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

Abstract

The present invention provides a route generation method, a route generation program, and a route generation system that can generate a target route that ensures no work remains unfinished at the outermost edge of a field when a work vehicle is used to perform work by automatically traveling back and forth. [Solution] The route generation method generates a target route R for a work vehicle 10 equipped with a work implement 12 to automatically travel in a field F. The route generation method also generates a first target route R1 which includes work routes r1 to r12 that perform work while traveling back and forth between the outermost edge of one side of field F and the outermost edge of the other side, and generates a second target route R2 which includes work routes r21 to r32 for working in an unworked area A0 that is not worked when the work vehicle 10 is automatically traveled according to the first target route R1.

Description

Technical Field

[0001] The present invention relates to a technique for generating a target path for automatically driving a work vehicle.

Background Art

[0002] Conventionally, in a field, there is known a work vehicle that performs predetermined work while automatically traveling along a preset target path. For example, there is known an automatic driving technique for generating a target path including a plurality of work paths for working while reciprocating in an inner area of a field, and causing the work vehicle to perform work while reciprocating along the target path (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 conventional technology, the area where work can be performed by automatic driving is limited, and even when work is performed by automatic driving of reciprocating travel, for example, it is difficult to perform work at the outermost end of a field by automatic driving. Therefore, work remains (unworked area) at the outermost end (outermost periphery) of the field.

[0005] An object of the present invention is to provide a path generation method, a path generation program, and a path generation system capable of generating a target path in which no work remains at the outermost end of a field when causing a work vehicle to perform work by automatic driving of reciprocating travel.

Means for Solving the Problems

[0006] The path generation method according to the present invention is a method for generating a target path for a work vehicle equipped with a work machine to automatically travel within a work area. The path generation method performs the following: generating a first target path that includes a plurality of first work paths that perform work while traveling back and forth between the outermost end of one side of the work area and the outermost end of the other side; and generating a second target path that includes a second work path for working in an unworked area that is not worked on when the work vehicle is automatically driven according to the first target path.

[0007] The path generation program according to the present invention is a program that generates a target path for a work vehicle equipped with a work machine to automatically travel within a work area. The path generation program causes one or more processors to perform the following actions: generate a first target path including a plurality of first work paths that perform work while traveling back and forth between the outermost end of one side of the work area and the outermost end of the other side; and generate a second target path including a second work path for working in an unworked area that is not worked on when the work vehicle automatically travels according to the first target path.

[0008] The route generation system according to the present invention is a system that generates a target route for a work vehicle equipped with a work machine to automatically travel within a work area. The route generation system includes a route generation processing unit that generates a first target route including a plurality of first work routes that perform work while traveling back and forth between the outermost end of one side of the work area and the outermost end of the other side, and generates a second target route including a second work route for working in an unworked area that is not worked on when the work vehicle is automatically driven according to the first target route. [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 can generate a target route that does not leave any unfinished work at the outermost edge of a field when a work vehicle is made to perform work by automatically traveling back and forth. [Brief explanation of the drawing]

[0010] [Figure 1]Figure 1 is an external view showing the configuration of a work vehicle according to an embodiment of the present invention. [Figure 2] Figure 2 is a block diagram showing the configuration of a work system according to an embodiment of the present invention. [Figure 3A] Figure 3A shows an example of a first target path according to an embodiment of the present invention. [Figure 3B] Figure 3B shows an example of a travel path included in the first target path according to an embodiment of the present invention. [Figure 4] Figure 4 shows the work trace when working according to the first target path according to an embodiment of the present invention. [Figure 5A] Figure 5A shows an example of a second target path according to an embodiment of the present invention. [Figure 5B] Figure 5B shows an example of a travel path included in the second target path according to an embodiment of the present invention. [Figure 6] Figure 6 shows the work trace when working according to the second target path according to an embodiment of the present invention. [Figure 7] Figure 7 shows the work trace when working according to the first target path and the second target path according to an embodiment of the present invention. [Figure 8] Figure 8 shows other examples of the first and second target paths according to embodiments of the present invention. [Figure 9] Figure 9 shows an example of a third target path according to an embodiment of the present invention. [Figure 10] Figure 10 shows the work trace when working according to the third target path according to an embodiment of the present invention. [Figure 11] Figure 11 shows an example of a fourth target path according to an embodiment of the present invention. [Figure 12] Figure 12 shows the work trace when working according to the fourth target path according to an embodiment of the present invention. [Figure 13] Figure 13 shows the work trace when working according to the third and fourth target paths according to an embodiment of the present invention. [Figure 14]FIG. 14 is a flowchart showing an example of the procedure of control processing executed by the control system according to an embodiment of the present invention. [Figure 15A] FIG. 15A is a diagram showing an example of a target route according to another embodiment of the present invention. [Figure 15B] FIG. 15B is a diagram showing an example of a target route according to another embodiment of the present invention. [Figure 16A] FIG. 16A is a diagram showing an example of an outermost peripheral route according to another embodiment of the present invention. [Figure 16B] FIG. 16B is a diagram showing an example of an outermost peripheral route according to another embodiment of the present invention. [Figure 17A] FIG. 17A is a diagram showing an example of a target route according to another embodiment of the present invention. [Figure 17B] FIG. 17B is a diagram showing an example of a target route according to another embodiment of the present invention.

MODE FOR CARRYING OUT THE INVENTION

[0011] The following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0012] [Overall Configuration] First, the overall configuration of the work system 100 according to the present embodiment will be described with reference to FIGS. 1 and 2. The work vehicle control system 1 (hereinafter also simply referred to as "control system 1") according to the present embodiment constitutes the work system 100 together with the vehicle body 11 of the work vehicle 十. A work implement 12 is attached to the vehicle body 11. That is, the work system 100 includes the work vehicle control system 1 and the vehicle body 11 of the work vehicle 10 to which the work implement 12 is attached. Further, the work system 100 constitutes an automatic driving system.

[0013] In this embodiment, the control system 1 includes a control device 13 (see Figure 2) mounted on the body 11 of the work vehicle 10, and an operation terminal 20. The work vehicle 10 and the operation terminal 20 are able to communicate with each other. In this disclosure, "able to communicate" means that information can be exchanged directly or indirectly via a communication network N1 or a repeater, etc., by an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1 such as the Internet, LAN (Local Area Network), WAN (Wide Area Network), public telephone line, mobile phone network, packet network, or wireless LAN. The means of communication between the work vehicle 10 and the operation terminal 20 are not limited to the above examples and can be implemented by an appropriate means of communication. Furthermore, the ability of the work vehicle 10 and the operation terminal 20 to communicate with each other is not an essential configuration in the control system 1.

[0014] The work vehicle 10 moves around the target area (work area), which is field F (see Figure 3A, etc.), and performs some work within field F using the implement 12. In this disclosure, "work" refers to the work that the implement 12 performs on field F, and includes various agricultural operations such as leveling, sowing, fertilizing, pesticide spraying, planting (rice planting), or harvesting, as well as various construction operations. In this embodiment, as an example, the work performed by the work vehicle 10 is leveling work, which prepares the ground surface of field F to a uniform and flat state. Leveling work is a type of land preparation work that prepares the field, which is field F, among agricultural operations, and is an important operation for suppressing uneven growth caused by, for example, an uneven ground surface in a paddy field.

[0015] The implement 12 performs work within the field F as the body 11 of the work vehicle 10 moves across the field F. In this embodiment, as an example, the implement 12 is a leveler that performs leveling work, and in particular is a laser leveler that can detect the height of the field F by receiving laser light from a light emitter with a light receiver.

[0016] This type of work implement 12 includes a directly mounted work implement that is directly attached to the three-point linkage, and a towed work implement that is towed by the machine body 11. With a directly mounted work implement 12, the machine body 11 can move both forward and backward, whereas with a towed work implement 12, the machine body 11 can only move forward to prevent the connecting part from bending. In this embodiment, as an example, the work implement 12 is a directly mounted laser leveler that is detachably attached to the machine body 11 of the work vehicle 10. Here, the work implement 12 is attached to the rear side of the machine body 11 (opposite the direction of forward movement of the machine body 11). In other words, the (directly mounted) work implement 12 is connected to the rear side of the machine body 11 and performs work while moving forward with the machine body 11 when the machine body 11 moves forward. In another embodiment, the work implement 12 may be attached to the front side of the machine body 11 (the side in the direction of forward movement of the machine body 11). In this embodiment, the work implement 12 is included as a component of the work vehicle 10; however, since the work implement 12 is detachable from the machine body 11, it does not necessarily have to be included as a component of the work vehicle 10.

[0017] In this disclosure, "work vehicle" means a machine that performs various tasks in a field F, such as a farm field. Examples include agricultural machinery such as tractors, seeders, rice transplanters, sprayers, sprayers, transplanters, and harvesters. The work vehicle 10 may also be, for example, construction machinery. In this embodiment, unless otherwise specified, the description will be given using the example of a tractor equipped with a laser leveler as the implement 12 as the work vehicle 10. In other words, the work vehicle 10 is constructed by connecting a (directly mounted) laser leveler as the implement 12 to a tractor as the machine body 11. With this work vehicle 10, the machine body 11 travels across a field F, making it possible to perform leveling work to flatten the ground surface of the field F.

