Target route generation system for work vehicles and target route generation method for work vehicles

Abstract

The goal is to enable users to easily obtain target routes for autonomous driving that are tailored to their values ​​and other factors. [Solution] The target route generation system for work vehicles includes a target route generation unit that generates a round-trip route for automatically driving a work vehicle back and forth in a field. The round-trip route includes a plurality of work paths arranged in parallel from one end edge of the field to the other end edge. In one of the round-trip routes, adjacent to a specific work path at the far end edge of the field and in the opposite direction to the direction of travel of that specific work path, the work vehicle makes multiple overlapping runs, with the first run being a non-work run and the second run being a work run.

Description

Technical Field

[0001] The present invention relates to a target path generation system for a work vehicle for generating a target path for automatically driving a work vehicle such as a tractor, a riding rice transplanter, a combine, a riding mower, a wheel loader, a snow removal vehicle, etc., and an unmanned work vehicle such as an unmanned mower, and a method for generating a target path for a work vehicle.

Background Art

[0002] As a target path generation system for a work vehicle as described above, for example, based on work site data such as the size and shape of a field obtained by a tractor (work vehicle) traveling along the outer periphery of the field (work site), the user can, as arbitrary setting data for target path generation, a plurality of work area specific points such as the corner position and inflection point of the field, the work start position, the work start direction, the work end position, etc., based on the user's values, etc. By manually inputting, there is a path generation device configured to generate a target path for automatic driving according to the user's values, etc. based on the input arbitrary setting data (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the target path generation system for a work vehicle described in Patent Document 1, the user is required to input all of the arbitrary setting data necessary for generating the target path. For a user accustomed to inputting arbitrary setting data, since the user can input arbitrary setting data based on the user's values, etc., the target path generation system can generate a target path according to the user's values, etc. However, for users who are not comfortable with the process of entering arbitrary settings data, this process is often time-consuming, and therefore, simplification of this input is desired. Furthermore, if arbitrary settings data based on the user's values ​​are not entered properly, this may result in the generation of inappropriate target routes that do not align with the user's values ​​and cause disadvantages during automated driving. For example, the work area obtained from the target route generated by the target route generation system may be smaller, or the non-working distance on the target route generated by the target route generation system may be longer.

[0005] In light of this situation, the main objective of the present invention is to generate a target route for automated driving that is suitable for the user's values ​​and other factors, without forcing the user to input arbitrary setting data, thereby improving the efficiency of work performed by automated driving. [Means for solving the problem]

[0006] A target route generation system for a work vehicle according to one embodiment includes a target route generation unit that generates a round-trip route for automatically driving a work vehicle back and forth in a field. The round-trip route includes a plurality of work paths arranged in parallel from one end edge to the other edge of the field. In one of the round-trip routes, which is adjacent to a specific work path located furthest to the other end edge of the field and is in the opposite direction to the direction of travel of the specific work path, the work vehicle makes multiple overlapping runs, the first run being a non-work run and the second run being a work run. A method for generating a target route for a work vehicle according to one embodiment involves generating a round-trip route for automatically driving a work vehicle back and forth in a field. The round-trip route includes a plurality of work routes arranged in parallel from one end edge of the field to the other end edge. In one of the round-trip routes, which is adjacent to a specific work route located furthest to the other end edge of the field and is in the opposite direction to the direction of travel of the specific work route, the work vehicle makes multiple overlapping runs, the first run being a non-work run and the second run being a work run. [Brief explanation of the drawing]

[0007] [Figure 1] Left side view of the tractor [Figure 2] Block diagram showing the control configuration for the automatic driving of a tractor. [Figure 3] Flowchart for target path generation control [Figure 4] This diagram shows the identification of the work area and selection of the reference work direction by the target path generation unit. [Figure 5] This figure shows the first example of a target path generated by the target path generation unit. [Figure 6] This figure shows a second example of a target path generated by the target path generation unit. [Figure 7] This figure shows the third example route among the target routes generated by the target route generation unit. [Figure 8] This figure shows the fourth example route among the target routes generated by the target route generation unit. [Figure 9] This figure shows the fifth example route among the target routes generated by the target route generation unit. [Figure 10] This figure shows the sixth example route among the target routes generated by the target route generation unit. [Figure 11] This figure shows the seventh example route among the target routes generated by the target route generation unit. [Figure 12] This figure shows the eighth example route among the target routes generated by the target route generation unit. [Figure 13] This figure shows the ninth example route among the target routes generated by the target route generation unit. [Figure 14] This figure shows the 10th example route among the target routes generated by the target route generation unit. [Figure 15] This figure shows the 11th example route among the target routes generated by the target route generation unit. [Figure 16] This figure shows the 12th example route among the target routes generated by the target route generation unit. [Figure 17]Figure showing the 13th exemplary path among the target paths generated by the target path generation unit [Figure 18] Figure showing the 1st exemplary path portion among the direction change path portions in the target path generated by the target path generation unit [Figure 19] Figure showing the 2nd exemplary path portion among the direction change path portions in the target path generated by the target path generation unit

Mode for Carrying Out the Invention

[0008] An embodiment in which the target path generation system for a work vehicle according to the present invention is applied to a tractor, which is an example of a work vehicle, will be described based on the drawings. The target path generation system for a work vehicle according to the present invention can be applied to riding work vehicles such as a riding rice transplanter, a combine, a riding lawn mower, a wheel loader, a snow removal vehicle, etc., other than a tractor, and unmanned work vehicles such as an unmanned lawn mower.

[0009] As shown in FIGS. 1 to 2, the tractor 1 exemplified in this embodiment is configured to be capable of autonomous driving in a field, which is an example of a work area, by using an autonomous driving system for a work vehicle. The autonomous driving system for a work vehicle includes an autonomous driving unit 2 mounted on the tractor 1 and a portable communication terminal 3 communicatively set to communicate with the autonomous driving unit 2. The portable communication terminal 3 employs a tablet-type personal computer having a touch-operable liquid crystal panel (an example of a display unit) 4 and the like. Note that a notebook-type personal computer or a smartphone or the like can be adopted for the portable communication terminal 3.

[0010] As shown in FIG. 1, the tractor 1 is connected to a rotary tiller 6, which is an example of a work implement, via a three-point link mechanism 5 at its rear so as to be able to be lifted and lowered and rolled. Thus, this tractor 1 is configured in a rotary tilling specification. Note that, at the rear of the tractor 1, work implements such as a plow, a seeding device, a spraying device, etc. can be connected instead of the rotary tiller 6.

[0011] As shown in FIGS. 1 and 2, the tractor 1 includes left and right front wheels 7 that can be driven and steered, left and right rear wheels 8 that can be driven, a cabin 9 that forms a riding operation unit, an electronically controlled diesel engine (hereinafter referred to as the engine) 10 having a common rail system, an electronically controlled transmission 11 that shifts the power from the engine 10, a full hydraulic power steering mechanism 12 that steers the left and right front wheels 7, left and right side brakes (not shown) that brake the left and right rear wheels 8, an electronically controlled brake operation mechanism 13 that enables hydraulic operation of the left and right side brakes, a work clutch (not shown) that interrupts the transmission to the rotary tillage device 6, an electronically controlled clutch operation mechanism 14 that enables hydraulic operation of the work clutch, an electro-hydraulic control type lifting drive mechanism 15 that drives the rotary tillage device 6 to lift and lower, an in-vehicle electronic control unit 16 having various control programs related to the automatic traveling of the vehicle (tractor) 1, a vehicle speed sensor 17 that detects the vehicle speed of the vehicle 1, a steering angle sensor 18 that detects the steering angle of the front wheels 7, and a positioning unit 19 that measures the current position and current orientation of the vehicle 1, etc. Note that an electronically controlled gasoline engine equipped with an electronic governor may be adopted for the engine 10. For the transmission 11, a hydraulic mechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), or a belt type continuously variable transmission, etc. can be adopted. For the power steering mechanism 12, an electric power steering mechanism equipped with an electric motor, etc. may be adopted.

