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

Abstract

This invention provides a route generation method, a route generation program, and a route generation system that can easily generate a target route for automatically driving a work vehicle in a non-rectangular work area. [Solution] In the automatic driving system 1, the generation processing unit 213 sets either a first route generation mode in which a target route is generated based on a first reference line that serves as a reference when generating a target route, or a second route generation mode in which a target route is generated based on the first reference line and a second reference line that has a different shape or orientation from the first reference line.

Description

[Technical Field]

[0001] The present invention relates to a technology for generating a target path for automatic traveling of a work vehicle. [Background Art]

[0002] Conventionally, work vehicles that automatically travel in a field according to a preset target path are known. For example, the work vehicle automatically travels in accordance with target paths respectively set for an inner peripheral region in a central portion of the field and an outer peripheral region (headland region) in an outer peripheral portion of the field (see, for example, Patent Document 1). [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent No. 7049033 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] Incidentally, fields to be worked are not limited to rectangular fields, and include non-rectangular fields such as fields having a partially oblique outer shape (e.g., corners) and fields having a partially curved outer shape. In the case of such a non-rectangular field, it becomes difficult to generate a target path for automatic traveling of the work vehicle.

[0005] An object of the present invention is to provide a route generation method, a route generation program, and a route generation system capable of easily generating a target route for automatically traveling a work vehicle in a non-rectangular work area. [Means for Solving the Problem]

[0006] The path generation method according to the present invention is a path generation method for generating a target path for an automated work vehicle to travel within a work area. The path generation method is configured to set either a first path generation mode in which the target path is generated based on a first reference line that serves as a reference when generating the target path, or a second path generation mode in which the target path is generated based on the first reference line and a second reference line that has a different shape or orientation from the first reference line.

[0007] The route generation program according to the present invention is a route generation program that generates a target route for an automated work vehicle to travel within a work area. The route generation program causes one or more processors to set either a first route generation mode in which the target route is generated based on a first reference line that serves as a reference when generating the target route, or a second route generation mode in which the target route is generated based on the first reference line and a second reference line that has a different shape or orientation from the first reference line.

[0008] The route generation system according to the present invention is a route generation system that generates a target route for an automated work vehicle to travel within a work area. The route generation system sets either a first route generation mode in which the target route is generated based on a first reference line that serves as a reference when generating the target route, or a second route generation mode in which the target route is generated based on the first reference line and a second reference line that has a different shape or orientation from the first reference line. [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 easily generate a target route for automatically driving a work vehicle in a non-rectangular work area. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a block diagram showing the configuration of an automated driving system according to an embodiment of the present invention. [Figure 2]Figure 2 is an external view showing the configuration of a work vehicle according to an embodiment of the present invention. [Figure 3] Figure 3 shows an example of a field registration method according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of a field registration method according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of a menu screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 6] Figure 6 shows an example of a method for setting the first and second reference lines according to an embodiment of the present invention. [Figure 7A] Figure 7A shows an example of a method for converting a curve included in the second reference line according to an embodiment of the present invention into a straight line. [Figure 7B] Figure 7B shows an example of a method for converting a curve included in the second reference line according to an embodiment of the present invention into a straight line. [Figure 7C] Figure 7C shows an example of a method for converting a curve included in the second reference line according to an embodiment of the present invention into a straight line. [Figure 8] Figure 8 illustrates the problems that arise when the entire first baseline is duplicated to generate the target path. [Figure 9] Figure 9 shows an example of a method for generating a target path according to an embodiment of the present invention. [Figure 10A] Figure 10A is a diagram illustrating a method for generating a target path according to an embodiment of the present invention. [Figure 10B] Figure 10B is a diagram illustrating a method for generating a target path according to an embodiment of the present invention. [Figure 10C] Figure 10C is a diagram illustrating a method for generating a target path according to an embodiment of the present invention. [Figure 11] Figure 11 shows an example of a target path generated by the generation method (first path generation mode) according to an embodiment of the present invention. [Figure 12] Figure 12 shows an example of a method for generating a target path according to an embodiment of the present invention. [Figure 13] FIG. 13 is a diagram illustrating an example of a target route generation method according to an embodiment of the present invention. [Figure 14] FIG. 14 is a diagram illustrating an example of a target route generated by the generation method (second route generation mode (non-overlapping mode)) according to an embodiment of the present invention. [Figure 15] FIG. 15 is a diagram illustrating an example of a target route generated by the generation method (second route generation mode (overlapping mode)) according to an embodiment of the present invention. [Figure 16] FIG. 16 is a diagram illustrating an example of a reference line selection screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 17] FIG. 17 is a diagram illustrating an example of a working machine selection screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 18] FIG. 18 is a diagram illustrating an example of a route creation selection screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 19] FIG. 19 is a diagram illustrating an example of a route creation selection screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 20A] FIG. 20A is a diagram illustrating an example of a route creation selection screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 20B] FIG. 20B is a diagram illustrating an example of a route creation selection screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 21] FIG. 21 is a flowchart illustrating an example of a procedure of route generation processing executed by an automatic traveling system according to an embodiment of the present invention. [Figure 22] FIG. 22 is a diagram illustrating an example of a target route generation method according to another embodiment of the present invention. [Figure 23] FIG. 23 is a diagram illustrating another example of a first reference line setting method according to an embodiment of the present invention. [Figure 24A] FIG. 24A is a diagram illustrating an example of a target route generation method according to another embodiment of the present invention. [Figure 24B] FIG. 24B is a diagram illustrating an example of a target route generation method according to another embodiment of the present invention. [Figure 25A] Figure 25A shows an example of a method for generating a target path according to another embodiment of the present invention. [Figure 25B] Figure 25B shows an example of a method for generating a target path according to another embodiment of the present invention. [Figure 26A] Figure 26A shows an example of a method for generating a target path according to another embodiment of the present invention. [Figure 26B] Figure 26B shows an example of a method for generating a target path according to another embodiment of the present invention. [Figure 26C] Figure 26C shows an example of a method for generating a target path according to another embodiment of the present invention. [Figure 27A] Figure 27A shows an example of a work area registration screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 27B] Figure 27B shows an example of a work area registration screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 28A] Figure 28A shows an example of a method for determining the measurement points at the endpoints of a reference curve according to an embodiment of the present invention. [Figure 28B] Figure 28B shows an example of a method for determining the measurement points of the endpoints of a reference curve according to an embodiment of the present invention. [Figure 28C] Figure 28C shows an example of a method for determining the measurement points of the endpoints of a reference curve according to an embodiment of the present invention. [Figure 28D] Figure 28D shows an example of a method for determining the measurement points of the endpoints of a reference curve according to an embodiment of the present invention. [Figure 29] Figure 29 shows an example of a method for determining the measurement points at the endpoints of a reference curve according to an embodiment of the present invention. [Figure 30] Figure 30 shows an example of a work area registration screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 31A] Figure 31A shows another example of the method for generating the first reference line according to an embodiment of the present invention. [Figure 31B]Figure 31B shows another example of the method for generating the first reference line according to an embodiment of the present invention. [Figure 32] Figure 32 shows an example of a method for extending the first reference line according to an embodiment of the present invention. [Figure 33] Figure 33 shows another example of a method for generating a work path according to an embodiment of the present invention. [Figure 34A] Figure 34A shows an extended version of the work path according to an embodiment of the present invention. [Figure 34B] Figure 34B shows an example of a method for displaying a work path according to an embodiment of the present invention. [Figure 34C] Figure 34C shows an example of a method for displaying a work path according to an embodiment of the present invention. [Figure 35A] Figure 35A shows an example of a method for displaying a work path in a headland area according to an embodiment of the present invention. [Figure 35B] Figure 35B shows an example of a method for displaying a work path in the headland area according to an embodiment of the present invention. [Figure 35C] Figure 35C shows an example of a method for displaying a work path in a headland area according to an embodiment of the present invention. [Modes for carrying out the invention]

[0011] The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

[0012] As shown in Figure 1, the automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone network, a packet network, or a wireless LAN. The automated driving system 1 is an example of the route generation system of the present invention.

[0013] In this embodiment, the case where the work vehicle 10 is a tractor will be used as an example. In other embodiments, the work vehicle 10 may be a combine harvester, a rice transplanter, construction machinery, or a snowplow. The work vehicle 10 is configured to automatically travel within the field F (see Figure 4) according to a pre-set target route.