[0018] Furthermore, in this embodiment, as an example, the work vehicle 10 is an automated machine that can be operated by automatic driving (automatic driving and automatic work) while still being capable of carrying a person (operator). However, it is not limited to this, and the work vehicle 10 may be an unmanned machine that operates by automatic driving, or it may be operated by a person (operator) (including remote operation).

[0019] In this disclosure, "work area" refers to an area where the work vehicle 10 moves and performs various tasks such as leveling, sowing, fertilizing, pesticide spraying, planting (rice planting), or harvesting, and includes paddy fields, dry fields, orchards, and pastures. For example, if field F is a paddy field or dry field where crops (agricultural products) such as rice, wheat, soybeans, or buckwheat are grown, the crops grown in field F are agricultural products. Furthermore, if trees are grown in a nursery, the nursery becomes field F, and if trees for timber are grown in a forest, as in forestry, the forest becomes field F. In this case, the crops grown in field F are trees or shrubs. In this embodiment, unless otherwise specified, the work vehicle 10 is used for leveling work in field F, and the explanation will be given using the example of field F being a paddy field for growing rice. Furthermore, field F is not limited to a field; for example, if the work vehicle 10 is a construction machine, then the site where the construction machine performs its work becomes field F.

[0020] Furthermore, the work vehicle 10 can move automatically not only within the field F but also on roads outside the field F, such as off-field routes. The work vehicle 10 is configured to automatically travel (move) along pre-set target routes (including off-field routes) both within and outside the field F, based on positional information of the work vehicle 10's current position, which is determined by the positioning device 16 (see Figure 2). Off-field routes are, for example, inter-field connecting roads that connect multiple fields F. Inter-field connecting roads may be farm roads, forest roads, public roads, private roads, or automobile roads, and may be roads exclusively for the work vehicle 10 or roads that are accessible to general vehicles (passenger cars, etc.).

[0021] [Configuration of work vehicle 10] Next, the configuration of the work vehicle 10 according to this embodiment will be described in detail with reference to Figures 1 and 2.

[0022] In this embodiment, for the sake of explanation, the vertical direction when the work vehicle 10 is in a usable state is defined as the up-down direction D1. The forward-backward direction D2 and the left-right direction (not shown) are defined based on the direction as seen from the perspective of the person (operator) sitting in the machine body 11 (or its driver's unit 111) of the work vehicle 10. The left side of the left-right direction refers to the left side when the machine body 11 is moving forward, and the right side of the left-right direction refers to the right side when the machine body 11 is moving forward. However, these directions are not intended to limit the direction of use (direction during use) of the work vehicle 10.

[0023] As shown in Figure 2, the work vehicle 10 is equipped with a control device 13, a traveling device 14, a detection device 15, a positioning device 16, and a communication device 17, in addition to the main body 11 and the work machine 12. The control device 13, traveling device 14, detection device 15, positioning device 16, and communication device 17 are all mounted on the main body 11.

[0024] The machine body 11 has a driver's compartment 111 (see Figure 1) on which a person (operator) can board. The driver's compartment 111 is equipped with a steering device, a transmission, and control devices. The steering device, transmission, and control devices are control units operated by the operator or the control device 13. Therefore, the work vehicle 10 can be operated both manually by the operator and automatically by the control device 13. In addition, as described above, a work machine 12 is detachably connected to the rear of the machine body 11. It is also possible to connect a device other than the work machine 12 to the machine body 11.

[0025] In this embodiment, the implement 12 is a directly mounted laser leveler, so leveling work can be performed on the field F when the machine body 11 is moving forward. The implement 12 has a variable relative position (relative height) in the vertical direction D1 with respect to the machine body 11. As a result, the height of the implement 12 is variable when the field surface, which is the ground surface of the field F, is used as a reference, and by adjusting the height of the implement 12, the height of the target surface for leveling work can be adjusted. The implement 12, which consists of a laser leveler, changes its height by automatic control based on the laser light from the emitter, scraping soil from higher areas (raised areas) on the ground surface and carrying it to lower areas, thereby leveling the field F.

[0026] As shown in Figure 1, the running gear 14 includes front wheels 141, rear wheels 142, and a power source (engine and / or motor, etc.). For example, there are two pairs of front wheels 141 and rear wheels 142, one on each side. The running gear 14 can move the machine body 11 by driving the rear wheels 142 with power generated by the power source. Here, the front wheels 141 function as steering wheels, enabling turning in the left and right directions. As a result, the machine body 11 can move within the field F in the front-rear direction D2 and in the left-right direction. For example, the work vehicle 10 performs leveling work on the field F while moving in a meandering manner within the field F using the running gear 14.

[0027] In this embodiment, in particular, assuming travel on a muddy field F, the running gear 14 is a half-crawler type, employing conventional wheels for the front wheels 141 and crawler tracks for the rear wheels 142, which serve as the drive wheels. Compared to a wheeled vehicle body that uses conventional wheels as drive wheels, the half-crawler type running gear 14 can transmit driving force to the ground over a larger contact area, and can exhibit sufficient off-road capability even on a relatively muddy field F. However, the running gear 14 is not limited to a half-crawler type; for example, it may be a wheeled type or a crawler type.

[0028] At least during autonomous driving, the driving system 14 operates according to the operations of the control device 13, such as the steering system, transmission system, and operating device described above. For example, in the driving system 14, the angle of the front wheels 141 is changed by a hydraulic power steering mechanism or the like in response to the operation of the steering system by the control device 13, and the direction of travel of the vehicle 11 is changed. Also, in response to the operation of the transmission system by the control device 13, the gears of the transmission are switched to forward gear or reverse gear, and the driving mode of the vehicle 11 is switched to forward or reverse. Furthermore, the control device 13 controls the rotational speed of the power source by operating the accelerator or brake of the operating device, and brakes the front wheels 141 and rear wheels 142 using electromagnetic brakes.

[0029] The detection device 15 detects obstacles in the detection area. The detection device 15 includes an obstacle sensor and a detection processing unit. The obstacle sensor may include various sensors such as a camera (image sensor), sonar sensor, human presence sensor, radar, or LiDAR (Light Detection and Ranging). The obstacle sensor may be a 3D sensor that measures the distance to an object (obstacle) using the TOF (Time Of Flight) method, which measures the distance to the distance measurement point based on the round-trip time it takes for light or sound to reach the distance measurement point and return. The detection processing unit detects obstacles based on the measurement information obtained from the obstacle sensor. Here, the detection processing unit may only detect the presence or absence of obstacles, or it may detect the position, shape, number, or attributes (including type, etc.) of the obstacles.

[0030] The detection results from the detection device 15 are output to the control device 13. When the detection device 15 detects an obstacle during the automatic operation of the work vehicle 10, the control device 13 outputs an alarm (including notification by sound and / or light) and controls the travel device 14 to perform obstacle avoidance processing (including detour, deceleration, or stopping, etc.). Furthermore, the control device 13 may output the location information of the obstacle and the execution history of the avoidance processing to the operation terminal 20 and display them on the operation terminal 20.

[0031] The positioning device 16 determines the current position (latitude, longitude, and altitude, etc.) of the aircraft 11. Specifically, the positioning device 16 calculates the current position (latitude and longitude) of the aircraft 11 using a satellite positioning system such as GNSS (Global Navigation Satellite System). In other words, the positioning device 16 has a positioning antenna that receives positioning signals from satellites and calculates the current position based on the positioning signals. Furthermore, the positioning device 16 includes an inertial sensor and can also detect the attitude of the aircraft 11, such as its current bearing.

[0032] Furthermore, the positioning device 16 may detect the current position with relatively high accuracy, such as RTK (Real Time Kinematic) positioning, by using correction information corresponding to a base station (reference station) close to the work vehicle 10 to calculate the current position of the work vehicle 10. The current position of the aircraft 11 may be the same as the positioning position (position of the positioning antenna), or it may be a position shifted from the positioning position, such as the center position of the aircraft 11 in a plan view. For example, a mobile phone terminal, smartphone, or tablet terminal may be used as the positioning device 16.

[0033] The communication device 17 is a communication interface for connecting the work vehicle 10 (control device 13 and positioning device 16, etc.) to an external device by wire or wireless connection, and for performing data communication with the external device in accordance with a predetermined communication protocol. In this embodiment, the communication device 17 can communicate with at least the operation terminal 20, which is an external device, via the communication network N1. Furthermore, the communication device 17 can connect to the communication network N1 at least wirelessly, and can communicate with the operation terminal 20 at any time, even though the work vehicle 10 is moving (driving) in the field F. As the communication device 17, for example, a mobile phone terminal, smartphone, tablet terminal, or quantum compass may be used as a substitute.

[0034] The control device 13 primarily consists of a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, since the control device 13 primarily consists of a computer system having one or more processors, the control device 13 is realized when one or more processors execute a control program for the work vehicle. In this embodiment, the control device 13 is an integrated controller that controls the entire work vehicle 10, and consists of, for example, an electronic control unit (ECU). However, the control device 13 may be provided separately from the integrated controller.