[0012] As shown in FIG. 1, inside the cabin 9, there are provided a steering wheel 20 that enables manual steering of the left and right front wheels 7 via the power steering mechanism 12 and a seat 21 for the user. Also, although not shown in the figure, there are provided a shift lever that enables manual operation of the transmission 11, left and right brake pedals that enable manual operation of the left and right side brakes, and a lift lever that enables manual lift and lower operation of the rotary tillage device 6, etc.

[0013] As shown in Figure 2, the on-board electronic control unit 16 includes a gear shift control unit 16A that controls the operation of the transmission 11, a braking control unit 16B that controls the operation of the left and right side brakes, a work device control unit 16C that controls the operation of the rotary tilling device 6, a non-volatile on-board storage unit 16D that stores vehicle data including the minimum turning radius and working width of the vehicle 1, and a pre-generated target route P for automatic driving, and a steering angle setting unit 16E that sets the target steering angles of the left and right front wheels 7 during automatic driving and outputs them to the power steering mechanism 12.

[0014] As shown in Figures 1 and 2, the positioning unit 19 is equipped with a satellite navigation device 22 that measures the current position and bearing of the vehicle 1 using GPS (Global Positioning System), an example of a Global Navigation Satellite System (GNSS), and an inertial measurement unit (IMU) 23 that measures the attitude and bearing of the vehicle 1 using a 3-axis gyroscope and 3-directional acceleration sensors. Positioning methods using GPS include DGPS (Differential GPS) and RTK-GPS (Real Time Kinematic GPS), and in this embodiment, RTK-GPS, which is suitable for positioning moving objects, is adopted. Therefore, reference stations 24 that enable positioning by RTK-GPS are installed at known locations around the field.

[0015] Each of the tractor 1 and the base station 24 is equipped with GPS antennas 26 and 27 that receive radio waves transmitted from GPS satellites 25, and communication modules 28 and 29 that enable wireless communication of various data, including positioning data, between the tractor 1 and the base station 24. As a result, the satellite navigation system 22 can measure the current position and bearing of the vehicle 1 with high accuracy based on the positioning data obtained by the GPS antenna 26 on the tractor receiving radio waves from GPS satellites 25 and the positioning data obtained by the GPS antenna 27 on the base station receiving radio waves from GPS satellites 25. In addition, the positioning unit 19, equipped with the satellite navigation system 22 and the inertial measuring device 23, can measure the current position, bearing, and attitude angles (yaw angle, roll angle, pitch angle) of the vehicle 1 with high accuracy.

[0016] As shown in Figure 2, the mobile communication terminal 3 is equipped with a terminal electronic control unit 30 which has various control programs for controlling the operation of the liquid crystal panel 4 and the like, and a communication module 31 which enables wireless communication of various types of data between the terminal and the communication module 28 on the tractor side.

[0017] The terminal electronic control unit 30 includes a terminal storage unit (an example of a storage unit) 30A that stores vehicle data obtained through wireless communication with the tractor, a positioning data acquisition unit 30B that acquires positioning data through wireless communication with the tractor, a field data acquisition unit 30C that acquires field data including the size and shape of the field from the acquired positioning data, and a target route generation unit 30D that generates a target route P for automatic driving. Furthermore, when the target route generation mode is selected by touch operation on the LCD panel 4, the terminal electronic control unit 30 displays on the LCD panel 4 a route selection unit 32 that allows the user to select a target route P, an arbitrary data input unit 33 into which arbitrary setting data for target route generation is input, a priority item selection unit 34 that allows the user to select priority items related to the generation of target route P, and a generation command unit 35 that commands the target route generation unit 30D to generate a target route P. In other words, in this embodiment, a target route generation system is configured using the mobile communication terminal 3 to generate a target route P for the tractor 1 to drive automatically.

[0018] The terminal storage unit 30A stores vehicle data and field data as basic data necessary for generating the target route P. The arbitrary setting data input to the arbitrary data input unit 33 includes work area identification points for identifying the work area A in the field, automatic driving start point ps, automatic driving end point pe, reference work direction θp, and turning method. The priority items selected by the priority item selection unit 34 include maximizing the work area, minimizing the non-working driving distance, optimizing the circular driving route section P1 along the outer perimeter of the field, and avoiding the generation of overlapping route sections P0.

[0019] The target path generation unit 30D executes target path generation control when the target path generation mode is selected by touch operation on the liquid crystal panel 4. The control operation of the target path generation unit 30D in target path generation control will be explained below based on the flowchart shown in Figure 3.

[0020] In target route generation control, the target route generation unit 30D first performs a field data confirmation process (step #1) to check whether the field data corresponding to the current position of the tractor 1 acquired by the positioning data acquisition unit 30B is stored in the terminal storage unit 30A, as the target route generation mode is selected. If the field data is stored in the field data confirmation process (step #1), a target route confirmation process (step #2) is performed to confirm whether the target route P corresponding to that field data and the vehicle data stored in the terminal storage unit 30A is stored in the terminal storage unit 30A. If a suitable target route P is stored during the target route confirmation process (step #2), the stored target route P is read from the terminal storage unit 30A, and the read target route P and the aforementioned route selection unit 32 are displayed on the LCD panel 4. A stored route selection process (step #3) is then performed, allowing the user to choose whether or not to adopt the read target route P. If the user selects to adopt the read target route P, the target route generation control is terminated. If the relevant field data is not stored in the field data confirmation process (step #1), the field data acquisition guidance display process (step #4) is performed to display guidance on the LCD panel 4 for performing a field data acquisition run to obtain the field data, instructing the user to drive the tractor 1 along the perimeter of the field to perform a field data acquisition run. In addition, the positioning data acquisition unit 30B is instructed to perform a positioning data acquisition process (step #5) to acquire positioning data measured by the positioning unit 19 of the tractor 1 via wireless communication with the tractor. Then, the field data acquisition unit 30C is instructed to perform a field data acquisition process (step #6) to acquire field data, including the size and shape of the field, from the positioning data acquired by the positioning data acquisition unit 30B. As a result, field data for the field corresponding to the current position of the tractor 1 is acquired. If no target route P is stored in the target route confirmation process (step #2), if the user selects not to use the target route P read out in the stored route selection process (step #3), or if field data is acquired in the field data acquisition process (step #6), then an operation screen display process (step #7) is performed, which displays the aforementioned arbitrary data input unit 33, priority item selection unit 34, and generation command unit 35, along with the field shape and other information included in the field data, on the liquid crystal panel 4. This allows the user to input arbitrary setting data or select priority items related to the generation of the target route P. In the operation screen display process (step #7), if the user selects a priority item in the priority item selection unit 34 without inputting arbitrary setting data in the arbitrary data input unit 33, and then performs a command operation in the generation command unit 35, the first target route generation process (step #8) is performed to generate a first target route P as the target route, based on the aforementioned vehicle data, field data, and selected priority item. If, during the operation screen display process (step #7), the user inputs various arbitrary setting data in the arbitrary data input unit 33 without selecting a priority item in the priority item selection unit 34, and then performs a command operation in the generation command unit 35, then a second target route generation process (step #9) is performed to generate a second target route as the target route P, based on the aforementioned vehicle data, field data, and the input various arbitrary setting data. After generating the target route P through the above target route generation processes (steps #8-9), the generated target route P is displayed on the LCD panel 4 along with the field shape and the aforementioned route selection unit 32, and a generated route selection process (step #10) is performed to allow the user to choose whether or not to adopt the generated target route P. If the user selects to adopt the generated target route P during the route selection process (step #10), the target route generation control is terminated. If the user chooses not to use the generated target route P during the route generation selection process (step #10), the process returns to the operation screen display process (step #7), where the user is again prompted to input arbitrary setting data in the arbitrary data input unit 33 or select priority items in the priority item selection unit 34. If, during this operation screen display process (step #7), the user modifies or adds arbitrary setting data in the arbitrary data input unit 33, or adds priority items in the priority item selection unit 34, and then performs a command operation in the generation command unit 35, the process moves to the target route modification process (step #11), where the previously generated target route P is modified based on the arbitrarily set data entered or the priority items selected this time, and then the process returns to the route generation selection process (step #10).

