5B, 6A, 6B) in which the number of times the travel direction of the combine 1 is switched forward or backward is zero or an even number of times as selection candidates, and excludes connection routes Ra (FIGS. 5C, 5D, 6C, 6D) in which the number of times the switch is odd number of times as selection candidates. In another embodiment, in a case in which the travel direction of the travel route R1 and the travel route R2 are reversed, i.e., in a case in which the work vehicle travels forward on travel route R1 and reverse on travel route R2, the generation processing unit 312 may set connection routes Ra in which the number of times the travel direction of the work vehicle is switched is an odd number of times as selection candidates, and exclude connection routes Ra in which the number of times the switch is zero or an even number of times as selection candidates.

[0123] In another embodiment of the present invention, the generation processing unit 312 may be able to adjust the length (path length) of the travel path R2 so that the work vehicle does not enter the unworked area when traveling along the connecting path Ra. For example, as shown in FIG. 14A, when the combine harvester 1 enters the inner peripheral area F2 from the outer peripheral area F1, it travels along the travel path R1 and then travels straight along the travel path R2 (non-work path) that is a straight path that connects to the work path R6 in the inner peripheral area F2. By traveling straight along the travel path R2, the combine harvester 1 can reliably perform reaping work from the start of the work path R6.

[0124] Here, if the length of the travel path R2 is short, the combine harvester 1 may enter an unworked area when traveling along the connecting path Ra. For example, as shown in Figure 14B, if the generation processing unit 312 selects the connecting path Ra generated based on the turning circle R11, the turning circle R23, and the tangent line R3 that is tangent to the turning circle R11 and the turning circle R23, the combine harvester 1 may enter an unworked area before reaching the end of the straight path of the tangent line R3 (point P21 on the turning circle R23) and when switching to reverse travel at point P21 and traveling backward along the turning path of the turning circle R23.

[0125] To solve the above problem, the generation processing unit 312 extends the length of the travel route R2 (or changes the position of the starting point Ps of the travel route R2) as shown in Fig. 14C. Specifically, the generation processing unit 312 extends the travel route R2 to a length that prevents the combine 1 from entering an unworked area when traveling on the connecting route Ra.

[0126] In this way, the generation processing unit 312 may be configured to adjust the length of the travel route R2 when a pattern that enters an unworked area is selected from the combination patterns of turning circles set for each of the travel routes R1 and R2, and not adjust the length of the travel route R2 when a pattern that does not enter an unworked area is selected. Also, the operator may be able to set the length of the travel route R2.

[0127] In another embodiment, for example, when the combine harvester 1 enters an unworked area while traveling along the travel path R1, the generation processing unit 312 may extend the path length of the travel path R1. In another embodiment, the generation processing unit 312 may extend both the path length of the travel path R1 and the path length of the travel path R2. In another embodiment, the generation processing unit 312 may adjust at least one of the path length of the travel path R1 and the path length of the travel path R2 to generate a connecting path Ra based on one turning circle.

[0128] In another embodiment of the present invention, the generation processing unit 312 may generate a connecting route Ra that connects travel routes for reverse traveling. That is, the first travel route and the second travel route of the present invention may be reverse travel routes. For example, the generation processing unit 312 may set multiple turning circles for each of the travel route R1 for reverse traveling and the travel route R2 for reverse traveling after the travel route R1, and generate the connecting route Ra based on a first selected turning circle selected from the turning circles R11 to R14 set for the travel route R1, a second selected turning circle selected from the turning circles R21 to R24 set for the travel route R2, and a tangent line R3 tangent to the first selected turning circle and the second selected turning circle. Furthermore, the generation processing unit 312 may generate a connecting route Ra that connects a travel route for forward traveling and a travel route for reverse traveling. That is, one of the first travel route and the second travel route of the present invention may be a forward travel route, and the other may be a reverse travel route. For example, the generation processing unit 312 may set multiple turning circles for each of a driving route R1 for backward travel and a driving route R2 for forward travel following the driving route R1, and generate a connecting route Ra based on a first selected turning circle selected from the turning circles R11 to R14 set for the driving route R1, a second selected turning circle selected from the turning circles R21 to R24 set for the driving route R2, and a tangent R3 tangent to the first selected turning circle and the second selected turning circle.

[0129] [Notes on the Invention] The following is a summary of the invention extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0130] <Appendix 1> A route generation method for generating a route for a work vehicle to travel, comprising: setting a plurality of turning circles, the turning circles having mutually different traveling directions of the work vehicle, for at least one of a first travel route and a second travel route subsequent to the first travel route; generating a connection path that connects the first travel path and the second travel path based on a selected turning circle selected from the plurality of turning circles and a connection line that connects to the selected turning circle; A path generation method that performs the above.