[0035] The control device 13 is configured to communicate with devices provided on various parts of the machine body 11. In other words, the control device 13 is electrically connected to the work machine 12, the travel device 14, the detection device 15, the positioning device 16, and the communication device 17, etc. As a result, the control device 13 can control the work machine 12 and the travel device 14, etc., and acquire the detection results of the detection device 15 and the positioning device 16. Here, the control device 13 may exchange various types of information (data) directly with each device, or it may do so indirectly via a relay or the like.

[0036] In this embodiment, the control device 13 includes a control processing unit 131 and a storage unit 132, as shown in Figure 2.

[0037] The control processing unit 131 has the function of controlling each part of the work vehicle 10, such as the travel device 14 and the work equipment 12. For example, the control processing unit 131 controls the travel device 14 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a preset target route, thereby enabling the work vehicle 10 to travel automatically. Furthermore, the control processing unit 131 controls the work equipment 12 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a preset target route, thereby enabling the work vehicle 10 to perform automatic work (leveling work in this embodiment) at appropriate positions along the target route.

[0038] Specifically, when the control processing unit 131 receives a start command from the operation terminal 20, it starts the automatic operation (automatic driving and automatic work) of the work vehicle 10. For example, when an operator operates the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a start command to the work vehicle 10. As a result, for example, the work vehicle 10 starts to drive automatically within the field F according to the target path R (see Figure 3A, etc.) and performs automatic work (leveling work in this embodiment) with the work machine 12.

[0039] The target route R for the automated operation of the work vehicle 10 is generated, for example, in the operation terminal 20. That is, the work vehicle 10 obtains route data corresponding to the target route R from the operation terminal 20 and performs automated operation and work according to the target route R.

[0040] Furthermore, when the control processing unit 131 receives a stop command from the operation terminal 20, it stops the automatic operation (automatic driving and automatic work) of the work vehicle 10. For example, when an operator operates the stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a stop command to the work vehicle 10.

[0041] As another example, the work vehicle 10 may be driven by the operator's manual steering. For example, the operator may board the work vehicle 10 and drive it by manual steering while confirming the target path R.

[0042] The memory unit 132 is a non-volatile memory that stores various data such as the control program for the work vehicle and target path information related to the target path R. In other words, the control processing unit 131 can cause the travel device 14 to perform automatic travel along the target path R based on the target path information stored in the memory unit 132.

[0043] In addition to the above-described configuration, the work vehicle 10 is further equipped with a battery, fuel tank, display device, and various sensors. The battery supplies power to various parts of the work vehicle 10, such as the control device 13. In particular, electronic devices such as the control device 13, detection device 15, positioning device 16, and communication device 17 operate using power supplied from the battery, allowing them to operate even when the power source (engine) of the traction device 14 is stopped. The display device is a user interface for presenting information to the user (operator), such as a liquid crystal display or organic EL display that displays various types of information.

[0044] [Configuration of operating terminal 20] Next, the configuration of the operating terminal 20 according to this embodiment will be described in detail with reference to Figures 1 and 2.

[0045] In this embodiment, the operating terminal 20 is capable of communicating with the work vehicle 10 as described above, and together with the control device 13 of the work vehicle 10, constitutes the control system 1. In other words, the components of the control system 1 are distributed and provided in at least the work vehicle 10 and the operating terminal 20. However, the configuration is not limited to this, and for example, the functions of the control device 13 may be provided in the operating terminal 20, in which case the components of the control system 1 will be realized by the operating terminal 20 alone.

[0046] In this embodiment, as an example, the operating terminal 20 is composed of a general-purpose terminal such as a tablet terminal, smartphone, or laptop computer. As shown in Figure 2, the operating terminal 20 includes an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. Furthermore, the operating terminal 20 also includes an audio output unit that outputs sound (including voice) to the user (operator), and a battery, etc.

[0047] The operation control unit 21 primarily consists of a computer system having one or more processors such as a CPU and one or more memories such as ROM and RAM, and performs various processes (information processing). In this embodiment, since the operation control unit 21 primarily consists of a computer system having one or more processors, the operation control unit 21 is realized when one or more processors execute a control program for the work vehicle. In other words, the control system 1 is realized through the cooperation of the control device 13 and the operation terminal 20, as one or more processors of the control device 13 and one or more processors of the operation control unit 21 each execute a control program for the work vehicle.

[0048] The operation control unit 21 is configured to communicate with each part of the operation terminal 20 (storage unit 22, operation display unit 23, and communication unit 24). In other words, the storage unit 22, operation display unit 23, and communication unit 24 are electrically connected to the operation control unit 21. As a result, the operation control unit 21 can read and write information to the storage unit 22, control the display of the operation display unit 23, and acquire operation inputs for the operation display unit 23. Here, the operation control unit 21 may exchange various types of information (data) directly with each part, or it may do so indirectly via a relay or the like.

[0049] Such an operating terminal 20 is a user interface for receiving operation input from a user (operator) and outputting various information to the user. For example, the operating terminal 20 accepts various operations from the user by outputting electrical signals corresponding to the user's operations to the operation display unit 23. Furthermore, the operating terminal 20 outputs various information to the user by displaying various screens on the operation display unit 23. In this disclosure, "screen" means an image (video) displayed on the operation display unit 23 of the operating terminal 20, and includes illustrations, figures, photographs, text, and videos. The screens displayed on the operating terminal 20 include not only still images but also images (videos) that change moment by moment.

[0050] The storage unit 22 is a non-volatile memory that stores various data such as control programs for work vehicles and target path information related to the target path R. Furthermore, the storage unit 22 can store various data such as work equipment information, work vehicle information, field information, and work information. Work equipment information is information about work equipment 12 mounted on the machine body 11, and includes information such as the type of work equipment 12 (e.g., direct-mount laser leveler / towed laser leveler, seeder or sprayer, etc.), identification information, model name, type and size (dimensions). Work vehicle information is information about the machine body 11 (vehicle body) of the work vehicle 10, and includes information such as the type of machine body 11 (e.g., half-crawler type / wheel type, etc.), identification information, model name, type and size (dimensions). Field information refers to information about a field designated as field F, and includes information such as field identification information, field name, location, shape, size, work start position (driving start position) where work begins, work end position (driving end position) where work ends, and work direction. Work information refers to information about work performed by the work vehicle 10, and includes information such as the type of work (e.g., leveling the water level, leveling the slope, sowing or spraying), and how the work will be performed in detail. Furthermore, the work information may also include information such as whether or not there is coordinated work by the work vehicle 10, the number of skips which is the number of work paths skipped when the work vehicle 10 turns around in the headland, the width of the headland, and the width of the uncultivated land.

[0051] The information stored in the memory unit 22 (target route information, implement information, work vehicle information, field information, and work information, etc.) is set (registered) by user (operator) input to the operation display unit 23 or by acquisition from the work vehicle 10. For example, the type of implement 12 in the implement information may be specified by the user by operating the operation display unit 23, or the work vehicle 10 may automatically identify the implement 12 attached to the machine body 11 and transmit it to the operation terminal 20. This information may also be acquired by the operation terminal 20 from external devices other than the work vehicle 10 (e.g., a server, external storage medium, or other operation terminal).

[0052] The operation display unit 23 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, mouse, keyboard, mechanical switch, or encoder that accepts operations. For example, an operator can set (register) various information by operating the operation unit of the operation display unit 23 on the operation screen displayed on the display unit of the operation display unit 23. For example, an operator can set automatic driving information (including target route information) related to the automatic driving (including automatic driving and automatic work) of the work vehicle 10.

[0053] Furthermore, the operation display unit 23 displays the progress of work in field F, as well as the operating status of the work vehicle 10, including the target route R, (actual) movement trajectory, current position, and movement speed, thereby enabling remote monitoring of the work vehicle 10 during automatic operation by the operator. In addition, the operation display unit 23 can receive commands from the operator to start or stop the work vehicle 10. The operation terminal 20 can remotely control the work vehicle 10 by transmitting these commands to the work vehicle 10. Therefore, remote operation of the work vehicle 10 by the operator becomes possible.

[0054] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the work vehicle 10 by wire or wireless connection and for performing data communication with the work vehicle 10 in accordance with a predetermined communication protocol. In this embodiment, the communication unit 24 can communicate with at least the work vehicle 10 (its communication device 17) via the communication network N1. Furthermore, since the communication unit 24 can connect to the communication network N1 at least wirelessly, it is possible to communicate with the work vehicle 10 at any time, even when the communication unit 24 is at a sufficiently distant location from the work vehicle 10.

[0055] As shown in Figure 2, the operation control unit 21 includes a route generation processing unit 211, a registration processing unit 212, and an output processing unit 213. In this embodiment, as an example, the operation control unit 21 mainly consists of a computer system having one or more processors, so these multiple functional units are realized by one or more processors executing a control program for the work vehicle. These multiple functional units included in the operation control unit 21 may be distributed across multiple housings or may be housed in a single housing.