[0021] Next, the generation of the target path P by the first target path generation process or the second target path generation process of the target path generation unit 30D will be described in detail based on Figures 2 and 4-19.

[0022] In the first target route generation process, the target route generation unit 30D first automatically selects multiple work area identification points (four work area identification points Ap1 to Ap4 in Figure 4) to identify a work area A suitable for the shape of the field (for example, the outer perimeter shape of the field shown by the dashed line in Figure 4) based on the aforementioned vehicle data, field data, and selected priority items, and then identifies the work area A. The selected work area identification points Ap1 to Ap4 and the identified work area A are displayed on the LCD panel 4 along with the shape of the field, etc., to inform the user (see Figure 4). Furthermore, while increasing the number of work area identification points allows for the identification of a work area A that accurately reflects the field's shape, it also increases the control load required for identifying work area A. Moreover, a work area A that accurately reflects the field's shape is not necessarily suitable for generating a target path P for the tractor 1 to automatically travel. It is necessary to select work area identification points in a way that appropriately simplifies work area A relative to the field's shape, taking into account factors such as the tractor 1's working width. For this reason, the number of selectable work area identification points is limited to a predetermined number (e.g., 30 locations) to ensure that work area A suitable for the field's shape is identified while suppressing excessive control load. Next, the system automatically selects the standard working direction θp, the automatic driving start point ps, and the automatic driving end point pe, taking into consideration priority items, and displays the selected standard working direction θp, automatic driving start point ps, and automatic driving end point pe, along with the work area A, on the LCD panel 4 to inform the user (see Figure 4). Then, based on the identified work area A, the selected reference work direction θp, the automatic driving start point ps, and the automatic driving end point pe, a first target route P is generated as a target route P according to the priority items, and the generated first target route is displayed on the LCD panel 4 along with the work area A and other elements to inform the user.

[0023] The target path generation unit 30D, when the user selects to input work area identification points to identify work area A through a touch operation on the arbitrary data input unit 33 (see Figure 2), and multiple work area identification points (four work area identification points Ap1 to Ap4 in Figure 4) are arbitrarily input, identifies work area A based on each arbitrarily input work area identification point Ap1 to Ap4, and displays each arbitrarily input work area identification point Ap1 to Ap4 and the identified work area A, along with the shape of the field, etc., on the LCD panel 4 to inform the user (see Figure 4). Furthermore, if the user selects to input a reference work direction θp through a touch operation on the arbitrary data input unit 33 and the reference work direction θp is arbitrarily entered, the arbitrarily entered reference work direction θp is displayed on the LCD panel 4 along with the work area A, etc., to inform the user (see Figure 4). Furthermore, if the user selects to input the automatic driving start point ps and the automatic driving end point pe through a touch operation on the arbitrary data input unit 33, and the automatic driving start point ps and the automatic driving end point pe are arbitrarily entered, the arbitrarily entered automatic driving start point ps and the automatic driving end point pe are displayed on the LCD panel 4 along with the work area A, etc., to inform the user (see Figure 4). Then, when the user operates the generation command unit 35 (see Figure 2) and receives a command from the generation command unit 35, the second target route generation process generates a second target route P based on the specified work area A, the arbitrarily input reference work direction θp, the automatic driving start point ps, and the automatic driving end point pe. The generated second target route is then displayed on the liquid crystal panel 4 along with the work area A and other elements to inform the user.

[0024] When the target route generation unit 30D receives a command from the generation command unit 35, for example, in the operation screen display process for a rectangular field as shown in Figures 5-6, the target route generation unit 30D receives a command from the generation command unit 35, in which, based on user operations in the operation screen display process for a rectangular field as shown in Figures 5-6, a plurality of work area identification points (four work area identification points Ap1-Ap4 in Figures 5-6) are arbitrarily input to identify a rectangular work area A in which a circular travel route section (circular travel area) P1 can be secured between the outer edge of the field and the rectangular work area A as shown in Figure 5, an automatic travel start point ps and an automatic travel end point pe corresponding to the entrance and exit of the field are arbitrarily input, and a reference work direction θp is arbitrarily input to be in the direction along the short side of the work area A, the second target route generation process generates the second target route shown in Figure 5 as the target route P. Then, in the generated route selection process, the generated second target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 mentioned above, and the user is allowed to select whether or not to adopt the generated second target route. The second target path shown in Figure 5 has multiple first straight work path sections P2a that are the same length as the short side of the work area A and are arranged in parallel at a certain distance corresponding to the work width, and multiple direction-changing path sections P3 that extend from the end point of an adjacent first straight work path section P2a to the start point, thereby enabling the tractor 1 to travel automatically from an automatic travel start point ps to an automatic travel end point pe, which is arbitrarily entered by the user.

[0025] When the target route generation unit 30D receives a command from the generation command unit 35, for example, in the operation screen display process for a rectangular field as shown in Figures 5-6, the target route generation unit 30D receives a command from the generation command unit 35, in which, based on user operations in the operation screen display process for a rectangular field as shown in Figures 5-6, a plurality of work area identification points (four work area identification points Ap1-Ap4 in Figures 5-6) are arbitrarily input to identify a rectangular work area A in which a circular travel path section (circular travel area) P1 can be secured between the outer edge of the field and the rectangular work area A as shown in Figure 6, an automatic travel start point ps and an automatic travel end point pe corresponding to the entrance and exit of the field are arbitrarily input, and a reference work direction θp is arbitrarily input to be in the direction along the long side of the work area A, the second target route generation process generates the second target route shown in Figure 6 as the target route P. Then, in the generated route selection process, the generated second target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 mentioned above, and the user is allowed to select whether or not to adopt the generated second target route. The second target path shown in Figure 6 has multiple second straight work path sections P2b that are the same length as the long side of the work area A and are arranged in parallel at a certain distance corresponding to the work width, and multiple direction-changing path sections P3 that extend from the end point of an adjacent second straight work path section P2b to the start point, thereby enabling the tractor 1 to travel automatically from an automatic travel start point ps to an automatic travel end point pe, which is arbitrarily entered by the user. Furthermore, the second target route shown in Figure 6 has fewer turning path sections P3 than the second target route shown in Figure 5, resulting in a shorter travel distance for the tractor 1, which can lead to reduced fuel consumption and shorter working times. In addition, the reduced number of path sections that make up the target route P reduces the load required to generate the target route P.