[0131] <Appendix 2> The plurality of turning circles include a plurality of turning circles that are tangent to an end of the first travel path and have different traveling directions of the work vehicle, and a plurality of turning circles that are tangent to a start of the second travel path and have different traveling directions of the work vehicle. 2. The route generation method according to claim 1.

[0132] <Appendix 3> The plurality of turning circles are a first clockwise turning circle that is tangent to an end of the first travel path and is set to the right of the direction of travel of the work vehicle on the first travel path; a second turning circle that is tangent to the end of the first travel path and is set counterclockwise on the right side of the direction of travel of the work vehicle on the first travel path; a clockwise third turning circle that is tangent to the end of the first travel path and is set on the left side of the traveling direction of the work vehicle on the first travel path; a fourth turning circle in a counterclockwise direction that is tangent to the end of the first travel path and is set on the left side of the traveling direction of the work vehicle on the first travel path; a fifth turning circle in a clockwise direction that is tangent to the starting end of the second travel path and is set to the right of the direction of travel of the work vehicle on the second travel path; a sixth turning circle that is tangent to the starting end of the second travel path and is set counterclockwise on the right side of the direction of travel of the work vehicle on the second travel path; a seventh turning circle in a clockwise direction that is tangent to the starting end of the second travel path and is set on the left side of the direction of travel of the work vehicle on the second travel path; an eighth turning circle in a counterclockwise direction that is tangent to the starting end of the second travel path and is set on the left side of the direction of travel of the work vehicle on the second travel path, 3. A route generation method according to claim 1 or 2.

[0133] <Appendix 4> generating the connection path based on a first selected turning circle selected from the first turning circle, the second turning circle, the third turning circle, and the fourth turning circle, a second selected turning circle selected from the fifth turning circle, the sixth turning circle, the seventh turning circle, and the eighth turning circle, and the connection line being a tangent to each of the first selected turning circle and the second selected turning circle; 4. The route generation method according to claim 3.

[0134] <Appendix 5> The first selected turning circle and the second selected turning circle are each selected based on a predetermined condition. 5. A route generation method according to claim 4.

[0135] <Appendix 6> selecting the first selected turning circle and the second selected turning circle that will minimize the required travel time required for the work vehicle to travel along the connecting route; 6. A route generation method according to claim 5.

[0136] <Appendix 7> selecting the first selected turning circle and the second selected turning circle that result in the shortest length of the connection path; 7. A route generation method according to claim 5 or 6.

[0137] <Appendix 8> selecting the first selected turning circle and the second selected turning circle such that the work vehicle will not jump out of the work area when traveling along the connecting route; A route generation method according to any one of Supplementary Notes 5 to 7.

[0138] <Appendix 9> selecting the first selected turning circle and the second selected turning circle that do not enter an unworked area when the work vehicle travels along the connecting route; A route generation method according to any one of Supplementary notes 5 to 8.

[0139] <Appendix 10> selecting the first selected turning circle and the second selected turning circle that will result in the shortest reverse distance when the work vehicle travels along the connecting route; 10. A route generation method according to any one of appended items 5 to 9.

[0140] <Appendix 11> The length of at least one of the first travel path and the second travel path can be adjusted so that the work vehicle does not enter an unworked area when traveling on the connecting path. A route generation method according to any one of Supplementary Notes 3 to 10.

[0141] <Appendix 12> generating a target route along which the work vehicle will automatically travel, the target route including the first travel route, the second travel route, and the connecting route; A route generation method according to any one of Supplementary Notes 1 to 11.

[0142] <Appendix 13> A route generation program for generating a route for a work vehicle to travel, setting a plurality of turning circles, the turning circles having mutually different traveling directions of the work vehicle, for at least one of a first travel route and a second travel route subsequent to the first travel route; generating a connection path that connects the first travel path and the second travel path based on a selected turning circle selected from the plurality of turning circles and a connection line that connects to the selected turning circle; A path generation program for causing one or more processors to execute the above.

[0143] <Appendix 14> A route generation system that generates a route for a work vehicle to travel, a plurality of turning circles, the turning circles having mutually different traveling directions of the work vehicle, are set for at least one of a first travel route and a second travel route following the first travel route; a route generation system that generates a connecting route that connects the first travel route and the second travel route based on a selected turning circle selected from the plurality of turning circles and a connecting line that connects to the selected turning circle; [Explanation of symbols]