[0056] The route generation processing unit 211 executes a route generation process to generate a target route R for automatically operating (automatic driving and automatic work) the work vehicle 10 in field F. Here, the route generation processing unit 211 generates the target route R based on generation data, including work equipment information, work vehicle information, field information, and work information, etc., stored in the storage unit 22. In other words, the route generation processing unit 211 generates the target route R based on work equipment information, work vehicle information, field information, and work information, etc., which are set (registered) by, for example, user (operator) input to the operation display unit 23. The route generation processing unit 211 also generates a first target route R1 which includes multiple work routes that perform work while traveling back and forth between the outermost end of one side of field F and the outermost end of the other side. Furthermore, the route generation processing unit 211 generates a second target route R2 which includes work routes for working in unworked areas that are not worked on when the work vehicle 10 is automatically driven according to the first target route R1. The route generation processing unit 211 registers the generated target route R in association with field F. The specific method for generating the target route R will be described later.

[0057] The registration processing unit 212 executes a registration process to register implement information, work vehicle information, field information, and work information. In other words, the implement information, work vehicle information, field information, and work information used to generate the target route R are registered (set) by the registration processing unit 212, for example, through user (operator) input to the operation display unit 23.

[0058] The output processing unit 213 performs output processing, for example, to output route data for the target route R to the work vehicle 10. That is, the route data for the target route R generated by the route generation processing unit 211 is output from the output processing unit 213 to, for example, the communication unit 24, and then transmitted from the communication unit 24 to the work vehicle 10.

[0059] For example, when starting work, the operator selects the field F to be worked on, selects the work to be done, confirms the target route R, etc., and issues a work start command. When the operator issues a work start command, the output processing unit 213 transmits (outputs) the route data of the target route R generated by the route generation processing unit 211 to the work vehicle 10. When the work vehicle 10 receives the route data generated at the operation terminal 20, it stores the route data in the storage unit 132. Then, the work vehicle 10 performs automatic driving (automatic driving and automatic work) based on the current position of the work vehicle 10 calculated by the positioning device 16 and the target route R specified in the route data.

[0060] Furthermore, the output processing unit 213 can output the generated target route R to the operation display unit 23, thereby displaying it on the operation display unit 23. The output of the output processing unit 213 is not limited to transmission to or display to the work vehicle 10 as described above, but may also be transmitted to other devices (such as user terminals), printed (printed out), written to a non-temporary recording medium, or output as audio.

[0061] The operating terminal 20 may be able to access the website (agricultural support site) of the agricultural support service provided by the server via the communication network N1. In this case, the operating terminal 20 can function as an operating terminal for the server by having a browser program executed by the operation control unit 21. The server then has the above-described processing units and executes each of them.

[0062] [Method for generating the target path R] Figure 3A shows an example of a first target route R1 included in the target route R. The route generation processing unit 211 generates the first target route R1 in the d1 direction within field F based on the starting position S1 (see Figure 3A) and ending position G1 (see Figure 3A) included in the field information. For example, based on the generation data, the route generation processing unit 211 generates a first target route R1 that includes multiple work routes for moving the body 11 of the work vehicle 10 back and forth in the d1 direction from the starting position S1 to the ending position G1 within field F, as shown in Figure 3A. In Figure 3A, the d1 direction is parallel to one side of field F (here, the short sides f1, f2), and the d2 direction is perpendicular to the d1 direction and parallel to the other side of field F (here, the long sides f3, f4).

[0063] In the example shown in Figure 3A, the first target path R1 includes multiple straight work paths r1 to r12 and multiple movement paths ra. Straight work paths r1 to r12 are straight paths on which the work vehicle 10 travels back and forth while performing work with the work machine 12, and movement paths ra are connecting paths on which the work vehicle 10 travels to the next straight work path after completing travel on one straight work path. The work vehicle 10 may perform work or stop work on movement paths ra. In Figure 3A, for illustrative purposes, only the movement paths ra connecting straight work path r1 and straight work path r2, the movement paths ra connecting straight work path r2 and straight work path r3, and the movement paths ra connecting straight work path r11 and straight work path r12 are shown, but movement paths ra are generated between each of the adjacent straight work paths.

[0064] Furthermore, the movement path ra includes both curved paths (turning paths) and straight paths (straight-line paths). Figure 3B shows the details of the movement path ra.

[0065] As shown in Figure 3B, the movement path ra includes a reverse straight path r101, a forward turning path r102, a reverse straight path r103, a forward turning path r104, and a reverse straight path r105. The reverse straight path r101 is a straight path whose starting point is connected to the end of the work path r1 and extends a predetermined distance in the d1 direction from the outermost end (long side f4) of field F. The forward turning path r102 is a curved path whose starting point is connected to the end of the reverse straight path r101 and extends a predetermined turning radius to the right and forward from that end. The reverse straight path r103 is a straight path whose starting point is connected to the end of the forward turning path r102 and extends a predetermined distance in the d2 direction from that end. The forward turning path r104 is a curved path whose starting point is connected to the end of the reverse straight path r103, and which extends forward to the right with a predetermined turning radius from that end. The reverse straight path r105 is a straight path whose starting point is connected to the end of the forward turning path r104, and whose end is connected to the starting point of the work path r2, and which extends in the d1 direction from that end to the outermost edge (long side f4) of field F.

[0066] Furthermore, the work path r1 is set at a position that takes into account the area necessary for the work vehicle 10 to move (turn) from work path r1 to the next work path r2 (see Figure 3A). For this reason, as shown in Figure 3A, for example, the work path r1 is set at a position a predetermined distance away from the short side f1 of the field F.

[0067] The work vehicle 10 travels forward in a straight line along the work path r1, and when it reaches the outermost edge (long side f4) of field F, it travels in a straight line in reverse along the reverse straight path r101, and when it reaches the end of the reverse straight path r101 (the beginning of the forward turning path r102), it travels forward and turns to the right along the forward turning path r102, and when it reaches the end of the forward turning path r102 (the beginning of the reverse straight path r103), it travels in a straight line in reverse The machine travels in a straight line in reverse along r103, and upon reaching the end of the straight reverse path r103 (the beginning of the forward turning path r104), it travels in a right forward turning direction along the forward turning path r104. Upon reaching the end of the forward turning path r104 (the beginning of the straight reverse path r105), it travels in a straight reverse direction along the straight reverse path r105, and upon reaching the outermost edge (long side f4) of field F, it travels in a straight forward direction along work path r2. In this way, the movement path ra reverses the direction of the machine 11 by performing a "fishtail turn". Note that if there is sufficient space between adjacent work paths, a "fishtail turn" is not mandatory, and a U-turn or other maneuver that does not involve changing the direction of travel of the machine 11 may be applied.

[0068] Furthermore, in the movement path ra, a reverse path is generated that automatically moves backward before starting automatic movement along the work path, aligning the position of the implement 12 to the outermost edge of field F. For example, as shown in Figure 3B, the path generation processing unit 211 generates a reverse straight path r105 that automatically moves backward (reverse movement) before starting automatic movement along the work path r2, aligning the position of the implement 12 to the outermost edge (long side f4) of field F. This allows the work vehicle 10 to perform work (leveling work) from the outermost edge of field F.

[0069] Furthermore, the work vehicle 10 adjusts the height of the work implement 12 according to the height of the target surface to be leveled. For example, when the work vehicle 10 travels along work paths r1 to r12 and the forward paths of the movement path ra (forward turning paths r102, r104), it sets the work implement 12 to a first height (lowest position) to perform leveling work. Also, when the work vehicle 10 travels along the reverse path of the movement path ra (reverse straight paths r101, r105), it sets the work implement 12 to a second height (intermediate position) that is higher than the first height to perform leveling work. In this way, by setting the work implement 12 to the second height and performing leveling work when traveling in reverse, it becomes possible to level the portion where soil trapped inside the work implement 12 has been discharged to the ground surface and become an embankment when switching from forward to reverse travel, for example, while traveling in reverse.

[0070] In another embodiment, the work vehicle 10 may perform leveling work with the work implement 12 set to the first height when traveling along the work paths r1 to r12, and perform leveling work with the work implement 12 set to the second height when traveling along the movement path ra. In yet another embodiment, the work vehicle 10 may perform leveling work with the work implement 12 set to the first height when traveling along the work paths r1 to r12, and not perform leveling work with the work implement 12 set to the non-working height (highest position) when traveling along the movement path ra.

[0071] Figure 4 shows the work track when the work vehicle 10 automatically drives and performs leveling work according to the first target route R1 shown in Figure 3A. Specifically, as shown in Figure 4, when the work vehicle 10 works from one end to the other of field F along each work route r1 to r12, the outermost end on the starting end of the work route is completed because the implement 12 can level the ground surface, resulting in a completed work area A1. However, at the outermost end on the ending end of the work route, the implement 12 cannot level the ground surface in an area corresponding to the distance L1 (see Figure 4) from the front end of the work vehicle 10 to the implement 12, resulting in an unworked area A0. In other words, when work is performed according to the first target route R1, an unworked area A0 is generated at the end of each work route r1 to r12. The width W1 (see Figure 4) of the unworked area A0 corresponds to the working width of the implement 12.

[0072] Therefore, this embodiment includes a configuration that suppresses unfinished work by generating a target path R that allows work in the unfinished area A0. Specifically, the path generation processing unit 211 generates a second target path R2 that includes a work path for working in the unfinished area that is not worked on when the work vehicle 10 is automatically driven according to the first target path R1.