[0026] For example, if the user operates on the operation screen display process for a rectangular field as shown in Figures 5-6, and the optimization of the circular travel route section P1 is selected as a priority item, the target route generation unit 30D receives a command from the generation command unit 35, then, as shown in Figures 5-6, the first target route generation process automatically identifies multiple work area identification points (four work area identification points Ap1-Ap4 in Figures 5-6), an automatic travel start point ps, an automatic travel end point pe, etc., so that a rectangular work area A can be obtained in which the circular travel route section (circular travel area) P1 can be secured between the outer edge of the field and the rectangular work area A, and generates two systems of first target routes as shown in Figures 5-6 as target routes P corresponding to the optimization of the circular travel route section P1. Then, the generated route selection process displays the two systems of first target routes generated together with the route selection unit 32, etc., on the liquid crystal panel 4, and allows the user to choose whether or not to adopt the two systems of first target routes generated. The first target path shown in Figure 5 has multiple first straight-ahead work path sections P2a and multiple direction-changing path sections P3 as described above, enabling the tractor 1 to travel automatically from the automatic travel start point ps to the automatic travel end point pe identified by the target path generation unit 30D. The first target path shown in Figure 6 has multiple second straight-ahead work path sections P2b and multiple direction-changing path sections P3 as described above, enabling the tractor 1 to travel automatically from the automatic travel start point ps to the automatic travel end point pe identified by the target path generation unit 30D. In this case, the user can select whether or not to adopt one of the two first target routes as the target route P using the route selection unit 32. If either of these first target routes is selected as the target route P, the width of the circular travel route section P1, which consists of the remaining unworked area around the work area A on the central side of the field after the tractor 1 has performed tilling work by automatic driving, can be made to be an integer multiple of the work width or approximately the same. As a result, it becomes easier to perform circular work with the tractor 1, whether by manual or automatic driving. Here, if, for example, the user wishes to swap the positions of the automatic driving start point ps and the automatic driving end point pe in relation to the first target route shown in Figures 5-6, the user can select not to adopt the first target route shown in Figures 5-6 in the route selection unit 32, input and modify arbitrary setting data to swap the positions of the automatic driving start point ps and the automatic driving end point pe, and then perform a command operation in the generation command unit 35. Based on this, the target route correction process of the target route generation unit 30D will generate a first target route in which the positions of the automatic driving start point ps and the automatic driving end point pe are swapped in the first target route shown in Figures 5-6.

[0027] For example, when the target route generation unit 30D receives a command from the generation command unit 35, based on user operation during the operation screen display process for a rectangular field as shown in Figures 5-6, where maximizing the work area and optimizing the circular travel route are selected as priority items, the first target route generation process generates two first target routes as the target route P shown in Figures 5-6. Then, the generated route selection process displays the two generated first target routes on the liquid crystal panel 4 along with the aforementioned route selection unit 32, and allows the user to choose whether or not to adopt the two generated first target routes.

[0028] For example, when the user operates on the operation screen display process for a rectangular field as shown in Figures 5-6, and the priority items selected are minimizing the non-working distance and optimizing the circular travel route, the target route generation unit 30D receives a command from the generation command unit 35, and as shown in Figure 6, the first target route generation process automatically identifies multiple work area specification points (four work area specification points Ap1-Ap4 in Figures 5-6), an automatic travel start point ps, an automatic travel end point pe, a reference work direction θp, etc., so that a rectangular work area A is obtained in which a circular travel route (circular travel area) P1 can be secured between the outer edge of the field and the work area A, and so that the non-working distance included in the automatic travel distance is minimized, and generates the first target route shown in Figure 6 as the target route P. Then, the generated route selection process displays the generated first target route on the liquid crystal panel 4 together with the route selection unit 32, etc., and allows the user to choose whether or not to adopt the generated first target route. The first target path shown in Figure 6 has multiple second straight-ahead work path sections P2b and multiple direction-changing path sections P3 as described above, enabling the tractor 1 to travel automatically from the automatic travel start point ps to the automatic travel end point pe identified by the target path generation unit 30D. In this case, the first target route shown in Figure 6 minimizes the non-working distance by reducing the number of direction-changing path sections P3 compared to the first target route shown in Figure 5. Furthermore, after tilling work is performed by the tractor 1 using automatic driving in the work area A on the central side of the field, the width of the circular driving path section P1 consisting of the remaining unworked area around it can be made the same as or approximately the same as an integer multiple of the work width. As a result, it becomes possible to reduce fuel consumption and work time by shortening the non-working distance, and it becomes easier to perform circular work with the tractor 1 using manual or automatic driving.

[0029] For example, when the user operates on the operation screen display process for a rectangular field as shown in Figures 5-6, and the priority items selected are maximizing the work area, minimizing the non-working travel distance, and optimizing the circular travel route, the target route generation unit 30D receives a command from the generation command unit 35 and generates the first target route P as the first target route shown in Figure 6 through the first target route generation process. Then, through the generated route selection process, the generated first target route is displayed on the liquid crystal panel 4 along with the aforementioned route selection unit 32, and the user is allowed to choose whether or not to adopt the generated first target route.

[0030] When the target path generation unit 30D receives a command from the generation command unit 35, for example, in the operation screen display processing for a concave field having an overhang 36 as shown in Figures 7-8, the target path generation unit 30D receives a command from the generation command unit 35, in which the user has arbitrarily input multiple work area identification points (8 work area identification points Ap1-Ap4 in Figure 7) to specify the work area A as a concave shape roughly along the outer edge of the field so that the work area A is maximized, and the automatic travel start point ps and automatic travel end point pe corresponding to the entrance and exit of the field have been arbitrarily input, and the reference work direction θp has been arbitrarily input to be in the direction along the long side of the work area A, the second target path generation process generates the second target path shown in Figure 7 as the target path P. Then, in the generated path selection process, the generated second target path is displayed on the liquid crystal panel 4 together with the aforementioned path selection unit 32, etc., and the user is allowed to select whether or not to adopt the generated second target path. The second target path shown in Figure 7 includes the aforementioned multiple second straight-ahead work path sections P2b, a detour work path section P4 adjacent to the final second straight-ahead work path section P2b which includes a detour path section Pa that interrupts tilling work and bypasses the overhang section 36, and multiple direction-changing path sections P3 extending from the end points of the adjacent second straight-ahead work path sections P2b and detour work path section P4 to the starting points, thereby enabling the tractor 1 to travel automatically from an automated travel start point ps to an automated travel end point pe, which is arbitrarily entered by the user. In this case, in the final second straight work path section P2b, the section of the path adjacent to the detour path section Pa becomes an unworked section Pb when the tractor 1 automatically travels along the detour path section Pa, thereby reducing the final work area.

[0031] If the target path generation unit 30D receives a command from the generation command unit 35, for example, when the user has selected maximizing the work area as a priority item in the operation screen display processing for a concave field having an overhang 36 as shown in Figures 7-8, the first target path generation process first determines the difference in work area caused by the presence or absence of the detour work path section P4 shown in Figure 7. If the work area becomes larger due to the presence of the detour work path section P4, the unit automatically identifies multiple work area identification points (eight work area identification points Ap1-Ap8 in Figure 7), an automatic driving start point ps, an automatic driving end point pe, a reference work direction θp, etc., so that a wide concave work area A can be obtained that is roughly along the outer edge of the field where the detour work path section P4 can be generated, as shown in Figure 7, and generates the first target path shown in Figure 7 as the target path P. Then, the generated first target route is displayed on the liquid crystal panel 4 along with the route selection unit 32 mentioned above, and the user is allowed to choose whether or not to adopt the generated first target route. Conversely, if the presence of a detour work path section P4 reduces the work area, as shown in Figure 8, the system automatically identifies multiple work area identification points (four work area identification points Ap1 to Ap4 in Figure 8), an automatic driving start point ps, an automatic driving end point pe, a reference work direction θp, etc., to generate a first target path P as shown in Figure 8, so that a narrow rectangular work area A is obtained where the detour work path section P4 is not generated. Then, through the generated path selection process, the generated first target path is displayed on the LCD panel 4 along with the aforementioned path selection unit 32, etc., and the user is allowed to choose whether or not to adopt the generated first target path. The first target route shown in Figure 7 includes the aforementioned multiple second straight-ahead work path sections P2b, detour work path section P4, and multiple direction-changing path sections P3, thereby enabling the tractor 1 to travel automatically from the automatic travel start point ps to the automatic travel end point pe identified by the target route generation unit 30D. The first target path shown in Figure 8 has multiple second straight-line work path sections P2b and multiple direction-changing path sections P3 as described above, enabling the tractor 1 to travel automatically from the automatic travel start point ps to the automatic travel end point pe identified by the target path generation unit 30D.