[0014] For example, the operator registers the field F to be worked on and sets a target route for the work vehicle 10 to automatically travel to field F. Based on the position information of the work vehicle 10 acquired by the positioning unit 16, the work vehicle 10 automatically travels to field F according to the pre-set target route. The work vehicle 10 also performs predetermined tasks while automatically traveling within field F.

[0015] The operating terminal 20 is a portable terminal capable of remotely controlling the work vehicle 10, and is composed of, for example, a tablet, a notebook computer, or a smartphone. The operator can perform setting operations on various settings items using the operating terminal 20. For example, the operator can use the operating terminal 20 to register field F or set a target route to the registered field F. The operating terminal 20 also displays information such as the work status and driving status of the work vehicle 10 while it is automatically driving. The operator can understand the work status and driving status using the operating terminal 20.

[0016] By the way, the fields to be worked on are not limited to rectangular fields, but also include fields with a slanted shape (such as corners) or fields with a curved shape, and other non-rectangular fields. In the case of such non-rectangular fields, it becomes difficult to generate a target route for the work vehicle 10 to travel automatically. In contrast, the automatic driving system 1 according to this embodiment has a configuration that makes it possible to easily generate a target route for the work vehicle to travel automatically in a non-rectangular work area, as shown below.

[0017] [Work Vehicle 10] As shown in Figures 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a travel device 13, a work machine 14, a communication unit 15, a positioning unit 16, and the like. The vehicle control device 11 is electrically connected to the memory unit 12, the travel device 13, the work machine 14, and the positioning unit 16, etc. The vehicle control device 11 and the positioning unit 16 may be wirelessly connected.

[0018] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wireless connection and performs data communication with external devices (such as the operation terminal 20) via the communication network N1 in accordance with a predetermined communication protocol.

[0019] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs that cause the vehicle control device 11 to execute various processes. For example, the control programs are non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12. Alternatively, the control programs may be downloaded from a server (not shown) to the work vehicle 10 via a communication network N1 and stored in the storage unit 12. The storage unit 12 also stores data such as target route data generated by the operation terminal 20.

[0020] The running gear 13 is the drive unit that moves the work vehicle 10. As shown in Figure 2, the running gear 13 includes an engine 131, front wheels 132, rear wheels 133, transmission 134, front axle 135, rear axle 136, steering wheel 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. Furthermore, the running gear 13 is not limited to a wheel type with front wheels 132 and rear wheels 133, but may also be a crawler type with crawlers provided on the left and right sides of the work vehicle 10.

[0021] The engine 131 is a power source such as a diesel engine or gasoline engine that is driven using fuel supplied to a fuel tank (not shown). The running gear 13 may be equipped with an electric motor as a power source together with the engine 131, or in place of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and positioning unit 16, as well as a battery, installed on the work vehicle 10. The battery is charged by the power supplied from the generator. The electrical components such as the vehicle control device 11 and positioning unit 16 installed on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0022] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and front axle 135, and to the rear wheels 133 via the transmission 134 and rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via the PTO shaft (not shown). When the work vehicle 10 is driving automatically, the travel device 13 performs driving operations according to the commands of the vehicle control device 11. The travel device 13 also slows down or stops the work vehicle 10 according to the commands of the vehicle control device 11.

[0023] The implement 14 can be, for example, a tiller, a mower, a plow, a fertilizer spreader, a sprayer (chemical sprayer), a puddling machine, or a seed planter, and can be attached to and detached from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the implements 14. Figure 2 shows the case where the implement 14 is a tiller. For example, the implement 14 is attached to the rear of the work vehicle 10. The work vehicle 10 performs tilling work by driving through the field F with the implement 14 attached to the rear.

[0024] The implement 14 may be supported on the work vehicle 10 so as to be able to move up and down by a lifting mechanism (not shown). The vehicle control device 11 can raise and lower the implement 14 by controlling the lifting mechanism. For example, the vehicle control device 11 lowers the implement 14 when the work vehicle 10 is traveling straight ahead in the forward direction on the field F, and raises the implement 14 when the work vehicle 10 is traveling straight ahead in the reverse direction on the field F or when it is turning. Also, when the work vehicle 10 is performing work on a turning path, the vehicle control device 11 lowers the implement 14 when the work vehicle 10 is traveling on the turning path. Furthermore, when the vehicle control device 11 receives a stop instruction for work, it outputs a stop command to the implement 14. For example, the vehicle control device 11 receives a stop instruction from the operation terminal 20 when an operator performs a stop instruction operation on the operation terminal 20. When the vehicle control device 11 receives a stop instruction for work, it stops the drive of the PTO shaft and stops the work of the implement 14.

[0025] The steering wheel 137 is an operating part that is operated by the operator or the vehicle control device 11. For example, in the travel device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to the operation of the steering wheel 137 by the vehicle control device 11, and the direction of travel of the work vehicle 10 is changed.

[0026] In addition to the steering wheel 137, the running gear 13 is equipped with a shift lever (not shown), accelerator, brakes, etc., which are operated by the vehicle control device 11. In the running gear 13, the gears of the transmission 134 are switched to forward gear or reverse gear, etc., in response to the operation of the shift lever by the vehicle control device 11, and the driving mode of the work vehicle 10 is switched to forward or reverse, etc. The vehicle control device 11 also controls the rotational speed of the engine 131 by operating the accelerator. The vehicle control device 11 also controls the rotation of the front wheels 132 and rear wheels 133 using electromagnetic brakes by operating the brakes.

[0027] The positioning unit 16 is a communication device comprising a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164 (see Figure 1). For example, as shown in Figure 2, the positioning unit 16 is installed on top of the cabin 138 where the worker is seated. However, the installation location of the positioning unit 16 is not limited to the cabin 138. Furthermore, the positioning control unit 161, memory unit 162, communication unit 163, and positioning antenna 164 of the positioning unit 16 may be distributed and arranged at different locations on the work vehicle 10. As mentioned above, the positioning unit 16 is connected to the battery, and the positioning unit 16 can operate even when the engine 131 is stopped. In addition, the positioning unit 16 may be replaced with, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass.

[0028] The positioning control unit 161 is a computer system comprising one or more processors and storage memory such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores a program for causing the positioning control unit 161 to perform positioning processing, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 162. Alternatively, the program may be downloaded from a server (not shown) to the positioning unit 16 via a communication network N1 and stored in the storage unit 162.

[0029] The communication unit 163 is a communication interface for connecting the positioning unit 16 to the communication network N1 by wire or wireless connection and for performing data communication with external devices such as base station servers via the communication network N1 in accordance with a predetermined communication protocol.

[0030] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0031] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 is automatically driving within field F, the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) transmitted from each of several satellites. The positioning control unit 161 then calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. Alternatively, the positioning control unit 161 may perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)) which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 automatically drives using positioning information obtained using the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or it may be a position shifted from the positioning position. The positioning control unit 161 may also use a quantum compass to calculate (position) the current position of the work vehicle 10.

[0032] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile storage unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as temporary storage memory for various processes performed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing various control programs that are pre-stored in the ROM or storage unit 12 using the CPU.

[0033] Specifically, as shown in Figure 1, the vehicle control device 11 includes various processing units such as the driving processing unit 111. The vehicle control device 11 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as processing units.

[0034] The driving processing unit 111 controls the movement of the work vehicle 10. For example, when the driving mode of the work vehicle 10 is automatic driving (automatic driving mode), the driving processing unit 111 causes the work vehicle 10 to move automatically based on position information (positioning information) indicating the current position of the work vehicle 10, which is determined by the positioning unit 16. For example, when the work vehicle 10 meets the conditions for starting automatic driving and the driving processing unit 111 receives a work start instruction from the worker, it causes the work vehicle 10 to start moving automatically based on the positioning information. The driving processing unit 111 also causes the work vehicle 10 to move automatically from the starting position to the ending position according to a target route that has been generated and set in advance on the operation terminal 20. For example, the driving processing unit 111 causes the work vehicle 10 to move according to a plurality of work routes that cause the work vehicle 10 to perform predetermined work, and a plurality of non-work routes that connect the work routes, which are included in the target route.

[0035] Furthermore, when the work vehicle 10 is in manual driving mode, it is possible to manually drive the work vehicle 10 based on the operator's operation (manual steering). For example, the driving processing unit 111 acquires operation information corresponding to driving operations such as steering, shifting, changing direction of travel, and braking by the operator, and causes the driving device 13 to execute a driving operation based on said operation information. For example, when registering a field to be worked on, the operator drives the work vehicle 10 manually (teaching drive) around the outer perimeter of the area to be worked on within a predetermined area. Furthermore, while the work vehicle 10 is being taught, the operator may lower the implement 14 to perform a predetermined operation (for example, tilling).