[0073] Figure 5A shows an example of a second target route R2 included in the target route R. The route generation processing unit 211 generates the second target route R2 in the d1 direction within field F based on the starting position S2 (see Figure 5A) and ending position G2 (see Figure 5A) included in the field information. For example, based on the generation data, the route generation processing unit 211 generates a second target route R2 that includes multiple work routes for moving the body 11 of the work vehicle 10 back and forth in the d1 direction from the starting position S2 to the ending position G2 within field F, as shown in Figure 5A. The operation control unit 21 sets the starting position S2 of the second target route R2 to the side of the ending position G1 of the first target route R1, and sets the ending position G2 of the second target route R2 to the side of the starting position S1 of the first target route R1. Furthermore, the operation control unit 21 sets the starting position S2 and ending position G2 of the second target route R2 to positions that are point-symmetrical to the starting position S1 and ending position G1 of the first target route R1 (positions rotated 180 degrees).

[0074] In the example shown in Figure 5A, the second target path R2 includes multiple straight work paths r21 to r32 and multiple movement paths rb. Straight work paths r21 to r32 are straight paths on which the work vehicle 10 travels back and forth while performing work with the work machine 12, and movement paths rb are connecting paths on which the work vehicle 10 travels to the next straight work path after completing travel on one straight work path. The work vehicle 10 may perform work or stop work on movement paths rb. In Figure 5A, for illustrative purposes, only movement paths rb connecting straight work paths r21 and r22, r22 and r23, and r31 and r32 are shown, but movement paths rb are generated between each of the adjacent straight work paths.

[0075] Furthermore, the movement path rb includes both curved paths (turning paths) and straight paths (straight paths). Figure 5B shows the details of the movement path rb. Note that the movement path rb may be the same path as the movement path ra (see Figure 3B).

[0076] As shown in Figure 5B, the movement path rb includes a reverse straight path r201, a forward turning path r202, a reverse straight path r203, a forward turning path r204, and a reverse straight path r205. The reverse straight path r201 is a straight path whose starting point is connected to the end of the work path r21 and extends a predetermined distance in the d1 direction from the outermost end (long side f3) of field F. The forward turning path r202 is a curved path whose starting point is connected to the end of the reverse straight path r201 and extends a predetermined turning radius to the right and forward from that end. The reverse straight path r203 is a straight path whose starting point is connected to the end of the forward turning path r202 and extends a predetermined distance in the d2 direction from that end. The forward turning path r204 is a curved path whose starting point is connected to the end of the reverse straight path r203, and which extends forward to the right from that end with a predetermined turning radius. The reverse straight path r205 is a straight path whose starting point is connected to the end of the forward turning path r204, and whose end is connected to the starting point of the work path r22, and which extends in the d1 direction from that end to the outermost edge (long side f3) of field F.

[0077] Here, the second target path R2 is set to overlap with the first target path R1 (see Figure 3A). Also, the first work path r21 of the second target path R2 is set to a position that takes into account the area necessary for the work vehicle 10 to move (turn) from work path r21 to the next work path r22 (see Figure 5A). For this reason, for example, work path r21 is set to a position that overlaps with work path r11 of the first target path R1. If work path r21 is set to a position that overlaps with work path r12 of the first target path R1, the work path of the second target path R2 is not set to the position that overlaps with work path r12 (see Figure 5A) because it would not be possible to secure the area for the work vehicle 10 to turn on the short side f2. As a result, work paths r1 to r11 of the first target path R1 and work paths r21 to r31 of the second target path R2 are generated at the same position. Furthermore, the direction of travel of the work vehicle 10 is set to be reversed for work routes r1-r11 and work routes r21-r31, respectively.

[0078] The work vehicle 10 travels forward in a straight line along the work path r21, and when it reaches the outermost edge (long side f3) of field F, it travels in a straight line in reverse along the reverse straight path r201, and when it reaches the end of the reverse straight path r201 (the beginning of the forward turning path r202), it travels forward and turns to the right along the forward turning path r202, and when it reaches the end of the forward turning path r202 (the beginning of the reverse straight path r203), it travels in a straight line in reverse The machine travels in a straight line in reverse along r203, and upon reaching the end of the straight reverse path r203 (the beginning of the forward turning path r204), it travels in a right forward turning direction along the forward turning path r204. Upon reaching the end of the forward turning path r204 (the beginning of the straight reverse path r205), it travels in a straight reverse direction along the straight reverse path r205, and upon reaching the outermost edge of field F (long side f3), it travels in a straight forward direction along the work path r12. In this way, the movement path rb reverses the direction of the machine 11 by performing a "fishtail turn". In the second target path R2, if there is sufficient space between adjacent work paths, a "fishtail turn" is not mandatory, and a U-turn or the like without changing the direction of travel of the machine 11 may be applied.

[0079] Furthermore, similar to the movement path ra described above, as shown in Figure 5B, for example, the path generation processing unit 211 generates a reverse straight path r205, which automatically moves backward before starting automatic travel along the work path r22, aligning the position of the work machine 12 with the outermost edge (long side f3) of the field F. This allows the work vehicle 10 to perform work (leveling work) from the outermost edge of the field F.

[0080] Furthermore, in the second target route R2, the route generation processing unit 211 generates a reverse route (for example, the reverse straight route r205 shown in Figure 5B) that automatically moves backward to align the position of the implement 12 with the outermost edge of field F before starting automatic travel along the work route (for example, the work route r22 shown in Figure 5B). The starting point of the reverse straight route r205 is set to be on the side of the direction of travel when automatically traveling along the work route r10 (the long side f4 side) rather than the end point (long side f3) of the work route (for example, the work route r10 that overlaps with work route r22) of the first target route R1. In addition, when the implement 12 is traveling in reverse along the reverse straight route r201, the height of the implement 12 is set to a predetermined working height (the second height). This allows the embankment portion discharged during work on the work route r10 of the first target route R1 to be leveled to some extent when the reverse straight route r205 is traveling in reverse.

[0081] Figure 6 shows the work track when the work vehicle 10 automatically drives and performs leveling work according to the second target route R2 shown in Figure 5A. Specifically, as shown in Figure 6, when the work vehicle 10 works from one end to the other of field F along each work route r21 to r32, the work implement 12 can level the ground surface at the starting end of the work route, resulting in a completed work area B1. However, at the end of the work route, the work implement 12 cannot level the ground surface in the area corresponding to the distance L1 (see Figure 6) from the front end of the work vehicle 10 to the work implement 12, resulting in an unworked area B0. In other words, when work is performed according to the second target route R2, an unworked area B0 is generated at the end of each work route r21 to r32. The width W1 (see Figure 6) of the unworked area B0 corresponds to the working width of the work implement 12.

[0082] In this embodiment, the work path of the first target path R1 and the work path of the second target path R2 are set to the same position, and the direction of travel (work direction) of the work vehicle 10 is set to be opposite in each work path. Therefore, as the work vehicle 10 automatically travels and performs work according to the first target path R1 and the second target path R2, the respective unworked areas A0 (see Figure 4) and B0 (see Figure 6) become completed work areas. Specifically, the unworked area A0 becomes a completed work area when the work vehicle 10 performs work according to the second target path R2. Similarly, the unworked area B0 becomes a completed work area when the work vehicle 10 performs work according to the first target path R1. Note that the order in which the work according to the first target path R1 and the work according to the second target path R2 are performed does not matter.

[0083] Figure 7 shows the work track when the work vehicle 10 automatically drives and performs leveling work according to the first target route R1 shown in Figure 3A, and also automatically drives and performs leveling work according to the second target route R2 shown in Figure 5A. Figure 7 shows that the unworked areas A0 and B0 are the already worked areas. Area C1 shows the overlapping area where leveling work was performed according to the first target route R1 and the already worked area where leveling work was performed according to the second target route R2.

[0084] As described above, by generating a target path R that includes the first target path R1 and the second target path R2, it becomes possible to suppress the remaining work (unworked area) at the outermost edge of the field F in the d1 direction (work direction).

[0085] In another embodiment, the first target path R1 and the second target path R2 may be generated at offset positions. For example, the path generation processing unit 211 may determine the position of the work path r21 for the second target path R2, similar to the first target path R1, based on the area required for the work vehicle 10 to move (turn) from work path r21 to the next work path r22. That is, as shown in Figure 8, the path generation processing unit 211 sets the work path r1 of the first target path R1 at a predetermined distance La away from the short side f1, and sets the work path r21 of the second target path R2 at the same predetermined distance La away from the short side f2. This makes it possible to make most of the unworked area the completed work area, thus suppressing unfinished work. Also, according to the configuration shown in Figure 8, since each work path of the first target path R1 and each work path of the second target path R2 are offset, the travel position of the work vehicle 10 is offset. Therefore, it is possible to suppress the work machine 12 from digging too deep, and to keep the load on the work machine 12 small.

[0086] As shown in Figures 7 and 8, in this embodiment, the path generation processing unit 211 may generate the work path of the second target path R2 so that it is located within a predetermined distance (at the same position (see Figure 7) or at a position shifted by a predetermined distance (see Figure 8)) from the work path of the first target path R1, which is in the opposite direction to the direction of travel on the work path.