[0032] For example, when the target route generation unit 30D receives a command from the generation command unit 35 in the operation screen display processing for a concave field having the overhang portion 36 shown in Figures 7-8, with the priority item being minimizing the non-working travel distance, the first target route generation process generates a first target route P that does not include the detour work route portion P4 shown in Figure 8. Then, the generated route selection process displays the generated first target route on the liquid crystal panel 4 along with the aforementioned route selection unit 32, etc., and allows the user to choose whether or not to adopt the generated first target route.

[0033] In other words, when the target path generation unit 30D generates a first target path (target path P) using the first target path generation process for a concave field having an overhang 36 as shown in Figures 7-8, at the stage of identifying the work area A, it determines whether it is advantageous to identify a wide concave work area A (see Figure 7) that requires a detour work path section P4, or a narrow rectangular work area A (see Figure 8) that does not require a detour work path section P4. If it is advantageous to identify a wide concave work area A, it selects a number of work area identification points necessary for that identification (8 work area identification points Ap1-Ap8 in Figure 7) and then generates the first target path as described above. Conversely, if it is advantageous to identify a narrow rectangular work area A, it selects a number of work area identification points necessary for that identification (4 work area identification points Ap1-Ap4 in Figure 8) and then generates the first target path as described above.

[0034] For example, when the user operates on the operation screen display processing for a roughly rectangular field having an overhang 37 as shown in Figures 9-12, and the optimization of the circular travel route section is selected as a priority item, the target route generation unit 30D receives a command from the generation command unit 35, and performs a first target route generation process to automatically identify multiple work area identification points (four work area identification points Ap1-Ap4 in Figures 9-12), an automatic travel start point ps, an automatic travel end point pe, etc., so that a rectangular work area A can be obtained that can secure a circular travel route section (circular travel area) P1 between the outer edge of the field and the work area A, and generates a first target route as a target route P corresponding to the optimization of the circular travel route section P1, as shown in Figure 9. Then, through a generated route selection process, the generated first target route is displayed on the liquid crystal panel 4 together with the aforementioned route selection unit 32, etc., and the user is allowed to choose whether or not to adopt the generated first target route. Here, if, for example, the user wishes to change the position of the automatic driving end point pe from the position shown in Figure 9 to the positions shown in Figures 10-12, based on the relationship with the entrance and exit of the tractor 1 in the field, the user selects not to adopt the first target route shown in Figure 9 in the route selection unit 32, specifies the reference work direction θp to be in the direction along the short side of the work area A, and modifies the input of arbitrary setting data to change the position of the automatic driving end point pe to the positions shown in Figures 10-12. After that, the user performs a command operation in the generation command unit 35, and the target route modification process of the target route generation unit 30D based on that operation generates, for example, three systems of first target routes shown in Figures 10-12, as first target routes corresponding to the changed automatic driving end point pe. The first target path shown in Figure 10 includes the aforementioned multiple first straight work path sections P2a, a detour movement path section P5 adjacent to the final first straight work path section P2a with a detour path section Pa that bypasses the overhang section 37, and multiple direction change path sections P3 extending from the end points of the adjacent first straight work path sections P2a and detour movement path section P5 to the starting point. This enables the tractor 1 to automatically travel from the automatic travel start point ps identified by the target path generation unit 30D to the automatic travel end point pe modified and input by the user. The first target path shown in Figure 11 includes the aforementioned multiple first straight-ahead work path sections P2a, multiple direction-changing path sections P3 extending from the end point of an adjacent first straight-ahead work path section P2a to the starting point, and a circular travel path section P1 extending from the end point of the final first straight-ahead work path section P2a to the automatic travel end point pe. This enables the tractor 1 to travel automatically from the automatic travel start point ps identified by the target path generation unit 30D to the automatic travel end point pe modified and input by the user. The first target path shown in Figure 12 includes the aforementioned multiple first straight work path sections P2a, multiple direction change path sections P3 extending from the end point to the starting point of adjacent first straight work path sections P2a, a single return direction change path section P6 extending from the end point of the final first straight work path section P2a to the starting point of the first straight work path section P2a immediately preceding the final first straight work path section P2a, and a movement path section P7 extending from the end point of the first straight work path section P2a immediately preceding the final to the automatic travel end point pe. This configuration allows for the automatic travel of the tractor 1 from the automatic travel start point ps identified by the target path generation unit 30D to the automatic travel end point pe modified by the user, with the first movement and second work runs taking place in the first straight work path section P2a immediately preceding the final. In this case, the user can select whether or not to adopt one of the three first target routes as the target route P through the route selection process of the target route generation unit 30D, using the route selection unit 32. If the first target route shown in Figure 10 is selected as the target route P, the non-working distance along the target route P will be relatively short, which will reduce fuel consumption and work time. On the other hand, in the final first straight work route section P2a, the route portion adjacent to the detour route section Pa will be trampled when the tractor 1 automatically travels along the detour route section Pa, becoming an unworked area Pb, and as a result, the final work area will be smaller. If the first target route shown in Figure 11 is selected as the target route P, work can be performed over the entire work area A, and problems such as the tractor 1 repeatedly traveling over the same overlapping section of the target route P causing the section to become compacted and making work difficult can be avoided. On the other hand, having a circular travel route section P1 increases the non-working distance on the target route P, which increases fuel consumption and lengthens the working time. If the first target route shown in Figure 12 is selected as the target route P, work can be performed over the entire work area A, and the non-working distance traveled along the target route P is shortened, which can lead to reduced fuel consumption and shorter working times. On the other hand, the tractor 1 travels twice through the first straight work route section P2a just before the end, which may cause the section of the first straight work route P2a just before the end to become compacted, making it difficult to work on.

[0035] When the target route generation unit 30D receives a command from the generation command unit 35, for example, in the operation screen display processing for a roughly rectangular field having an overhang 37 as shown in Figures 9 to 12, and the user has manually entered a number of work area identification points (four work area identification points Ap1 to Ap4 in Figure 10) to specify the work area A as a rectangular shape different from the shape of the field, and has also entered an automatic travel start point ps and an automatic travel end point pe corresponding to the entrance and exit of the field, and has also entered a reference work direction θp along the short side of the work area A, the second target route generation process generates the second target route shown in Figure 10 as the target route P. Then, in the generated route selection process, the generated second target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 mentioned above, and the user is allowed to choose whether or not to adopt the generated second target route. Here, if, for example, the user is dissatisfied with the occurrence of an unworked portion Pb in the final first straight work path section P2a of the second target path shown in Figure 10, the route selection unit 32 can select not to adopt the second target path shown in Figure 10, and then, after selecting maximizing the work area as the priority item for modification, the generation command unit 35 can perform a command operation. Based on this, the target path modification process of the target path generation unit 30D can generate, for example, two second target paths shown in Figures 11-12 as modified second target paths based on maximizing the work area. Furthermore, if the user is dissatisfied with the second target route shown in Figure 10 as described above, for example, by selecting not to adopt the second target route shown in Figure 10 in the route selection unit 32, and then selecting maximizing the work area and avoiding the generation of overlapping route sections P0 as priority items for modification, and then performing a command operation in the generation command unit 35, the target route modification process of the target route generation unit 30D based on this can generate a modified second target route, such as the one shown in Figure 11, based on maximizing the work area and avoiding the generation of overlapping route sections P0. Furthermore, if the user is dissatisfied with the second target route shown in Figure 10 as described above, for example, the user can select to reject the second target route shown in Figure 10 in the route selection unit 32, and then select maximizing the work area and minimizing the non-working travel distance as priority items for modification. After performing a command operation in the generation command unit 35, the target route modification process of the target route generation unit 30D based on this command can generate a modified second target route, such as the one shown in Figure 12, which is based on maximizing the work area and minimizing the non-working travel distance.