[0036] [Operating terminal 20] As shown in Figure 1, the operating terminal 20 is an information processing device comprising an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24, etc. The operating terminal 20 may be composed of a mobile device such as a tablet or a smartphone.

[0037] The communication unit 24 is a communication interface for connecting the operating terminal 20 to the communication network N1 by wire or wireless connection and for performing data communication with one or more external devices such as work vehicles 10 via the communication network N1 in accordance with a predetermined communication protocol.

[0038] 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, or keyboard that accepts operations. The operator can register various information (such as work vehicle information, field information, and work information described later) by operating the operation unit on the operation screen displayed on the display unit. The operator can also issue work start instructions and driving stop instructions to the work vehicle 10 by operating the operation unit. Furthermore, the operator can understand the driving status of the work vehicle 10, which is automatically driving within the field F according to a target route, from a location away from the work vehicle 10 by looking at the driving trajectory displayed on the operation terminal 20 and the images captured by the camera.

[0039] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 22 stores a route generation program that causes the operation control unit 21 to execute the route generation process (see Figure 21) described later, and a control program that causes various control processes to execute. For example, the route generation program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 22. Alternatively, the route generation program may be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22.

[0040] The operation control unit 21 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to allow the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The operation control unit 21 controls the operation terminal 20 by executing various control programs stored in advance in the ROM or memory unit 22 using the CPU.

[0041] As shown in Figure 1, the operation control unit 21 includes various processing units such as a registration processing unit 211, a setting processing unit 212, a generation processing unit 213, and an output processing unit 214. The operation control unit 21 functions as these various processing units by executing various processes according to the route generation program using the CPU. Some or all of these processing units may be composed of electronic circuits. The route generation program may be a program that causes multiple processors to function as processing units.

[0042] The registration processing unit 211 registers various setting information for the work vehicle 10 to perform automatic driving. Specifically, the registration processing unit 211 registers information related to the work vehicle 10 (hereinafter referred to as work vehicle information). The registration processing unit 211 registers information such as the type (model) of the work vehicle 10, the location on which the positioning antenna 164 is attached to the work vehicle 10, the type of work machine 14, the size and shape of the work machine 14, the position of the work machine 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during operation, and the vehicle speed and engine speed of the work vehicle 10 during turning, by having the operator perform a registration operation on the operation terminal 20.

[0043] For example, the registration processing unit 211 displays the menu screen D1 shown in Figure 5 on the operation display unit 23. The operator selects, for example, "Work Machine Registration" on menu screen D1 to register work machine information related to work machine 14.

[0044] Furthermore, the registration processing unit 211 registers information related to field F (hereinafter referred to as field information). The registration processing unit 211 registers information such as the location and shape of field F, the starting position for starting work and the ending position for ending work, and the direction of work by performing the registration operation on the operation terminal 20. The direction of work refers to the direction in which the work vehicle 10 is driven while performing work with the implement 14 in the work area of ​​field F excluding the non-work area. For example, the worker registers the field information by selecting "Field Registration" on the menu screen D1.

[0045] Information on the location and shape of field F can be automatically acquired, for example, by having a worker ride in a work vehicle 10 and drive it in a circle along the outer perimeter of a predetermined area AR (see Figure 3), and recording the changes in the position information of the positioning antenna 164 during that time.

[0046] Specifically, the registration processing unit 211 acquires location information of the current position of the work vehicle 10 based on the positioning information measured by the positioning unit 16. Once the registration processing unit 211 acquires the location information, it registers it in the storage unit 22. For example, when registering field F, if the worker manually drives the work vehicle 10 in a predetermined area AR (teaching drive) (see Figure 3), the registration processing unit 211 acquires the location information of the work vehicle 10 at a predetermined sampling interval. The black dots shown in Figure 3 correspond to the location information of each positioning point.

[0047] Alternatively, while the operator is driving the work vehicle 10 in a teaching motion, the work implement 14 may be lowered to perform a predetermined task. The registration processing unit 211 sequentially registers the position information of the work vehicle 10 while the work vehicle 10 is driving in a teaching motion.

[0048] When the teaching run is completed, the registration processing unit 211 registers field F based on the position information. For example, as shown in Figure 4, the registration processing unit 211 finds an approximate straight line connecting the travel trajectory (plot) of the work vehicle 10, generates intersection points (complementary points a1 to a6) of the extensions of adjacent approximate straight lines, and registers the area enclosed by the straight line connecting the generated complementary points a1 to a6 as field F. The operator can change the position of the complementary points or add complementary points. In this way, the registration processing unit 211 registers field F as the work target area based on the position information obtained by the operator's manual driving operation of the work vehicle 10.

[0049] Furthermore, the registration processing unit 211 registers information regarding how the work will be performed in detail (hereinafter referred to as work information). The registration processing unit 211 is configured to register information such as whether or not there will be coordinated work between the unmanned work vehicle 10 and the manned work vehicle 10, the number of skips which is the number of work paths to be skipped when the work vehicle 10 turns at a headland, the width of the headland, and the width of the non-work area. For example, the worker registers the travel route information by selecting "Create Route" on the menu screen D1.

[0050] The setting processing unit 212 sets a reference line (first reference line Ra) that serves as the basis for generating the target route of the work vehicle 10. Specifically, the setting processing unit 212 sets a first reference line Ra that includes multiple first partial straight lines (straight segments) based on multiple position information acquired when registering field F. For example, the setting processing unit 212 sets the first reference line Ra based on position information indicating the travel trajectory of the work vehicle 10 acquired by the operator's manual driving operation (teaching driving operation) when registering field F. Below, the method for generating a target route corresponding to area A1 where work is performed while turning in field F shown in Figure 4 will be explained as an example.

[0051] First, the setting processing unit 212 sets a temporary reference line Re, which includes partial curves (curve segments), based on multiple positional information acquired when registering field F. Specifically, as shown in Figure 6, the setting processing unit 212 sets the temporary reference line Re by connecting the travel trajectory (plot) corresponding to the positional information of the work vehicle 10 acquired during teaching travel (see Figure 3) with approximate straight lines and approximate curves. The plots included in the temporary reference line Re shown in Figure 6 indicate the connection points between partial straight lines (x1, x2) of the approximate straight line and partial curves (y1, y2) of the approximate curve. For example, when three consecutive plots are connected by two straight lines, the three points are approximated as one straight line if the angle between the two straight lines is greater than or equal to a predetermined angle, and the three points are approximated as one curve if the angle between the two straight lines is less than a predetermined angle.

[0052] Next, the setting processing unit 212 sets the first reference line Ra based on the temporary reference line Re. Specifically, the setting processing unit 212 converts the curves (turning paths) included in the temporary reference line Re into straight lines based on the turning angle. In the example shown in Figure 6, the setting processing unit 212 converts the partial curve y1 (curve segment) into one or more partial straight lines based on the turning angles corresponding to the first partial straight line x1 and the first partial straight line x2. A specific example of how to convert a partial curve into a partial straight line will be explained below.

[0053] For example, as shown in Figure 7A, if the turning angle θ in the first partial straight line x1 and the first partial straight line x2 is less than a first predetermined angle (for example, 3 degrees) (in other words, if the angle between the first partial straight line x1 and the first partial straight line x2 (180 degrees - θ) is 177 degrees or more), the setting processing unit 212 finds the intersection point x0 of the extension of the first partial straight line x1 and the extension of the first partial straight line x2. Then, the setting processing unit 212 deletes the partial curve y1 and replaces it with the first partial straight lines x1 and x2 that are connected at the intersection point x0. That is, the setting processing unit 212 replaces the first partial straight line x1, the partial curve y1, and the first partial straight line x2 with the two extended first partial straight lines x1 and x2.

[0054] Furthermore, as shown in Figure 7B, if the rotation angle θ in the first partial straight line x1 and the first partial straight line x2 is greater than or equal to a first predetermined angle (e.g., 3 degrees) and less than a second predetermined angle (e.g., 6 degrees), the setting processing unit 212 replaces the partial curve y1 with a single interpolation line (first partial straight line x12). That is, the setting processing unit 212 replaces the first partial straight line x1, the partial curve y1, and the first partial straight line x2 with three first partial straight lines x1, x12, and x2.