[0087] In another embodiment, the route generation processing unit 211 may further generate a third target route R3 and a fourth target route R4 along which the work vehicle 10 travels and works in the d2 direction. The d2 direction may be perpendicular to the d1 direction or oblique to the d1 direction.

[0088] Figure 9 shows an example of a third target route R3 included in the target route R. The route generation processing unit 211 generates the third target route R3 in the d2 direction within field F based on the starting position S3 (see Figure 9) and ending position G3 (see Figure 9) included in the field information. For example, based on the generation data, the route generation processing unit 211 generates a third target route R3 within field F to cause the machine body 11 of the work vehicle 10 to travel back and forth in the d2 direction from the starting position S3 to the ending position G3, as shown in Figure 9.

[0089] As shown in Figure 9, the third target path R3 includes multiple straight work paths r41 to r48 and multiple travel paths rc. The straight work paths r41 to r48 are straight paths on which the work vehicle 10 travels back and forth (moves) while performing work with the work machine 12, and the travel paths rc are connecting paths on which the work vehicle 10 travels (moves) to the next straight work path after completing travel on one straight work path. The work vehicle 10 may perform work or stop work on the travel paths rc.

[0090] Furthermore, the movement path rc includes both curved paths (turning paths) and straight paths (straight paths). Note that the movement path rc may be the same as the movement path ra (see Figure 3B) and the movement path rb (see Figure 5B).

[0091] Figure 10 shows the work track when the work vehicle 10 automatically drives and performs leveling work according to the third target route R3 shown in Figure 9. Specifically, as shown in Figure 10, when the work vehicle 10 works from one end to the other of field F along each work route r41 to r48, the work implement 12 can level the ground surface at the starting end, resulting in a completed work area E1. However, at the ending end, the work implement 12 cannot level the ground surface in the area corresponding to the distance L1 (see Figure 10) from the front end of the work vehicle 10 to the work implement 12, resulting in an unworked area E0. In other words, when work is performed according to the third target route R3, an unworked area E0 is generated at the end of each work route r41 to r48 (the outermost end of field F). The width W1 (see Figure 10) of the unworked area E0 corresponds to the working width of the work implement 12.

[0092] Figure 11 shows an example of a fourth target route R4 included in the target route R. The route generation processing unit 211 generates the fourth target route R4 in the d2 direction within field F based on the starting position S4 (see Figure 11) and ending position G4 (see Figure 11) included in the field information. For example, based on the generation data, the route generation processing unit 211 generates a fourth target route R4 in field F to cause the machine body 11 of the work vehicle 10 to travel back and forth in the d2 direction from the starting position S4 to the ending position G4, as shown in Figure 11. The operation control unit 21 sets the starting position S4 (see Figure 11) of the fourth target route R4 to the side of the ending position G3 (long side f3 side) (see Figure 9) of the third target route R3, and sets the ending position G4 of the fourth target route R4 to the side of the starting position S3 (long side f4 side) (see Figure 9) of the third target route R3.

[0093] In the example shown in Figure 11, the fourth target path R4 includes multiple straight work paths r51 to r57 and multiple travel paths rd. The straight work paths r51 to r57 are straight paths on which the work vehicle 10 travels back and forth (moves) while performing work with the work machine 12, and the travel path rd is a connecting path on which the work vehicle 10 travels (moves) to the next straight work path after completing travel on one straight work path. The work vehicle 10 may perform work or stop work on the travel path rd.

[0094] Furthermore, the movement path rd includes both curved paths (turning paths) and straight paths (straight paths). Note that movement path rd may be the same path as movement path ra (see Figure 3B), movement path rb (see Figure 5B), and movement path rc (see Figure 9).

[0095] The fourth target route R4 is set to overlap with the third target route R3 (see Figure 9). In addition, the first work path r41 of the fourth target route R4 is set to a position that takes into account the area necessary for the work vehicle 10 to move (turn) from work path r51 to the next work path r52 (see 11). For example, work path r51 (see Figure 11) is set to a position that overlaps with work path r47 of the third target route R3 (see Figure 9). If work path r51 is set to a position that overlaps with work path r48 of the third target route R3, the area required for the work vehicle 10 to turn on the long side f3 cannot be secured, so the work path of the fourth target route R4 is not set at the position that overlaps with work path r48 (see Figure 11). As a result, work paths r41~r47 of the third target route R3 and work paths r51~r56 of the fourth target route R4 are generated at the same position.

[0096] Figure 12 shows the work track when the work vehicle 10 performs automatic driving and leveling work according to the fourth target route R4 shown in Figure 11. Specifically, as shown in Figure 12, when the work vehicle 10 works from one end of field F to the other along each work route r51 to r57, the work implement 12 can level the ground surface at the starting end, resulting in a completed work area H1. However, at the ending end, the work implement 12 cannot level the ground surface in the area corresponding to the distance L1 (see Figure 12) from the front end of the work vehicle 10 to the work implement 12, resulting in an unworked area H0. In other words, when work is performed according to the fourth target route R4, an unworked area H0 is generated at the end of each work route r51 to r57. The width W1 (see Figure 12) of the unworked area H0 corresponds to the working width of the work implement 12.

[0097] In this embodiment, the work path of the third target path R3 and the work path of the fourth target path R4 are set to the same position, and the direction of travel (work direction) of the work vehicle 10 is set to be opposite in each work path. Therefore, as the work vehicle 10 automatically travels and performs work according to the third target path R3 and the fourth target path R4, respectively, the unworked areas E0 (see Figure 10) and H0 (see Figure 12) become completed work areas. Specifically, the unworked area E0 becomes a completed work area when the work vehicle 10 performs work according to the fourth target path R4. Similarly, the unworked area H0 becomes a completed work area when the work vehicle 10 performs work according to the third target path R3. Note that the order in which the work by the third target path R3 and the work by the fourth target path R4 are performed does not matter.

[0098] Figure 13 shows the work track when the work vehicle 10 performs automatic driving and leveling work according to the third target route R3 shown in Figure 9, and also according to the fourth target route R4 shown in Figure 11. Figure 13 shows that the unworked areas E0 and H0 are the already worked areas. Area J1 shows the overlapping area where the already worked area performed according to the third target route R3 and the already worked area performed according to the fourth target route R4 overlap.

[0099] As described above, by generating a target route R that includes the third target route R3 and the fourth target route R4, it becomes possible to suppress the remaining work (unworked area) at the outermost edge of field F in the d2 direction (working direction). Furthermore, by generating a target route R that includes the first target route R1, the second target route R2, the third target route R3, and the fourth target route R4, it becomes possible to suppress the remaining work (unworked area) at the outermost edge of the entire field F.

[0100] Furthermore, the third target path R3 and the fourth target path R4 may also be generated at offset positions, similar to the configuration shown in Figure 8 for the first target path R1 and the second target path R2.

[0101] Furthermore, the route generation processing unit 211 may generate routes connecting each of the target routes R1 to R4. For example, the route generation processing unit 211 may generate a route connecting the end position G1 of the first target route R1 and the start position S2 of the second target route R2, a route connecting the end position G2 of the second target route R2 and the start position S3 of the third target route R3, and a route connecting the end position G3 of the third target route R3 and the start position S4 of the fourth target route R4. As a result, the work vehicle 10 can automatically travel and perform work in the order of the first target route R1, the second target route R2, the third target route R3, and the fourth target route R4.

[0102] [Control Processing] Next, the overall flow of the control process related to the control method according to this embodiment will be explained with reference to Figure 14.

[0103] The present invention can be understood as an invention of a control method that executes one or more steps included in the control process. Furthermore, the one or more steps included in the control process described herein may be omitted as appropriate. In addition, the execution order of each step in the control process may differ to the extent that similar effects are produced. Furthermore, although the case in this description is given as an example in which the operation control unit 21 and the control processing unit 131 execute each step in the control process, a control method in which one or more processors distribute and execute each step in the control process can also be considered as another embodiment. The control process includes a path generation process that generates a target path R and an automatic driving process that causes the work vehicle 10 to drive automatically (autonomous driving).

[0104] <Step S1> In step S1, the operation control unit 21 acquires generation data including implement information, work vehicle information, field information, and work information. Specifically, the operation control unit 21 acquires implement information, work vehicle information, field information, and work information that are set (registered) by user (operator) operation input to the operation display unit 23.

[0105] <Step S2> In step S2, the operation control unit 21 generates a first target route R1. Specifically, the operation control unit 21 generates the first target route R1 based on the starting position S1 (see Figure 3A) and ending position G1 (see Figure 3A) included in the field information. Specifically, the operation control unit 21 sets the first work route r1 on the short side f1 side of field F and generates a first target route R1 (see Figure 3A) which includes a plurality of work routes r1 to r12 with the d1 direction as the work direction and the reciprocating travel direction, and a movement route ra (see Figure 3B) that connects each work route.