[0036] When the target route generation unit 30D receives a command from the generation command unit 35, for example, in the operation screen display processing for a concave field having an overhang 38 as shown in Figures 13 to 15, and the user has performed an operation, the target route generation unit 30D receives an operation, for example, in the operation screen display processing for a concave field having an overhang 38 as shown in Figures 13 to 15, and has arbitrarily input multiple work area identification points (8 work area identification points Ap1 to Ap8 in Figure 13) to identify the work area A as a concave shape similar to the shape of the field, and has arbitrarily input an automatic travel start point ps and an automatic travel end point pe corresponding to the entrance and exit of the field, and has arbitrarily input a reference work direction θp in the direction along the long side of the work area A, the second target route generation process generates the second target route shown in Figure 13 as the target route P. Then, in the generated route selection process, the generated second target route is displayed on the liquid crystal panel 4 together with the route selection unit 32 mentioned above, and the user is allowed to select whether or not to adopt the generated second target route. The second target path shown in Figure 13 includes the aforementioned multiple second straight work path sections P2b, two detour work path sections P4 having a common detour path section Pa that bypasses the overhang section 38, and multiple direction-changing path sections P3 extending from the end points of the adjacent first straight work path section P2a and detour work path section P4 to the starting points, thereby enabling the tractor 1 to travel automatically from an automated travel start point ps to an automated travel end point pe, which is arbitrarily entered by the user. In this case, the common detour route section Pa becomes the overlapping route section P0 where tractor 1 travels in overlapping directions during automatic driving of tractor 1. This may lead to problems such as the detour route section Pa becoming compacted by the overlapping travel of tractor 1, making it difficult to perform work.

[0037] For example, when the user operates on the operation screen display processing for a concave field having an overhang 38 as shown in Figures 13-15, and the optimization of the circular driving route section is selected as a priority item, the target route generation unit 30D receives a command from the generation command unit 35, and performs a first target route generation process to obtain a concave working area A that can secure a circular driving route section (circular driving area) P1 between the outer edge of the field and the concave working area A, by identifying multiple working area identification points (eight working area identification points Ap1-Ap8 in Figures 13-14, nine working area identification points Ap1-Ap9 in Figure 15), an automatic driving start point ps, an automatic driving end point pe, etc., and generates a first target route P as a target route P corresponding to the optimization of the circular driving route section P1, as shown in Figure 13. Then, through a generated route selection process, the generated first target route is displayed on the liquid crystal panel 4 together with the aforementioned route selection unit 32, etc., and the user is allowed to choose whether or not to adopt the generated first target route. Here, if, for example, the user is dissatisfied with the existence of the duplicate route section P0 in relation to the first target route shown in Figure 13, the route selection unit 32 can select not to adopt the first target route shown in Figure 13, and then, after selecting avoiding the generation of the duplicate route section P0 as a priority item for modification, the generation command unit 35 can perform a command operation. Based on this, the target route modification process of the target route generation unit 30D can generate, for example, two systems of the first target route shown in Figures 14-15 as the modified first target route based on avoiding the generation of the duplicate route section P0. In generating the first target route shown in Figure 15, the target route generation unit 30D selects nine work area identification points Ap1 to Ap9, automatically dividing the concave work area A into two parts: a wide L-shaped first area A1 and a narrow rectangular second area A2, and automatically identifying the start and end points of travel in the first area A1 and the second area A2. The first target route shown in Figure 14 has the aforementioned multiple second straight work path sections P2b, two detour work path sections P4 with detour path sections Pa that bypass the overhang section 38, and multiple direction change path sections P3 extending from the end points of the adjacent first straight work path section P2a and detour work path section P4 to the start points, thereby enabling the tractor 1 to travel automatically from the automatic travel start point ps to the automatic travel end point pe identified by the target route generation unit 30D. In other words, the first target route shown in Figure 14 has two detour work route sections P4, which eliminates the overlapping route section P0 where the tractor 1 travels in overlapping directions, as was generated in the first target route shown in Figure 13. This avoids problems such as the overlapping route section P0 becoming compacted and making work difficult. The first target path shown in Figure 15 includes a plurality of second straight-line work path sections P2b generated in the wide area of ​​the first region A1, a plurality of third straight-line work path sections P2c generated in the narrow area of ​​the first region A1 with the same arrangement as the second straight-line work path sections P2b, a fourth straight-line work path section P2d generated in the second region A2 with the same arrangement as the second straight-line work path sections P2b, a plurality of direction-changing path sections P3 extending from the end points to the starting points of adjacent first straight-line work path sections P2a to fourth straight-line work path sections P2d, and a single detour movement path section P8 extending from the end point of travel in the first region A1 to the start point of travel in the second region A2, which includes a detour path section Pa that bypasses the overhang section 38. This enables the tractor 1 to travel automatically from the automatic travel start point ps to the automatic travel end point pe identified by the target path generation unit 30D. In other words, the first target route shown in Figure 15 has a single detour route section P8, which eliminates the overlapping route section P0 where the tractor 1 travels in overlapping directions, as was generated in the first target route shown in Figure 13. This avoids problems such as the overlapping route section P0 becoming compacted and making work difficult.

[0038] When the target path generation unit 30D receives a command from the generation command unit 35, for example, in the operation screen display process for a trapezoidal field as shown in Figures 16-17, and the user has performed operations to arbitrarily input multiple work area identification points (four work area identification points Ap1-Ap4 in Figure 16) to identify the work area A as a rectangular shape different from the shape of the field, and the automatic travel start point ps and automatic travel end point pe corresponding to the entrance and exit of the field, and the reference work direction θp is arbitrarily set to be in the direction along the long side of the work area A, the second target path generation process generates the second target path shown in Figure 16 as the target path P. The second target path shown in Figure 16 has multiple second straight-line work path sections P2b as described above, and multiple direction-changing path sections P3 extending from the end point of an adjacent second straight-line work path section P2b to the starting point, thereby enabling the tractor 1 to travel automatically from an automated travel start point ps to an automated travel end point pe, which is arbitrarily entered by the user.

[0039] For example, when the target path generation unit 30D receives a command from the generation command unit 35 in response to user operation during the operation screen display processing for a trapezoidal field as shown in Figures 16-17, with the optimization of the circular travel path section P1 selected as a priority item as shown in Figure 17, the first target path generation process automatically identifies multiple work area identification points (four work area identification points Ap1-Ap4 in Figure 17), the automatic travel end point pe, the work width, etc., so that a trapezoidal work area A can be obtained that can secure a circular travel path section (circular travel area) P1 between the outer edge of the field and the trapezoidal work area A, and generates the first target path shown in Figure 17 as the target path P. The first target path shown in Figure 17 has multiple second straight-ahead work path sections P2b as described above, and multiple direction-changing path sections P3 extending from the end point of an adjacent second straight-ahead work path section P2b to the starting point, thereby enabling the tractor 1 to travel automatically from the automatic travel start point ps to the automatic travel end point pe identified by the target path generation unit 30D. In the first target path shown in Figure 17, the orientation of each of the multiple second straight work path sections P2b is set to have a different adjustment angle θa with respect to the reference work direction θp, based on the fact that the work area A is trapezoidal, so that when the tractor 1 automatically travels along the second straight work path sections P2b, the amount of overlap in the work width gradually changes according to the trapezoidal work area A. As a result, after tilling work is performed by the tractor 1 using automatic driving in the work area A on the central side of the field, the width of the circular driving path P1 consisting of the remaining unworked area around it can be made to be an integer multiple of the work width or approximately the same. Consequently, it becomes easier to perform circular work with the tractor 1 using manual or automatic driving.