[0055] For example, as shown in Figure 7C, if the rotation angle θ in the first partial straight line x1 and the first partial straight line x2 is greater than or equal to a second predetermined angle (e.g., 6 degrees), the setting processing unit 212 replaces the partial curve y1 with multiple interpolation lines. Specifically, the setting processing unit 212 uses the value calculated by dividing the rotation angle θ by the set angle as the number of interpolation points, and places the calculated number of interpolation points at equal intervals on the partial curve y1. In Figure 7C, the setting processing unit 212 places two interpolation points on the partial curve y1, replacing the partial curve y1 with three first partial straight lines x121 to x123. The setting processing unit 212 replaces the first partial straight line x1, the partial curve y1, and the first partial straight line x2 with five first partial straight lines x1, x121, x122, x123, and x2.

[0056] The setting processing unit 212 converts each subcurve included in the temporary reference line Re into a substraight line using the method described above. Then, as shown in Figure 6, the setting processing unit 212 sets a first reference line Ra consisting of multiple straight lines (first substraight lines) based on the temporary reference line Re. In the first reference line Ra shown in Figure 6, the subcurve y1 of the temporary reference line Re is converted into first substraight lines x11 to x13, and the subcurve y2 of the temporary reference line Re is converted into first substraight lines x21 to x23. The first reference line Ra is composed of eight substraight lines.

[0057] As described above, the setting processing unit 212 sets the first reference line Ra based on a temporary reference line Re which includes partial curves generated based on multiple position information. The setting processing unit 212 also sets a temporary reference line Re which includes partial straight lines and partial curves based on multiple position information, converts the partial curves into one or more partial straight lines according to the angle (or turning angle) between two partial straight lines, and sets the first reference line Ra by connecting the partial straight lines included in the temporary reference line Re with the partial straight lines obtained by converting the partial curves included in the temporary reference line Re. The operation control unit 21 also determines the number of partial straight lines to convert the partial curves based on the angle (turn angle) between two first partial straight lines.

[0058] The generation processing unit 213 generates a target route for the work vehicle 10 to automatically travel in field F. When the operator selects "Create Route" (see Figure 5) on menu screen D1 and receives a command to generate a target route, the generation processing unit 213 executes the target route generation process. Specifically, the generation processing unit 213 sets either a first route generation mode, which generates the target route based on a first reference line Ra that serves as the basis for generating the target route, or a second route generation mode, which generates the target route based on the first reference line Ra and a second reference line Rb that has a different shape or orientation from the first reference line Ra, and generates the target route based on either the first route generation mode or the second route generation mode.

[0059] [First path generation mode] The following describes an example of how to generate a target path using the first path generation mode. In the first path generation mode, the generation processing unit 213 generates the target path by setting the shape or orientation of all work paths included in the target path based on the shape or orientation of the first reference line Ra.

[0060] In the first path generation mode, for example, one method is to generate the target path by duplicating (translating) the first reference line Ra. However, this method presents the following problems. Specifically, as shown in Figure 8, if the work path R1 (target path) is generated by translating the first reference line Ra by a distance corresponding to the work width W1, problems arise such as the overlap of the worked area B1 when working along the first reference line Ra and the worked area B2 when working along the work path R1 (overlapping area of ​​part Bx), or a gap (unworked area of ​​part By) between the worked areas B1 and B2.

[0061] Therefore, the generation processing unit 213 is configured to generate a target path by individually translating each of the multiple first partial straight lines constituting the first reference line Ra by a predetermined distance, and connecting each of the multiple second partial straight lines corresponding to each of the multiple first partial straight lines after the translation. With the above configuration, the above problem shown in Figure 8 can be solved as follows.

[0062] Specifically, as shown in Figure 9, the generation processing unit 213 generates a second partial line x31 by translating the first partial line x1 of the first reference line Ra by a working width W1, generates a second partial line x32 by translating the first partial line x11 by a working width W1, generates a second partial line x33 by translating the first partial line x12 by a working width W1, generates a second partial line x34 by translating the first partial line x13 by a working width W1, generates a second partial line x35 by translating the first partial line x2 by a working width W1, generates a second partial line x36 by translating the first partial line x21 by a working width W1, generates a second partial line x37 by translating the first partial line x22 by a working width W1, and generates a second partial line x38 by translating the first partial line x23 by a working width W1. Then, the generation processing unit 213 connects the multiple second partial lines x31 to x38 after translation to generate the work path R1 (target path).

[0063] The details of the procedure for generating the target path described above will be explained using Figures 10A to 10C. Figure 10A shows the first reference line Ra, which consists of four first partial lines xa1 to xa4. First, as shown in Figure 10A, the generation processing unit 213 translates each of the first partial lines xa1 to xa4 by a working width W1. Next, the generation processing unit 213 extends each of the lines xa11 to xa14 after the translation. Next, as shown in Figure 10B, the generation processing unit 213 finds the intersection points p1 to p3 of the extended lines xa11 to xa14. The generation processing unit 213 also finds the intersection point pa between the line xa11 and the orthogonal line La, which is perpendicular to the line L0 connecting the start and end points of the first reference line Ra and passes through the start point, and finds the intersection point pb between the line xa14 and the orthogonal line Lb, which is perpendicular to the line L0 and passes through the end point. Then, as shown in Figure 10C, the generation processing unit 213 generates a target path (work path R1) consisting of a second partial line xb1 connecting intersections pa and p1, a second partial line xb2 connecting intersections p1 and p2, a second partial line xb3 connecting intersections p2 and p3, and a second partial line xb4 connecting intersections p3 and pb.

[0064] By generating the target path using the method described above, the problems of overlap and gaps between work widths (see Figure 8) can be solved. Figure 11 shows the work path R1 (target path) generated based on the first reference line Ra. As shown in Figure 11, there is no overlap between the completed work area B1 corresponding to the first reference line Ra and the completed work area B2 corresponding to the work path R1, and no gaps occur between the completed work areas B1 and B2, thus improving the work accuracy in turning operations.

[0065] The generation processing unit 213 similarly generates adjacent work paths based on the work path R1.

[0066] [Second path generation mode] The following describes an example of how to generate a target path using the second path generation mode. In the second path generation mode, the generation processing unit 213 sets the shape or orientation of the first work path included in the target path based on the shape or orientation of the first reference line Ra, and sets the shape or orientation of the second work path included in the target path based on the shape or orientation of the second reference line Rb. Specifically, the generation processing unit 213 generates the target path by setting the shapes or orientations of the multiple work paths included in the target path so that they approach the shape or orientation of the second reference line Rb from the shape or orientation of the first reference line Ra as the arrangement direction of the multiple work paths progresses. In other words, in the second path generation mode, the generation processing unit 213 performs a correction process to correct a curved path to a straight path. The generation processing unit 213 may also correct a straight path to a curved path.

[0067] For example, the generation processing unit 213 generates a target path based on a first reference line Ra of curves and a second reference line Rb of straight lines. Figure 12 shows an example of the first reference line Ra and the second reference line Rb. The first reference line Ra is a reference curve set by the method described above (see Figures 6 and 7). The second reference line Rb is a pre-set reference straight line, such as a straight line parallel to the side of field F, a straight line parallel to the work direction (for example, the work direction of the inner area of ​​field F), or a straight line connecting two points (point A and point B) registered by the worker.

[0068] Specifically, the generation processing unit 213 sets the shape and orientation of one or more work paths from among the multiple work paths included in the target path, based on the shape and orientation of the second reference line Rb. Figure 12 shows the three work paths R11, R12, and R13 included in the target path. The number of work paths set in the headland area corresponds to the number of work steps set in the headland area. The generation processing unit 213 generates work paths R11, R12, and R13 to correspond to the curve shape of the first reference line Ra, and further generates work paths R11, R12, and R13 so that their curve shapes approach the straight shape of the second reference line Rb.

[0069] For example, as shown in Figure 12, the work path R11 has a shape similar to the curved shape of the first reference line Ra, and the work path R13 has a shape similar to the straight line shape of the second reference line Rb. Specifically, the generation processing unit 213 sets the shapes and orientations of the work paths R11, R12, and R13 based on their distance from the first reference line Ra. For example, the generation processing unit 213 adjusts the shapes and orientations of the work paths R11, R12, and R13 to be closer to the shapes and orientations of the second reference line Rb as their distance from the first reference line Ra increases.