[0106] <Step S3> In step S3, the operation control unit 21 generates the second target route R2. Specifically, the operation control unit 21 generates the second target route R2 based on the travel start position S2 (see Figure 5A) and travel end position G2 (see Figure 5A) included in the field information. Specifically, the operation control unit 21 sets the first work route r21 on the short side f2 side of field F and generates the second target route R2 (see Figure 5A) which includes multiple work routes r21 to r32 with the d1 direction as the work direction and the reciprocating travel direction, and a movement route rb (see Figure 5B) that connects each work route. Furthermore, the operation control unit 21 generates the second target route R2 such that the work routes r21 to r31 of the second target route R2 are at the same positions as the work routes r1 to r11 of the first target route R1, and the travel direction (work direction) in each work route is opposite to that of the first target route R1 (see Figure 7).

[0107] <Step S4> In step S4, the operation control unit 21 generates a third target route R3. Specifically, the operation control unit 21 generates the third target route R3 based on the travel start position S3 (see Figure 9) and travel end position G3 (see Figure 9) included in the field information. Specifically, the operation control unit 21 sets the first work route r41 on the long side f4 side of field F and generates a third target route R3 (see Figure 9) which includes multiple work routes r41 to r48 with the d2 direction as the work direction and the reciprocating travel direction, and a movement route rc (see Figure 9) that connects each work route.

[0108] <Step S5> In step S5, the operation control unit 21 generates the fourth target route R4. Specifically, the operation control unit 21 generates the fourth target route R4 based on the travel start position S4 (see Figure 11) and travel end position G4 (see Figure 11) included in the field information. Specifically, the operation control unit 21 sets the first work route r51 on the long side f3 side of field F and generates the fourth target route R4 (see Figure 11) which includes multiple work routes r51 to r57 with the d2 direction as the work direction and the reciprocating travel direction, and a movement route rd (see Figure 11) that connects each work route. Furthermore, the operation control unit 21 generates the fourth target route R4 such that the work routes r51 to r56 of the fourth target route R4 are in the same positions as the work routes r41 to r47 of the third target route R3, and the travel direction (work direction) in each work route is opposite to that of the first target route R1 (see Figure 13).

[0109] <Step S6> In step S6, the operation control unit 21 generates connection paths that connect each of the target paths R1 to R4. Specifically, the operation control unit 21 generates a path connecting the end position G1 of the first target path R1 and the start position S2 of the second target path R2, a path connecting the end position G2 of the second target path R2 and the start position S3 of the third target path R3, and a path connecting the end position G3 of the third target path R3 and the start position S4 of the fourth target path R4.

[0110] <Step S7> In step S7, the operation control unit 21 registers the generated target route R. Specifically, the operation control unit 21 registers the target route R, including the first target route R1, the second target route R2, the third target route R3, and the fourth target route R4, in association with field F. In this manner, the operation control unit 21 executes the route generation process.

[0111] <Step S8> In step S8, the operation control unit 21 determines whether or not there is a command from the user (operator) to start driving. When a specific operation is performed on the operation display unit 23, the operation control unit 21 determines that there is a command to start driving (S8: Yes) and proceeds to step S9. If there is no command to start driving (S8: No), the operation control unit 21 continues the determination in step S8.

[0112] <Step S9> In step S9, the operation control unit 21 outputs the route data of the target route R by transmitting it to the work vehicle 10 from the communication unit 24.

[0113] <Step S10> In step S10, the control processing unit 131 of the work vehicle 10 performs automatic driving control of the work vehicle 10 according to the target path R. Specifically, the control processing unit 131 causes the work vehicle 10 to perform leveling work while automatically driving from the start end to the end of each work path with the work implement 12 set to the working height (the first height). When the work vehicle 10 reaches the end of the work path, the control processing unit 131 sets the work implement 12 to the working height (for example, the second height which is higher than the first height) and causes the work vehicle 10 to perform leveling work while driving in reverse along the travel path. The control processing unit 131 may set the work implement 12 to the second height in the reverse path and to the first height in the forward path in each travel path ra to rd. In this way, it is desirable for the work vehicle 10 to continue leveling work in each travel path ra to rd.

[0114] The control system 1 repeatedly executes the processes described in steps S1 to S10 above. However, the flowchart shown in Figure 14 is merely an example, and processes may be added or omitted as appropriate, or the order of processes may be changed as appropriate.

[0115] [Other embodiments] Another method for generating the target route R will be described. Figure 15A shows the method for generating the fifth target route R5. The route generation processing unit 211 extends in a direction intersecting the work route of the first target route R1 and generates work routes (straight work routes) for working along the outermost edge on one side and the outermost edge on the other side of the field F. For example, as shown in Figure 15A, the route generation processing unit 211 generates the fifth target route R5, which is perpendicular to the work routes r1 to r12 and includes work routes r51 and r52 that follow the long sides f3 and f4 of the outermost edge of the field F. By having the work vehicle 10 automatically drive and work along the fifth target route R5, it is possible to suppress the remaining work in the unworked area A0. Similarly, the path generation processing unit 211 generates work paths (straight work paths) for the third target path R3 (see Figure 10) that are perpendicular to the work paths r41 to r48 and follow the outermost short sides f1 and f2 of field F, thereby suppressing the remaining unworked area E0.

[0116] As another embodiment, Figure 15B shows a method for generating the sixth target route R6. The route generation processing unit 211 extends in a direction intersecting the work path of the first target route R1 and generates short work paths (straight work paths) for working at the outermost ends of one side and the other side of the field F. For example, as shown in Figure 15B, the route generation processing unit 211 generates the sixth target route R6, which is perpendicular to the work path r1 and includes a short work path along the long side f4 of the outermost end of the field F. Specifically, the sixth target path R6 includes a turning path r61 for turning forward to the right from the work path r1, a reverse straight path r62 for reversing from the end of the turning path r61, a forward straight path r63 (work path) for forward travel and work from the end of the reverse straight path r62, a reverse straight path r64 for reversing from the end of the forward straight path r63, and a turning path r65 for turning forward towards the work path r2 from the end of the reverse straight path r64.

[0117] When the work vehicle 10 finishes working on the work path r1 at the outermost edge (long side f4) of field F, it sets the implement 12 to a non-working height (highest position) or an intermediate position (second height), reverses along the work path r1 for a predetermined distance, and then turns along the turning path r61. When the work vehicle 10 reaches the end of the turning path r61, it reverses along the reverse straight path r62 to the outermost edge (short side f1) of field F, and when it reaches the outermost edge of field F, it sets the implement 12 to the working height and works while moving forward along the forward straight path r63. This allows the work vehicle to work on the unworked area A0 that was created during the work on the work path r1. Subsequently, when the work vehicle 10 reaches the end of the forward straight path r63, it sets the work implement 12 to the non-working height (highest position) or the intermediate position (second height), and travels in reverse along the reverse straight path r64. When it reaches the end of the reverse straight path r64, it travels in a turning direction along the turning path r65 towards the work path r2. In this way, when the work vehicle 10 moves from work path r1 to work path r2, it works on the unworked area A0 that was created during the work on work path r1. The work vehicle 10 travels similarly along each of the work paths r1 to r12. For example, when the work vehicle 10 moves from work path r2 to work path r3, it works on the unworked area A0 that was created during the work on work path r2, and when it moves from work path r3 to work path r4, it works on the unworked area A0 that was created during the work on work path r3. Furthermore, when the work vehicle 10 moves from work path r1 to work path r2 and from work path r2 to work path r3, it works along the outermost edge of the short side f1 of field F. Therefore, when moving along work paths r3 to r12, it is not necessary to travel all the way to the outermost edge of field F.

[0118] In another embodiment, the path generation processing unit 211 may generate a work path (circular path) along the outermost perimeter of the field F, as shown in Figure 16A. Alternatively, the path generation processing unit 211 may generate work paths for two laps along the outermost perimeter. Note that if the combined length of the machine body 11 and the implement 12 (total length) is longer than the work width, an unworked area will be created at the end of the work path along the short side f1 (see Figure 16A). Therefore, it is desirable for the work vehicle 10 to reverse to the outermost end (short side f1) on the second lap before switching to forward to perform the work. Note that the path generation processing unit 211 may also generate a path in the opposite direction to the circular path shown in Figure 16A. The reverse path may include a switching path that includes a forward turning path rx and a reverse turning path ry, for example, as shown in Figure 16B.

[0119] In another embodiment, the route generation processing unit 211 may generate a route that travels back and forth continuously in each work route. Specifically, as shown in Figure 17A, the route generation processing unit 211 generates a route in which the work vehicle 10 travels back and forth in each work route r1 to r12. Figure 17B shows a specific example of a movement route rs. The movement route rs includes a reverse straight route r501, a forward turning route r502, a reverse straight route r503, a forward turning route r504, and a reverse straight route r505. The reverse straight route r501 is a straight route whose starting point is connected to the end of work route r1 (the outermost end of field F) and which extends a predetermined distance in the direction d1 from the outermost end of field F (long side f4). The forward turning path r502 is a curved path whose starting point is connected to the end of the reverse straight path r501, and which extends from that end to the left and forward with a predetermined turning radius. The reverse straight path r503 is a straight path whose starting point is connected to the end of the forward turning path r502, and which extends from that end to the d2 direction by a predetermined distance. The forward turning path r504 is a curved path whose starting point is connected to the end of the reverse straight path r503, and which extends from that end to the left and forward with a predetermined turning radius. The reverse straight path r505 is a straight path whose starting point is connected to the end of the forward turning path r504, and whose end is connected to the end of the work path r1 (the outermost end of field F), and which extends in the d1 direction to the outermost end of field F (long side f4). In other words, the movement path rs is a direction change path for reversing (reversing) the direction at the end of the work path r1.