[0040] If, for example, the user has made an arbitrary input during the operation screen display process, the target path generation unit 30D has generated a second target path P as the target path P, which has a second direction change path section P3b for the switchback turn shown in Figure 19, which is applied when the minimum turning radius is greater than half the working width, instead of the usual U-shaped turn shown in Figure 18, which is applied when the minimum turning radius is less than half the working width, and then receives a command from the generation command unit 35 with maximizing the working area selected as the priority item for modification, the target path modification process first determines whether or not to adopt a switchback turn based on the minimum turning radius and working width of the tractor 1 included in the vehicle data. If adopting a switchback turn is appropriate, the arbitrary input switchback turn is applied to generate the aforementioned direction change path section P3 into the second direction change path section P3b for the switchback turn shown in Figure 19. Furthermore, if the adoption of a switchback turn is deemed inappropriate, the turning method is changed from the arbitrarily input switchback turn to a U-shaped turn, and the aforementioned direction change path section P3 is generated as the first direction change path section P3a for the U-shaped turn shown in Figure 18. By changing the turning method in this way, the non-working area A3 at the edge of the field, which had to be secured in order to adopt a switchback turn with a switchback path section Pc that is longer than the working width, can be eliminated, thereby maximizing the working area.

[0041] Although not shown in the diagram, the target path generation unit 30D, when it generates multiple target paths P, performs calculations to determine the difference in work area, non-work travel distance, etc., based on those target paths P. It then performs a difference display process to inform the user of the difference in work area, non-work travel distance, etc., obtained from this calculation, along with the multiple target paths P generated, on the LCD panel 4. This allows the user to easily see the differences between multiple target paths P generated by the target path generation unit 30D, and to easily select a target path P that is more suitable to their own values ​​and preferences.

[0042] The target route generation unit 30D stores the generated target route P in the terminal storage unit 30A as route data associated with vehicle data and field data. As a result, the target route generation unit 30D can perform the aforementioned field data confirmation process based on the current position of the tractor 1 acquired by the positioning data acquisition unit 30B, and the aforementioned target route confirmation process based on the field data and vehicle data.

[0043] Although not shown in the diagram, if the target path generation unit 30D determines that it is impossible to generate a target path P based on the arbitrarily set data because the arbitrarily set data entered by the user through the operation screen display process is inappropriate, it performs an error display process to inform the user that it is impossible to generate a target path P and the reason for this by displaying it on the liquid crystal panel 4, and a solution display process to propose a solution to the user by displaying it on the liquid crystal panel 4. For example, if the work area A identified from multiple work area specification points entered by the user during the operation screen display process is too narrow to generate the target path P, first, in the error display process, error messages such as "Target path generation error" and "The target path could not be generated because the work area is too narrow" are displayed on the LCD panel 4 to inform the user. Then, in the solution display process, the shape of the field to be worked on, the appropriate work area A for this field shape, and messages to confirm the change to this appropriate work area A are displayed on the LCD panel 4 to inform the user. For example, if the shape of work area A, identified from multiple work area specification points entered by the user during the operation screen display process, is too complex to generate a target path P, then first, in the error display process, error messages such as "Target path generation error" and "The target path could not be generated because the work area is too complex" are displayed on the LCD panel 4 to inform the user. Subsequently, in the solution display process, the shape of the field to be worked on, a work area A that has been appropriately simplified for this field shape, and a message to confirm the change to this simplified work area A are displayed on the LCD panel 4 to inform the user. For example, if the reference work direction θp entered by the user during the operation screen display process is inappropriate and it is impossible to generate the target path P, first, in the error display process, an error message such as "Target path generation error" and "The target path could not be generated because the reference work direction was inappropriate" is displayed on the LCD panel 4 to inform the user. Then, in the solution display process, the shape of the field to be worked on, the appropriate reference work direction θp for this field shape, and a message to confirm the change to this appropriate reference work direction θp are displayed on the LCD panel 4 to inform the user.

[0044] Based on the above, this target route generation system allows the user to choose between two operations when generating a target route P for automated driving: a normal operation in which the user arbitrarily inputs all the arbitrary setting data necessary for generating the target route P in the arbitrary data input unit 33, and a simplified operation in which the user selects priority items according to their own values ​​in the priority item selection unit 34. This allows users familiar with inputting custom data to obtain a target path P (second target path) based on their own values ​​through normal operation. Furthermore, if a user is not comfortable with inputting custom data, they can easily obtain a target path P (first target path) that suits their values ​​through simplified operation. If a user is dissatisfied with the generated target path P, they can resolve this dissatisfaction by performing corrective operations such as modifying or adding custom data in the custom data input unit 33, or selecting additional priority items in the priority item selection unit 34, thereby obtaining a target path P that addresses their concerns.

[0045] [Another embodiment] Other embodiments of the present invention will be described. Furthermore, the configurations of each embodiment described below are not limited to being applied individually, but can also be applied in combination with the configurations of other embodiments.

[0046] (1) A target route generation system for the work vehicle may be included in the work vehicle 1.

[0047] (2) The configuration of work vehicle 1 can be modified in various ways. For example, the work vehicle 1 may be configured as a hybrid specification equipped with an engine 10 and an electric motor for driving, or it may be configured as an electric specification equipped with an electric motor for driving instead of an engine 10. For example, the work vehicle 1 may be configured with rear-wheel steering, in which the left and right rear wheels 8 function as steering wheels. For example, the work vehicle 1 may be configured as a semi-crawler type, having left and right crawlers instead of left and right rear wheels 8. For example, the work vehicle 1 may be configured as a full crawler specification, having left and right crawlers instead of left and right front wheels 7 and left and right rear wheels 8.

[0048] (3) When the target route generation unit 30D generates a second target route based on arbitrarily set data as the target route P, it may be configured to automatically generate a first target route based on priority items, and to display the second target route and the first target route on the display unit 4, as well as to display the difference between the second target route and the first target route based on priority items.

[0049] (4) When the target route generation unit 30D generates a first target route based on the priority item selected as the target route P, it may also be configured to automatically generate first target routes based on other priority items, and to display those first target routes on the display unit 4, as well as to display the difference between those first target routes based on the priority items.

[0050] (5) The priority item selection unit 34 may be configured to include, as described above, a reduction in fuel consumption, a reduction in working time, or a reduction in the quantity of each route section in the target route P.

[0051] (6) The route selection unit 32, the arbitrary data input unit 33, and the priority item selection unit 34 may be composed of, for example, a keyboard equipped with key switches.

[0052] <Notes on the invention> The first configuration is a target route generation system for work vehicles, A memory unit that stores the basic data necessary to generate a target route for autonomous driving, A priority item selection unit that selects priority items for generating the aforementioned target path, A target path generation unit generates the target path based on the basic data and selected priority items, The key point is that it possesses this characteristic.

[0053] In this configuration, when a user selects priority items according to their values ​​in the priority item selection unit, the target path generation unit generates a target path that is suitable for the user's values, based on the basic data stored in the memory unit and the priority items selected by the user. This allows users to obtain a target route that suits their values ​​simply by selecting priority items according to their own values, without having to input arbitrary setting data necessary for generating a target route, such as multiple work area specific points, work start position, work start direction, and work end position. In other words, it is possible to generate target routes for autonomous driving that are suitable for the user's values ​​and other factors without forcing the user to input arbitrary data, thereby improving the efficiency of work performed by autonomous driving.

[0054] The second configuration is, The distinguishing feature is that when the target path generation unit generates multiple target paths, it has a path selection unit that selectively selects one of those multiple target paths.