[0070] Figure 13 shows an example of a specific method for generating work paths. Here, three work paths R11, R12, and R13 are shown as examples. The generation processing unit 213 sets three reference lines L1, L2, and L3 that are parallel to and equally spaced from the second reference line Rb. The spacing of the reference lines L1, L2, and L3 is set based on the working width of the work machine 14, the overlap amount, etc. Next, the generation processing unit 213 calculates the deviation Δdn (the distance of the arrow shown in Figure 13) between the first reference line Ra and the second reference line Rb. In the example shown in Figure 13, the second reference line Rb is set to a position tangent to the left end of the first reference line Ra, but the second reference line Rb may also be set to the center position or the right end position of the first reference line Ra.

[0071] Next, the generation processing unit 213 sets the subtraction amount for each work path, which is the deviation Δdn between the work path and the second reference line Rb. The generation processing unit 213 gradually increases the subtraction amount as the distance from the first reference line Ra increases. For example, since there are "3" work paths here, the generation processing unit 213 sets the subtraction amount per work path to "Δdn / 3".

[0072] The generation processing unit 213 then sets the path (work path R11), which is obtained by subtracting "Δdn × 1 / 3" from the deviation Δdn between the first reference line Ra and the second reference line Rb, at the position of reference line L1. The generation processing unit 213 also sets the path (work path R12), which is calculated by subtracting "Δdn × 2 / 3" from the deviation Δdn between the first reference line Ra and the second reference line Rb, at the position of reference line L2. The generation processing unit 213 also sets the path (work path R13), which is calculated by subtracting "Δdn × 3 / 3" from the deviation Δdn between the first reference line Ra and the second reference line Rb, at the position of reference line L3.

[0073] The generation processing unit 213 may perform an addition operation instead of a subtraction operation. For example, the generation processing unit 213 may gradually increase the amount added as the distance from the first reference line Ra increases, so that the deviation becomes greater than Δdn.

[0074] As a result, the multiple work paths gradually change from a curved shape to a straight shape in the direction of arrangement. For example, if the outer edge of field F is curved, the multiple work paths will approach the curved shape of the first reference line Ra as they move towards the outer perimeter, and approach the straight shape of the second reference line Rb as they move towards the inner perimeter of field F. The generation processing unit 213 may also set the work path closest to the inner perimeter among the multiple work paths in the headland area to be a straight line so as to substantially coincide with the shape and orientation of the second reference line Rb.

[0075] In another embodiment, the setting processing unit 212 may set a first reference line Ra on the inner circumference of field F and a second reference line Rb along the straight edge of field F on the outer circumference of field F. For example, the setting processing unit 212 sets a curved first reference line Ra according to the work trajectory when a worker freely performs work on the inner circumference of field F. In this case, the generation processing unit 213 generates a work path that approaches the shape of the straight second reference line Rb as it moves towards the outer circumference of field F, and a work path that approaches the shape of the curved first reference line Ra as it moves towards the inner circumference of field F.

[0076] As described above, in the second path generation mode, when the number of work paths to be set is set to N, the generation processing unit 213 adjusts the shape and orientation of each work path from the first to the (N-1)th work path to be closer to the shape and orientation of the first reference line Ra as the distance from the first reference line Ra increases, and adjusts the shape and orientation of the Nth work path to match the shape and orientation of the second reference line Rb.

[0077] In another embodiment, the shape and orientation of the Nth work path may not coincide with the shape and orientation of the second reference line Rb, but may have a curved shape. For example, the generation processing unit 213 may adjust the shape and orientation of each work path from the 1st to the Nth work path to be closer to the shape and orientation of the first reference line Ra as the distance from the first reference line Ra increases, and make the shape and orientation of the N+1th work path after the Nth work path coincide with the shape and orientation of the second reference line Rb.

[0078] Furthermore, the number of work paths until the work path matches the shape and orientation of the second reference line Rb may be set to a fixed specification that cannot be changed.

[0079] The generation method using the second path generation mode described above makes it possible to generate a target path in which the curved path gradually approaches a straight path.

[0080] In the second path generation mode, since the shapes of the two adjacent work paths are different, gaps of different sizes occur between the completed work areas (work widths) when work is performed by traveling along each work path, as shown in Figure 14. Such gaps between work widths may or may not be acceptable depending on the nature of the work.

[0081] Therefore, the second path generation mode may further include an overlapping mode in which a target path is generated by overlapping a portion of the work width of adjacent work paths included in the target path, and a non-overlapping mode in which a target path is generated without overlapping the work widths of adjacent work paths included in the target path.

[0082] When set to non-overlap mode, the generation processing unit 213 generates a target path such that the work widths (worked areas B1, B2, B3) of adjacent work paths do not overlap with each other, as shown in Figure 14. In contrast, when set to overlap mode, the generation processing unit 213 generates a target path such that a portion of the work widths (worked areas B1, B2, B3) of adjacent work paths overlap with each other, as shown in Figure 15, so as to prevent gaps from forming. In overlap mode, the generation processing unit 213 may also generate a target path by arranging multiple work paths so as to minimize the overlapping area of ​​adjacent work widths. In another embodiment, the generation processing unit 213 may generate a target path for the first area of ​​field F using overlap mode and a target path for the second area of ​​field F using non-overlap mode.

[0083] As described above, the generation processing unit 213 generates a target route based on either the first route generation mode or the second route generation mode. In addition, in the second route generation mode, the generation processing unit 213 generates a target route based on either the overlap mode or the non-overlap mode. When the generation processing unit 213 generates a target route for the work vehicle 10, it registers (saves) the target route. For example, the generation processing unit 213 may register the target route in association with field F, or it may register it without being associated with field F. The generation processing unit 213 can generate and register multiple target routes for a single field F, depending on the work content.

[0084] The output processing unit 214 outputs route data for the target route to the work vehicle 10. For example, when an operator selects a desired target route on the operation screen and issues a work start command, the output processing unit 214 outputs route data for the selected target route to the work vehicle 10.

[0085] The work vehicle 10 is configured to autonomously travel along the target route while detecting its current position using the positioning antenna 164. Route data of the target route generated in the operation terminal 20 is transferred to the work vehicle 10 and stored in the storage unit 12. The current position of the work vehicle 10 may normally coincide with the position of the positioning antenna 164.

[0086] When predetermined starting conditions are met, and the operator presses the "Start Work" button on the operation screen to give a "Start Work" instruction, the work vehicle 10 starts automatic driving via the driving processing unit 111 and begins work using the work machine 14 (see Figure 2). For example, the operation control unit 21 permits automatic driving of the work vehicle 10 on the condition that the current position of the work vehicle 10 is within a predetermined distance from the starting position and the vehicle's orientation is within a predetermined orientation. However, the starting conditions for permitting automatic driving of the work vehicle 10 are not limited to the above conditions.

[0087] The driving processing unit 111 of the work vehicle 10 automatically drives the work vehicle 10 from the starting position to the ending position according to the target route acquired from the operation terminal 20.

[0088] The operating terminal 20 may also be able to access a website (agricultural support site) for agricultural support services provided by a server (not shown) 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 comprises the processing units described above and executes each of the processes.

[0089] [Operation screen during route generation] When generating a target route, the generation processing unit 213 displays an operation screen on the operation terminal 20 that accepts operator input. Specifically, when the operator selects "Create Route" from menu screen D1 to proceed to the route generation stage, the generation processing unit 213 displays a baseline selection screen D2 (see Figure 16) where the operator selects how to create the baseline.

[0090] Specifically, the generation processing unit 213 displays on the reference line selection screen D2 the following selectable items: a first method ("Point A + Point B") which creates a reference line by connecting two points (points A and B) when the operator manually drives the work vehicle 10 and performs a registration operation at those points; a second method ("Point A + Vehicle Azimuth Angle") which creates a reference line by passing through the position of the work vehicle 10 (point A) when the operator performs a registration operation at that position and extending in the direction (vehicle azimuth angle) at that position; a third method ("Point A + Set Azimuth Angle") which creates a reference line by passing through the position of the work vehicle 10 (point A) when the operator performs a registration operation at that position and extending in the direction (set azimuth angle) set by the operator; and a fourth method ("Curve") which creates a reference line based on the curved trajectory when the operator manually drives the work vehicle 10.

[0091] The first to third methods ("Point A + Point B", "Point A + Vehicle Azimuth Angle", "Point A + Set Azimuth Angle") correspond to a route generation mode (straight mode) that generates a target route based on a straight reference line that does not include curved sections, while the fourth method ("Curve") corresponds to a route generation mode (curve mode) that generates a target route based on a reference line that includes curved sections (first reference line Ra). When the operator selects "Curve", the generation processing unit 213 creates the first reference line Ra based on the above configuration (see Figures 6 and 7).