[0120] As a result, the work vehicle 10 automatically travels along the work path r1 and performs leveling work. When it reaches the end of the work path r1 (the outermost edge of field F), it reverses the direction of the machine body 11 and, upon reaching the end of the reverse straight path r505 (the outermost edge of field F), switches to the forward direction and sets the implement 12 to the first height, automatically traveling along the work path r11 toward the long side f3 and performing leveling work. Note that in Figure 17B, r11a shows the path (outbound) when traveling along the work path r11 toward the long side f4, and r11b shows the path (return) when traveling along the work path r11 toward the long side f3, but these are the same path (work path r11). Note that work paths r11a and r11b may be different paths, separated by a predetermined distance.

[0121] With the above configuration, by having the machine travel back and forth along each work path, it is possible to suppress any unfinished work at the outermost edge of field F.

[0122] As described above, the control system 1 according to this embodiment is a system that generates a target path R for a work vehicle 10 equipped with a work implement 12 to automatically travel in a field F (work area). The control system 1 generates a first target path R1 which includes a plurality of work paths (first work paths) that perform work while traveling back and forth between the outermost end of one side of the field F and the outermost end of the other side, and generates a second target path R2 which includes a work path (second work path) for working in an unworked area that is not worked in when the work vehicle 10 is automatically driven according to the first target path R1.

[0123] Furthermore, before starting automatic travel along the first work path, the control system 1 generates a reverse path that automatically moves backward to position the implement 12 at the outermost edge of field F. If the implement 12 is attached to the front side of the machine body 11 (the side in the forward direction of the machine body 11), the position of the work vehicle 10 is adjusted to position at the outermost edge of field F during reverse travel along the reverse path.

[0124] According to the above configuration, even if an unworked area is created by the work along the first target path R1, the unworked area will become a completed area through the work along the second work path. Therefore, it is possible to suppress remaining work at the outermost edge of field F.

[0125] In the above-described embodiment, the control system 1 corresponds to the route generation system according to the present invention. However, the route generation system according to the present invention may consist of the operation terminal 20 alone, or it may consist of a combination of the work vehicle 10 and the operation terminal 20, or it may consist of a server (not shown) alone.

[0126] [Notes on the invention] The following is an overview of the inventions extracted from each of the embodiments described above. Note that the configurations and processing functions described below can be selected and combined as desired.

[0127] <Note 1> A path generation method for generating a target path for a work vehicle equipped with a work machine to automatically travel within a work area, To generate a first target path that includes multiple first work paths that perform work while traveling back and forth between the outermost end of one side and the outermost end of the work area, To generate a second target route that includes a second work route for working in an unworked area that is not worked on when the work vehicle is automatically driven according to the first target route, A method for generating routes that executes this process.

[0128] <Note 2> Before starting automatic travel along the first work path, a reverse path is generated in which the work vehicle or the work machine is automatically driven backward to align its position with the outermost edge of the work area. Route generation method as described in Appendix 1.

[0129] <Note 3> The second target path includes a plurality of second work paths that perform work while traveling back and forth between the outermost end on one side and the outermost end on the other side of the work area, The second work path is located within a predetermined distance from the first work path in the opposite direction to the direction of travel in the second work path. Route generation method as described in Appendix 1 or 2.

[0130] <Note 4> The first and second work paths, which travel in opposite directions, are generated at the same location in the work area. Route generation method as described in Appendix 3.

[0131] <Note 5> The aforementioned work machine is a leveler for leveling the work area, After automatically traveling forward to the end position of the first work path, a reverse path is generated for automatically traveling backward. When automatically traveling along the aforementioned reverse path, the height of the work machine is set to a predetermined working height. Route generation method as described in any of the appendices 1 to 4.

[0132] <Note 6> The aforementioned work machine is a leveler for leveling the work area, The automated driving of the second target route is performed after the automated driving of the first target route. Before starting automatic travel along the second work path, a reverse path is generated by automatically traveling backward to align the position of the work vehicle or the work machine with the outermost position of the work area. The starting point of the reverse path is set to be ahead of the end of the first work path in the direction of travel when the first work path is automatically traveled, and the height of the work machine is set to a predetermined working height when traveling along the reverse path. Route generation method as described in Appendix 3.

[0133] <Note 7> A second work path is generated that extends in a direction intersecting the first work path, and is used to work on the outermost end of one side and the outermost end of the other side of the work area. Route generation method as described in any of Appendix 1 to 6.

[0134] <Note 8> The starting position of the second target path is set on the side of the ending position of the first target path. The end position of the second target path is set on the side of the start position of the first target path. Route generation method as described in any of Appendix 1 to 7.

[0135] <Note 9> A path generation program that generates a target path for a work vehicle equipped with work equipment to automatically travel within a work area, To generate a first target path that includes multiple first work paths that perform work while traveling back and forth between the outermost end of one side and the outermost end of the work area, To generate a second target route that includes a second work route for working in an unworked area that is not worked on when the work vehicle is automatically driven according to the first target route, A route generation program that causes one or more processors to execute.

[0136] <Note 10> A route generation system that generates a target route for a work vehicle equipped with work equipment to automatically travel within a work area, A first target path is generated which includes multiple first work paths that perform work while traveling back and forth between the outermost end of one side and the outermost end of the work area on the other side. A route generation system comprising a route generation processing unit that generates a second target route including a second work route for working in an unworked area that is not worked on when the work vehicle is automatically driven according to the first target route. [Explanation of symbols]

[0137] 100: Work System 1: Control system for work vehicles 2: Work equipment 10: Work vehicles 11: Aircraft 12: Work Machines 13: Control device 20: Operating terminal 21: Operation Control Unit 131: Control Processing Unit 211: Route generation processing unit 212: Registration Processing Unit 213: Output Processing Unit A0: Unworked area A1: Existing work area B0: Unworked area B1: Existing work area F: Field (work area) G1~G4: End position of the run H0: Unworked area H1: Existing work area R: Target path R1: First target route R2: Second target route R3: Third target route R4: Fourth target route R5: Fifth target route S1~S4: Travel start position f1, f2: Shorter side f3, f4: Longer side r1~r12: Work Path r21~r32: Work Route r41~r48: Work Route r51~r57: Work Route ra~rd: Travel route

Claims

1. A path generation method for generating a target path for a work vehicle equipped with a work machine to automatically travel within a work area, To generate a first target path that includes multiple first work paths that perform work while traveling back and forth between the outermost end of one side and the outermost end of the work area on the other side, To generate a second target route that includes a second work route for working in an unworked area that is not worked on when the work vehicle is automatically driven according to the first target route, A method for generating routes that executes this process.

2. Before starting automatic travel along the first work path, a reverse path is generated in which the work vehicle or the work machine is automatically driven backward to align its position with the outermost edge of the work area. The route generation method according to claim 1.

3. The second target path includes a plurality of second work paths that perform work while traveling back and forth between the outermost end on one side and the outermost end on the other side of the work area, The second work path is located within a predetermined distance from the first work path in the opposite direction to the direction of travel in the second work path. The route generation method according to claim 1.

4. The first and second work paths, which travel in opposite directions, are generated at the same location in the work area. The route generation method according to claim 3.

5. The aforementioned work machine is a leveler for leveling the work area, After automatically traveling forward to the end position of the first work path, a reverse path is generated for automatically traveling backward. When automatically traveling along the aforementioned reverse path, the height of the work machine is set to a predetermined working height. The route generation method according to claim 1.

6. The aforementioned work machine is a leveler for leveling the work area, The automated driving of the second target route is performed after the automated driving of the first target route. Before starting automatic travel along the second work path, a reverse path is generated by automatically traveling backward to align the position of the work vehicle or the work machine with the outermost position of the work area. The starting point of the reverse path is set to be ahead of the end of the first work path in the direction of travel when the first work path is automatically traveled, and the height of the work machine is set to a predetermined working height when traveling along the reverse path. The route generation method according to claim 3.

7. A second work path is generated that extends in a direction intersecting the first work path, and is used to work on the outermost end of one side and the outermost end of the other side of the work area. The route generation method according to claim 1.

8. The starting position of the second target path is set on the side of the ending position of the first target path. The end position of the second target path is set on the side of the start position of the first target path. The route generation method according to claim 1.

9. A path generation program that generates a target path for a work vehicle equipped with work equipment to automatically travel within a work area, To generate a first target path that includes multiple first work paths that perform work while traveling back and forth between the outermost end of one side and the outermost end of the work area on the other side, To generate a second target route that includes a second work route for working in an unworked area that is not worked on when the work vehicle is automatically driven according to the first target route, A route generation program that causes one or more processors to execute.

10. A route generation system that generates a target route for a work vehicle equipped with work equipment to automatically travel within a work area, A first target path is generated which includes a plurality of first work paths that perform work while traveling back and forth between the outermost end of one side and the outermost end of the work area on the other side. A route generation system comprising a route generation processing unit that generates a second target route including a second work route for working in an unworked area that is not worked on when the work vehicle is automatically driven according to the first target route.

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