[0055] With this configuration, for example, if the target route generation unit generates multiple target routes, the user can select the target route for autonomous driving that best suits their values ​​from among the multiple target routes, thereby more effectively improving the efficiency of work performed by autonomous driving.

[0056] The third configuration is, The objective path generation unit generates multiple objective paths for a single priority item.

[0057] With this configuration, for example, even if a user selects a single priority item in the priority item selection unit according to their own values, the target route generation unit will generate multiple target routes corresponding to that priority item. As a result, the user can select a target route for automated driving that is more suitable to their own values ​​from among the multiple target routes corresponding to the single priority item they selected, thereby more effectively improving the efficiency of work performed by automated driving.

[0058] The fourth component is, It has an arbitrary data input section into which arbitrary setting data for target path generation is input, The objective path generation unit generates a plurality of objective paths, including a first objective path based on the basic data and the priority items, and a second objective path based on the basic data and the arbitrarily set data.

[0059] With this configuration, when generating a target route for automated driving, the user can choose between a simple operation in which they only select priority items in the priority item selection unit, and a normal operation in which they arbitrarily input all the arbitrary setting data necessary for generating the target route in the arbitrary data input unit. This allows users who are uncomfortable entering custom data to easily obtain a first goal path suited to their values ​​through simplified operations. Furthermore, users who are accustomed to entering custom data can obtain a second goal path based on their values ​​through normal operations. As a result, users who are not comfortable with entering custom settings can improve the efficiency of automated work by performing simple selection operations. Furthermore, users who are accustomed to entering custom settings can more effectively improve the efficiency of automated work by properly entering custom settings.

[0060] The fifth configuration is, It has a display unit that displays the target route, The display unit is characterized by its ability to display the difference between multiple target paths along with the multiple target paths when the target path generation unit generates multiple target paths.

[0061] With this configuration, when the target path generation unit generates multiple target paths, the user can easily see the differences between them, thereby easily selecting a target path that is more suitable to their own values ​​and other factors.

[0062] The sixth configuration is, It has an arbitrary data input section into which at least a portion of the arbitrarily set data for target path generation is input, The objective path generation unit modifies the first objective path based on the arbitrarily set data.

[0063] In this configuration, if a user is dissatisfied with the target route generated by the target route generation unit based on their selected priorities, they can input arbitrary setting data suitable for resolving that dissatisfaction into the arbitrary data input unit. The target route generation unit then modifies the target route according to the priority items based on the arbitrary setting data entered by the user. As a result, the user can obtain a target route that resolves their dissatisfaction. Specifically, if a user is dissatisfied that the automatic starting and ending points of the target route are far from the entrance and exit points of the work vehicle at the work site, they can input suitable automatic starting and ending points in the arbitrary data input section to resolve that dissatisfaction. The target route generation unit will then modify the target route according to the priority items based on the automatic starting and ending points entered by the user, so that the user can obtain a target route in which the automatic starting and ending points are set to be close to the entrance and exit points of the work vehicle at the work site. As a result, users can obtain target routes that better suit their own values ​​and preferences through relatively simple operations, thereby more effectively enhancing the benefits of autonomous driving.

[0064] The seventh component is, The aforementioned priority items include at least one of the following: maximizing the work area, minimizing non-working travel distances, optimizing the circular travel route along the outer perimeter of the work area, and avoiding the generation of overlapping route sections.

[0065] According to this configuration, for example, if the priority item is maximizing the work area, the target path generation unit generates a target path that maximizes the work area that can be achieved by the automated driving of the work vehicle, based on this priority item. For example, if the priority is minimizing non-working distance, the target route generation unit will generate a target route based on this priority that reduces fuel consumption and work time required for non-working travel during the automated operation of the work vehicle. For example, if the priority item is optimizing the circular driving path, the target path generation unit will generate a target path based on this priority item such that, when the work vehicle is driven automatically, the width of the circular driving path, which is the unworked area after working on the central side of the work area, is equal to or approximately equal to an integer multiple of the working width of the work vehicle, regardless of the shape of the work area. This makes it easier to perform circular work driving by the work vehicle, whether automatically or manually. This target path is suitable when performing work such as tilling with a tilling-equipped tractor or planting with a riding rice transplanter, which are examples of work vehicles, by automatic driving. For example, if the priority is to avoid the generation of duplicate path sections, the target path generation unit will generate a target path that does not contain any duplicate path sections based on this priority. This prevents problems such as the path becoming compacted and making work difficult due to repeated driving of the same duplicate path section of the target path during automated operation of a work vehicle. This target path is suitable for automated operation of work vehicles such as tilling work with a tilling tractor or planting work with a riding rice transplanter. In other words, it is possible to generate target routes tailored to each priority item, making it easier to improve the efficiency of autonomous driving tasks in a way that suits the different values ​​and preferences of each user.

[0066] A target route generation system for a work vehicle according to one embodiment includes a target route generation unit that generates a target route for the work vehicle to automatically travel from an automatic travel start point to an automatic travel end point. The target route includes a plurality of straight work route sections arranged in parallel. Of the plurality of straight work route sections, in one straight work route section other than the last straight work route section and in the opposite direction to the direction of travel of the last straight work route section, the work vehicle makes multiple overlapping runs, the first run of which is a non-work run and the second run of which is a work run.

[0067] A target route generation system for a work vehicle according to one embodiment includes a target route generation unit that generates a target route for the work vehicle to travel automatically. The target route is generated based on specific items.

[0068] A target route generation system for a work vehicle according to one embodiment includes a route generation unit that generates a plurality of straight routes for the work vehicle to automatically travel in a field. The route generation unit adjusts the orientation of each of the plurality of straight routes based on the shape of the field. A method for generating a target route for a work vehicle according to one embodiment comprises generating a plurality of straight routes for the work vehicle to automatically travel in a field, and adjusting the orientation of each of the plurality of straight routes based on the shape of the field. [Explanation of Symbols]

[0069] 4 Display section 30A storage section 30D Target Path Generation Unit 32 Route Selection Section 33. Optional data input section 34 Priority Item Selection Section P Target Route

Claims

1. It includes a target path generation unit that generates a round-trip path for automatically driving a work vehicle back and forth in a field, The aforementioned round-trip route includes a plurality of work routes arranged in parallel so as to run from one end edge of the field to the other end edge. Of the aforementioned round-trip routes, in one work route adjacent to the specific work route located on the other edge of the field and in the opposite direction to the direction of travel of said specific work route, the work vehicle makes multiple overlapping runs, the first run of which is a non-work run and the second run of which is a work run. A target route generation system for work vehicles.

2. The aforementioned round-trip path includes a return direction reversal path section extending from the end point of the specific work path to the starting point of the first work path. A target route generation system for a work vehicle according to claim 1.

3. The aforementioned first work path is the path immediately preceding the specified work path among the plurality of work paths. A target route generation system for a work vehicle according to claim 1 or 2.

4. The number of work paths included in the aforementioned round-trip path is odd. A target route generation system for a work vehicle according to any one of claims 1 to 3.

5. The starting point of the automatic travel for the round trip route and the ending point of the automatic travel for the round trip route are located on the same side of the work area where the multiple work routes are set. A target route generation system for a work vehicle according to any one of claims 1 to 4.

6. It has the function of generating a round-trip route for automatically driving a work vehicle back and forth in a field, The aforementioned round-trip route includes a plurality of work routes arranged in parallel so as to run from one end edge of the field to the other end edge. Of the aforementioned round-trip routes, in one work route adjacent to the specific work route located on the other edge of the field and in the opposite direction to the direction of travel of said specific work route, the work vehicle makes multiple overlapping runs, the first run of which is a non-work run and the second run of which is a work run. A method for generating target routes for work vehicles.

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