[0092] In this way, the generation processing unit 213 displays a reference line selection screen D2 that allows the user to select between a curved mode ("Curve" in Figure 16) which generates a target path based on a first reference line Ra that includes a curved portion, and a straight mode ("Point A + Point B", "Point A + Vehicle Azimuth Angle", "Point A + Set Azimuth Angle" in Figure 16) which generates a target path based on a straight first reference line Ra that does not include a curved portion. The configuration when the operator selects "Curve" will be described below.

[0093] When the operator selects a method for creating a baseline on the baseline selection screen D2, the generation processing unit 213 displays the work machine selection screen D3 (see Figure 17) for selecting a work machine. The generation processing unit 213 displays a list of registration information for one or more pre-registered work machines and accepts an operation from the operator to select one of the work machines.

[0094] When the operator selects "curve" as the method for creating the baseline (see Figure 16) and selects a work machine (see Figure 17), the generation processing unit 213 displays a measurement screen (not shown) for measuring the position (travel trajectory) of the work vehicle 10 during manual driving (teaching driving) by the operator. When the operator performs a measurement start operation on the measurement screen, the generation processing unit 213 starts measuring the position of the work vehicle 10 during manual driving. When the operator performs a measurement end operation on the measurement screen, the generation processing unit 213 ends the measurement of the position of the work vehicle 10 during manual driving.

[0095] Once measurement is complete, the generation processing unit 213 displays a path creation method selection screen D4 (see Figure 18) for selecting a method for creating a curved path (target path). The generation processing unit 213 displays the following options on the path creation method selection screen D4: selection item K1 corresponding to a path creation mode (first path creation mode) (see Figure 11) that generates a target path based on a first reference line Ra; selection item K2 corresponding to an overlap mode (see Figure 15) that generates a target path based on a first reference line Ra and a second reference line Rb, where the work widths of adjacent work paths overlap to create the target path; and selection item K3 corresponding to a non-overlap mode (see Figure 14) that generates a target path based on a first reference line Ra and a second reference line Rb, where the work widths of adjacent work paths do not overlap to create the target path. The operator selects one of the selection items K1 to K3. The first path generation mode is a path generation mode that does not correct curved paths to straight paths, and the second path generation mode is a path generation mode that corrects curved paths to straight paths. Furthermore, the overlapping mode of the second path generation mode is a path generation mode that corrects curved paths to straight paths and makes adjacent work paths overlap, and the non-overlapping mode of the second path generation mode is a path generation mode that corrects curved paths to straight paths and does not make adjacent work paths overlap.

[0096] In another embodiment, the generation processing unit 213 may display the mode that corresponds to the work machine 14 or the work content from among the first route generation mode (selection item K1), overlap mode (selection item K2), and non-overlap mode (selection item K3) on the route creation method selection screen D4. For example, the generation processing unit 213 may display the recommended mode that is suitable for the work machine 14 or the work content from among the first route generation mode, overlap mode, and non-overlap mode on the route creation method selection screen D4. Specifically, the generation processing unit 213 displays the overlap mode as the recommended mode when overlapping work is permitted, and displays the non-overlap mode as the recommended mode when overlapping work is not permitted. In another embodiment, the worker may select whether to allow or disallow overlapping work. Also, for example, as shown in Figure 19, the generation processing unit 213 may display the recommended mode (here, "non-overlap mode") as selectable on the route creation method selection screen D4, and set the other modes (here, "first route generation mode" and "overlap mode") to be unselectable (grayed out) or hidden.

[0097] In the example shown in Figure 18, selection items K1 to K3 are displayed together on the route creation method selection screen D4. However, in another embodiment, the generation processing unit 213 may display on the route creation method selection screen D41, as shown in Figure 20A, selection item K10 corresponding to the first route creation mode and selection item K20 corresponding to the second route creation mode, making them selectable. That is, the generation processing unit 213 may display a selection screen (route creation method selection screen D41) in which either the first route creation mode or the second route creation mode can be selected. Furthermore, if the operator selects selection item K20 (second route creation mode) on the route creation method selection screen D41, the generation processing unit 213 may display on the route creation method selection screen D42, as shown in Figure 20B, selection item K21 corresponding to the overlap mode and selection item K22 corresponding to the non-overlap mode, making them selectable.

[0098] The generation processing unit 213 generates a target path (see Figures 11, 14, and 15) based on the path generation mode selected by the operator (first path generation mode, second path generation mode (overlap mode, non-overlap mode)). Specifically, in curve mode and second path generation mode, the generation processing unit 213 generates the target path by setting the shapes of the multiple work paths included in the target path to approach curves from curves to straight lines or straight lines to curves as you move in the direction of the arrangement of the multiple work paths (see Figures 14 and 15). In curve mode and first path generation mode, the generation processing unit 213 generates the target path by setting (maintaining) the shape of each of the multiple work paths included in the target path to a curved shape (see Figure 11).

[0099] Furthermore, in curve mode and overlap mode, the generation processing unit 213 generates the target path by setting the shapes of the multiple work paths included in the target path so that they approach straight lines from curves as they move in the direction of the arrangement of the multiple work paths, while overlapping parts of adjacent work widths so that no gaps are created (see Figure 15). In curve mode and non-overlapping mode, the generation processing unit 213 generates the target path by setting the shapes of the multiple work paths included in the target path so that they approach straight lines from curves as they move in the direction of the arrangement of the multiple work paths, while ensuring that adjacent work widths do not overlap each other (see Figure 14).

[0100] The generation processing unit 213 displays the generated target route, and when the operator performs a registration operation, it registers the target route in association with field F. However, the generation processing unit 213 may also register the target route without associating it with field F.

[0101] In another embodiment, the generation processing unit 213 may display target routes corresponding to the first route generation mode, overlap mode, and non-overlap mode on the route creation method selection screen D4 (see Figure 18, etc.), and accept an operation from the operator to select one of the target routes. With this configuration, the operator can check the target routes for each mode. Furthermore, the generation processing unit 213 may allow the operator to switch between the route creation method selection screen D4, which allows selection of the first route generation mode, overlap mode, and non-overlap mode, and the screen that displays the target routes corresponding to the first route generation mode, overlap mode, and non-overlap mode.

[0102] [Route generation process] The following describes an example of the route generation process performed by the automated driving system 1, with reference to Figure 21.

[0103] Furthermore, the present invention can be understood as an invention of a route generation method that performs one or more steps included in the route generation process. Also, the one or more steps included in the route generation process described herein may be omitted as appropriate. Furthermore, the execution order of each step in the route generation process may differ to the extent that similar effects are produced. In addition, although the case in which the operation control unit 21 executes each step in the route generation process is described here as an example, a route generation method in which one or more processors distribute and execute each step in the route generation process can also be considered as another embodiment.

[0104] <Step S1> In step S1, the operation control unit 21 determines whether or not it has received an operation from the operator to start the task of creating a target path on the operation screen (not shown). If the operation control unit 21 receives an operation to start the task from the operator (S1:Yes), it proceeds to step S2. The operation control unit 21 repeats the determination process in step S1 until it receives an operation to start the task from the operator (S1:No).

[0105] <Step S2> In step S2, the operation control unit 21 sets the method for creating the reference line (reference line creation mode). Specifically, the operation control unit 21 receives an operation from the operator to select one of the following methods on the reference line selection screen D2 shown in Figure 16: the first method ("point A + point B"), the second method ("point A + vehicle azimuth angle"), the third method ("point A + set azimuth angle"), or the fourth method ("curve"). The operation control unit 21 sets the method selected by the operator. In this case, the operator selects "curve", and the operation control unit 21 sets the curve mode.

[0106] <Step S3> In step S3, the operation control unit 21 sets the work equipment. Specifically, the operation control unit 21 accepts an operation from the worker to select a work equipment from among the pre-registered work equipment on the work equipment selection screen D3 shown in Figure 17.

[0107] <Step S4> In step S4, the operation control unit 21 performs measurement processing to set a reference line. Specifically, when the operator performs a measurement start operation on the measurement screen (not shown), the operation control unit 21 starts recording the travel position (travel trajectory) of the work vehicle 10. The operator manually drives the work vehicle 10 by manual steering. For example, the operator drives the work vehicle 10 in a curved shape according to the desired work method and driving method. Alternatively, the operator drives the work vehicle 10 along the outer edge of the curved shape of the field F to be worked on. When the operator performs a measurement end operation on the measurement screen, the operation control unit 21 ends recording the travel position (travel trajectory). The operation control unit 21 stores the position information (measurement points) measured from the start to the end of the measurement.