[0144] 10: Driving system (route generation system) 1: Combine 11: Vehicle control device 111: Driving processing unit 112: Work processing unit 3: Operation terminal 31: Operation control section 311: Setting processing section 312: Generation processing unit 313: Output processing section D1: Judgment information F: Field (working area) F1: Outer area F2: Inner area R: Target route R1: Driving route (first driving route) R2: Travel route (second travel route) R11: Turning circle (first turning circle) R12: Turning circle (second turning circle) R13: Turning circle (third turning circle) R14: Turning circle (4th turning circle) R21: Turning circle (5th turning circle) R22: Turning circle (6th turning circle) R23: Turning circle (7th turning circle) R24: Turning circle (8th turning circle) R3: Tangent (connecting line) Ra: Connection path

Claims

1. A route generation method for generating a route for a work vehicle to travel, comprising: setting a plurality of turning circles, the turning circles having mutually different traveling directions of the work vehicle, for at least one of a first travel route and a second travel route subsequent to the first travel route; generating a connection path that connects the first travel path and the second travel path based on a selected turning circle selected from the plurality of turning circles and a connection line that connects to the selected turning circle; A path generation method that performs the above.

2. The plurality of turning circles include a plurality of turning circles that are tangent to an end of the first travel path and have different traveling directions of the work vehicle, and a plurality of turning circles that are tangent to a start of the second travel path and have different traveling directions of the work vehicle. The route generation method according to claim 1 .

3. The plurality of turning circles are a first turning circle that is tangent to an end of the first travel path and is set clockwise on the right side of the direction of travel of the work vehicle on the first travel path; a second turning circle that is tangent to an end of the first travel path and is set counterclockwise on the right side of the traveling direction of the work vehicle on the first travel path; a third clockwise turning circle that is tangent to an end of the first travel path and is set on the left side of the traveling direction of the work vehicle on the first travel path; a fourth turning circle that is tangent to an end of the first travel path and is set counterclockwise on the left side of the traveling direction of the work vehicle on the first travel path; a fifth turning circle in a clockwise direction that is tangent to the starting end of the second travel path and is set to the right of the direction of travel of the work vehicle on the second travel path; a sixth turning circle that is tangent to the starting end of the second travel path and is set counterclockwise on the right side of the direction of travel of the work vehicle on the second travel path; a seventh turning circle in a clockwise direction that is tangent to the starting end of the second travel path and is set on the left side of the second travel path in the traveling direction of the work vehicle; an eighth turning circle in a counterclockwise direction that is tangent to the starting end of the second travel path and is set on the left side of the second travel path in the traveling direction of the work vehicle, The route generation method according to claim 1 .

4. generating the connection path based on a first selected turning circle selected from the first turning circle, the second turning circle, the third turning circle, and the fourth turning circle, a second selected turning circle selected from the fifth turning circle, the sixth turning circle, the seventh turning circle, and the eighth turning circle, and the connection line being a tangent to each of the first selected turning circle and the second selected turning circle; The route generation method according to claim 3 .

5. selecting the first selected turning circle and the second selected turning circle based on a predetermined condition; The route generation method according to claim 4 .

6. selecting the first selected turning circle and the second selected turning circle that will minimize the required traveling time required for the work vehicle to travel along the connecting route; The route generation method according to claim 5 .

7. selecting the first selected turning circle and the second selected turning circle that result in the shortest length of the connection path; The route generation method according to claim 5 .

8. selecting the first selected turning circle and the second selected turning circle such that the work vehicle will not jump out of the work area when traveling along the connecting route; The route generation method according to claim 5 .

9. selecting the first selected turning circle and the second selected turning circle that do not enter an unworked area when the work vehicle travels along the connecting route; The route generation method according to claim 5 .

10. selecting the first selected turning circle and the second selected turning circle that will result in the shortest reverse distance when the work vehicle travels along the connecting route; The route generation method according to claim 5 .

11. The length of at least one of the first travel path and the second travel path is adjustable so that the work vehicle does not enter an unworked area when traveling on the connecting path. The route generation method according to claim 3 .

12. generating a target route along which the work vehicle will automatically travel, the target route including the first travel route, the second travel route, and the connecting route; The route generation method according to any one of claims 1 to 11.

13. A route generation program for generating a route for a work vehicle to travel, setting a plurality of turning circles, the turning circles having mutually different traveling directions of the work vehicle, for at least one of a first travel route and a second travel route subsequent to the first travel route; generating a connection path that connects the first travel path and the second travel path based on a selected turning circle selected from the plurality of turning circles and a connection line that connects to the selected turning circle; A path generation program for causing one or more processors to execute the above.

14. A route generation system that generates a route for a work vehicle to travel, a plurality of turning circles, the turning circles having mutually different traveling directions of the work vehicle, are set for at least one of a first travel route and a second travel route following the first travel route; a route generation system that generates a connecting route that connects the first travel route and the second travel route based on a selected turning circle selected from the plurality of turning circles and a connecting line that connects to the selected turning circle;

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