[0108] <Step S5> In step S5, the operation control unit 21 sets the method for creating the curved path (target path). Specifically, the operation control unit 21 displays the following options on the path creation method selection screen D4 shown in Figure 18: a first path generation mode that does not correct the curved path to a straight path (selection item K1), an overlap mode that corrects the curved path to a straight path and overlaps adjacent work paths (second path generation mode) (selection item K2), and a non-overlap mode that corrects the curved path to a straight path and does not overlap adjacent work paths (second path generation mode) (selection item K3), and accepts a selection operation from the operator. The operator selects one of the path generation modes on the path creation method selection screen D4.

[0109] In another embodiment, the operation control unit 21 may display a recommended mode suitable for the work machine 14 or the work content from among the first route generation mode, overlap mode, and non-overlap mode (see Figure 19).

[0110] The operation control unit 21 sets the route generation mode selected by the operator. In another embodiment, the operation control unit 21 may automatically set the route generation mode from the first route generation mode, overlap mode, and non-overlap mode based on the work equipment 14 or the work content. Alternatively, if the operator selects the second route generation mode, the operation control unit 21 may set the overlap mode or non-overlap mode based on the type of work equipment 14 or the work content.

[0111] <Step S6> In step S6, the operation control unit 21 generates a curved path (target path). Specifically, the operation control unit 21 generates the target path based on the path generation mode (first path generation mode, second path generation mode (overlap mode, non-overlap mode)) set in step S5.

[0112] Specifically, the operation control unit 21 sets a first reference line Ra based on the position information (travel trajectory) acquired in the measurement process (step S4). The operation control unit 21 also sets a straight line parallel to the edge of field F, a straight line parallel to the work direction, and a straight line connecting two points (point A and point B) registered by the worker as the second reference line Rb. In another embodiment, if field F is registered in advance, the operation control unit 21 may set the outline edge selected by the worker as the reference line on the map screen of field F. For example, if the worker selects an opposing curved edge and a straight edge from the outline edges of field F, the operation control unit 21 may set the curved edge as the first reference line Ra and the straight edge as the second reference line Rb.

[0113] In the first path generation mode, the operation control unit 21 generates a target path based on the first reference line Ra. For example, the operation control unit 21 generates a target path by setting (maintaining) the shape of each of the multiple work paths to a curved shape based on the first reference line Ra (see Figure 11). The operation control unit 21 also generates a target path so that there are no gaps or overlapping parts (see Figure 8) between the work widths (worked areas B1, B2) of adjacent work paths.

[0114] In the second path generation mode, the operation control unit 21 generates a target path based on the first reference line Ra and the second reference line Rb. For example, in the non-overlap mode (second path generation mode), the operation control unit 21 generates a target path based on the first reference line Ra and the second reference line Rb such that the curved path gradually approaches a straight path and the working widths (worked areas B1, B2, B3) of adjacent work paths do not overlap with each other (see Figure 14).

[0115] In overlap mode (second path generation mode), the operation control unit 21 generates a target path based on the first reference line Ra and the second reference line Rb, such that the curved path gradually approaches a straight path, and the work widths (worked areas B1, B2, B3) of adjacent work paths overlap so that no gaps are created (see Figure 15).

[0116] In the above description of the second path generation mode, a curve is set as the first reference line Ra and a straight line as the second reference line Rb. However, in another embodiment, a straight line may be set as the first reference line Ra and a curve as the second reference line Rb. In this case, the operation control unit 21 may generate the target path by setting the shapes of the multiple work paths included in the target path so that they approach curves from straight lines as they move in the direction of the arrangement of the multiple work paths. In other words, in the present invention, "generating a target path so that it approaches straight lines from curves" and "generating a target path so that it approaches curves from straight lines" are synonymous.

[0117] <Step S7> In step S7, the operation control unit 21 registers the target route. Specifically, the operation control unit 21 displays the target route generated in step S6 on the operation terminal 20 and accepts registration from the operator. The operator performs the registration operation if they determine that the generated target route is acceptable. If the operator wishes to change the target route, they return to the route creation method selection screen D4 in Figure 18, for example, and select the route generation mode again to regenerate the target route.

[0118] When an operator performs a registration operation, the operation control unit 21 registers the target route in association with field F. For example, the operation control unit 21 registers the target route linked to the name of field F. The operation control unit 21 may also associate positional information such as the position of the work vehicle 10, the start point, end point, and midpoint of the route with the target route as positional information for field F. The operation control unit 21 may also associate information about the route generation mode (first route generation mode, overlap mode, and non-overlap mode) used during route generation with the target route.

[0119] While it is easy to regenerate a straight path (target path) by specifying the azimuth angle, it is difficult to recreate a curved path (target path). Therefore, it is desirable that curved paths be registered even if the target field F to be associated with them cannot be identified. Accordingly, the operation control unit 21 may register a curved path target path without associating it with field F if the target field F is not registered. For example, the operation control unit 21 may create a temporary field (empty field) and register the target path associated with the empty field.

[0120] When the work vehicle 10 is to be driven automatically according to the generated target route, the operator issues a work start command on the operation screen of the operation terminal 20. The vehicle control device 11 then receives the work start command from the operation terminal 20 and starts the automatic driving of the work vehicle 10.

[0121] As described above, the automatic driving system 1 according to this embodiment generates a target route for the work vehicle 10 to automatically travel in the field F (work area). The automatic driving system 1 also sets either a first route generation mode, which generates the target route based on a first reference line Ra that serves as a reference when generating the target route, or a second route generation mode, which generates the target route based on the first reference line Ra and a second reference line Rb that has a different shape or orientation from the first reference line Ra.

[0122] Specifically, in the first route generation mode, the automated driving system 1 sets the shape or orientation of all routes included in the target route based on the shape or orientation of the first reference line Ra.

[0123] In contrast, in the second route generation mode, the automatic driving system 1 sets the shape or orientation of the first route included in the target route based on the shape or orientation of the first reference line Ra, and sets the shape or orientation of the second route included in the target route based on the shape or orientation of the second reference line Rb. For example, the automatic driving system 1 sets the shapes or orientations of multiple routes included in the target route so that they approach the shape or orientation of the second reference line Rb from the shape or orientation of the first reference line Ra as you move along the direction in which the multiple routes are arranged.

[0124] According to the above configuration, for example, if a part of the outer shape of the field to be worked on is curved, a reference line along the curve (first reference line Ra) can be set, and a target path with a curved shape can be generated based on this reference line (first path generation mode). Furthermore, if work along both curves and straight lines is desired, a reference line along the curve (first reference line Ra) and a reference line along the straight line (second reference line Rb) can be set, and a target path including both curved and straight work paths can be generated based on the two reference lines (second path generation mode). In addition, the worker can select either the first path generation mode or the second path generation mode to generate the target path.

[0125] Therefore, with the above configuration, it becomes possible to easily generate a target path for the work vehicle 10 to automatically travel in a non-rectangular work area (field F).

[0126] [Method for generating a straight line path (target path)] In the embodiments described above, a configuration for generating a target path that includes a curved work path has been described, but the present invention is not limited thereto, and a target path consisting of a straight work path without including a curved work path may also be generated.

[0127] Figure 22 shows an example of a field F in which each outer edge is composed of straight lines. For example, the control unit 21 sets a straight line parallel to the hypotenuse f1 of field F as the first reference line Ra, and sets a straight line parallel to the side f2 opposite to the hypotenuse f1 as the second reference line Rb.

[0128] In this case, the operation control unit 21 sets either a first path generation mode, which generates the target path based on a first reference line Ra, or a second path generation mode, which generates the target path based on the first reference line Ra and a second reference line Rb that has a different orientation (is not parallel) to the first reference line Ra. Specifically, in the first path generation mode, the operation control unit 21 sets the orientation of all work paths included in the target path based on the orientation of the first reference line Ra. For example, the operation control unit 21 sets the orientation of each of the multiple work paths included in the target path to be parallel to the first reference line Ra. The operation control unit 21 also generates the target path so that all work paths are parallel to the first reference line Ra.

[0129] In contrast, in the second path generation mode, the orientation of the first work path included in the target path is set based on the orientation of the first reference line Ra, and the orientation of the second work path included in the target path is set based on the orientation of the second reference line Rb. Specifically, the operation control unit 21 sets the orientations of the multiple work paths included in the target path so that they move from being parallel to the first reference line Ra to being parallel to the second reference line Rb as you move along the direction in which the multiple work paths are arranged. That is, the operation control unit 21 sets the orientations of the multiple work paths included in the target path so that they move from being parallel to the first reference line Ra to being parallel to the second reference line Rb as you move along the direction in which the multiple work paths are arranged. For example, as shown in Figure 22, the operation control unit 21 generates a target path such that the orientation of work path R21 is close to the orientation of the first reference line Ra, and the orientation of work path R23 is close to the orientation of the second reference line Rb.

[0130] Furthermore, the operation control unit 21 may generate a target path for the work path R3 in the inner area F1 of field F so as to be parallel to the second reference line Rb.

[0131] Furthermore, in the second path generation mode, the operation control unit 21 may set the work path R3 of the inner region F1 as the second reference line Rb to generate the target path. That is, in the second path generation mode, the operation control unit 21 may generate the target path based on the outer edge f1 of the field F and the work path R3, and in the first path generation mode, it may generate the target path based on the outer edges f1, f2, or the work path R3 of the field F.

[0132] Furthermore, in the above configuration, it may be possible to set overlapping mode and non-overlapping mode (see Figure 18).

[0133] [Other methods for generating the first reference line Ra] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0134] In the above-described embodiment, the operation control unit 21 sets a temporary reference line Re including partial curves based on the position information of the driving trajectory acquired when registering a field, and sets a first reference line Ra by converting the partial curves of the temporary reference line Re into partial straight lines. In another embodiment, the operation control unit 21 may omit the process of setting the temporary reference line Re. Specifically, the operation control unit 21 may set a first reference line Ra consisting of a plurality of partial straight lines (first partial straight lines) based on the position information of the driving trajectory acquired when registering a field. For example, as shown in Figure 23, the operation control unit 21 may set a first reference line Ra by connecting each positioning point with a straight line, replacing two straight lines with one straight line if the angle d between two adjacent straight lines is greater than or equal to a predetermined angle, and leaving two straight lines if the angle d is less than a predetermined angle. In other words, the operation control unit 21 may set the first reference line Ra by integrating or dividing the multiple partial straight lines (first partial straight lines) that constitute the travel trajectory of the work vehicle 10 acquired by the user's manual driving operation when registering the work area, according to the orientation of adjacent partial straight lines.

[0135] Furthermore, in another embodiment of setting the first reference line Ra, the operation control unit 21 may set the first reference line Ra based on a registered reference line connecting any points registered by the operator. For example, the operator manually drives the work vehicle 10 in the field F and performs registration operations at any multiple locations. When the operation control unit 21 sets a registered reference line connecting the multiple registered locations with straight lines, it sets the first reference line Ra based on the registered reference line. Thus, for example, if the operator registers points A, B, and C, the operation control unit 21 can generate a target path corresponding to the turning operation of the turning portion corresponding to the angle between the two straight lines by setting the first reference line Ra consisting of a straight line connecting points A and B and a straight line connecting points B and C.

[0136] In the embodiment described above, the first reference line Ra is composed of a plurality of straight lines (first partial straight lines), but in other embodiments, the first reference line Ra may be composed of straight lines and curves. When the first reference line Ra includes a curve, the operation control unit 21 individually translates the straight lines (first partial straight lines) and the curve by a predetermined distance, and performs a process to correct the radius of curvature (radius of rotation) of the curve. For example, when translating a curve that is convex to the right and included in the first reference line Ra to the right, the operation control unit 21 corrects the radius of curvature of the translated curve to a value greater than the radius of curvature of the curve of the first reference line Ra. On the other hand, when translating a curve that is convex to the left and included in the first reference line Ra to the right, the operation control unit 21 corrects the radius of curvature of the translated curve to a value smaller than the radius of curvature of the curve of the first reference line Ra. In this way, the first reference line Ra may be composed of curves.

[0137] [Method for correcting turning path] In each of the above embodiments, when a target route is generated based on the first reference line Ra, the turning route included in the target route may have a radius smaller than the minimum turning radius at which the work vehicle 10 can turn. FIG. 24A schematically shows adjacent first reference lines Ra and work route R1. Here, when the turning radius of the turning path included in the first reference line Ra is the minimum turning radius Rmin, the turning radius Rn of the turning path of the work path R1 may become a value smaller than the minimum turning radius Rmin (Rn<Rmin). In this case, there arises a problem that the work vehicle 10 cannot perform turning travel on the work route R1.

[0138] Therefore, in order to solve the above problem, when two adjacent partial straight lines (second partial straight lines) are connected and the turning radius when turning along the two partial straight lines is less than the minimum turning radius at which the work vehicle 10 can turn, the operation control unit 21 may move the turning center corresponding to the two partial straight lines. Specifically, as shown in FIG. 24B, the operation control unit 21 sets the turning radius Rn to the minimum turning radius Rmin (Rn=Rmin) for the turning path of the work path R1, and moves the turning center from position C1 to position C2. Note that the operation control unit 21 may set the turning center at a position where the turning radius Rn is equal to or larger than the minimum turning radius Rmin. In this way, when the turning radius Rn of the work vehicle 10 is less than the minimum turning radius Rmin, the operation control unit 21 executes a process of correcting the turning path. A specific example of the turning path correction method will be described below.

[0139] FIG. 25A shows the first reference line Ra, the work route R1 before correction, and the connection points of partial straight lines in the turning portions of each route. First, the operation control unit 21 identifies a partial straight line for which turning path correction is required.

[0140] For example, the operation control unit 21 creates, in the method (method of converting a curve into a straight line) shown in FIGS. 7A to 7C, a number of interpolation lines obtained by dividing the turning angle by a first predetermined angle (for example, 3 degrees). In this case, the maximum turning angle θ of the two straight lines is 4.5 degrees. For example, when there are two interpolation lines and the remainder of the divided value is infinitely close to 3 degrees, the maximum turning angle θ is (3 + 2.999... / 2) degrees. For this reason, the operation control unit 21 determines that correction is required for the turning path formed by the two straight lines when the turning angle θ of the two straight lines is 4.5 degrees or more.

[0141] As another method, for example, through the conversion into straight lines shown in FIGS. 7A to 7C, it is considered that the end points of the straight lines in the turning portion exist on a turning circle Cb as shown in FIG. 26A. For this reason, a circle Ca with a minimum turning radius Rmin is created, and when the next straight line exists inside the circle Ca, it can be determined that the circle Cb is smaller than the circle Ca with the minimum turning radius Rmin. FIGS. 26B and 26C are schematic diagrams showing a case where a straight line exists on the circle Ca with the minimum turning radius Rmin. The operation control unit 21 calculates the azimuth deviation between the two straight lines as θ (see FIG. 26B) when the angular deviation of the two straight lines is less than 3 degrees, and calculates the azimuth deviation between the two straight lines as 2θ (see FIG. 26C) when the angular deviation of the two straight lines is 3 degrees or more. Specifically, the operation control unit 21 obtains the minimum length L of the straight line in the turning portion by the following formula. L=2Rmin·cos(90-|θ|) L=2Rmin·sin(|θ|)

[0142] Accordingly, when the length S of the target straight line (partial straight line of the turning path) is smaller than the minimum length L (S<L), the operation control unit 21 determines that correction is required for the turning path formed by the straight line.

[0143] In the example shown in Figure 25A, the control unit 21 identifies a partial straight line on circle Cb with a turning radius Rn smaller than the minimum turning radius Rmin as a partial straight line requiring correction. After identifying the partial straight lines requiring correction of the turning path using the method described above, the control unit 21 then finds a circle Cc with the minimum turning radius Rmin that is inscribed in the two partial straight lines before and after the turning path (see Figure 25B). The control unit 21 then sets the turning start point p10 and the turning end point p20 on the found circle Cc and generates a turning path from the turning start point p10 to the turning end point p20. Specifically, the control unit 21 identifies the circle Cc with the minimum turning radius Rmin among the circles inscribed in each of the two partial straight lines, and sets the connection point of the two partial straight lines (turning start point p10 and turning end point p20) on the arc of the identified circle Cc. The control unit 21 generates the turning path as multiple partial straight lines.

[0144] In this way, the operation control unit 21 corrects the turning radius corresponding to the turning path if the turning path included in the generated target path is less than the minimum turning radius. This solves the problem of the work vehicle 10 being unable to turn and travel along the work path R1.

[0145] Furthermore, if the turning radius is corrected, a gap may occur between the completed work areas corresponding to adjacent turning paths. In this case, the operation control unit 21 may notify the operator that a gap will occur between the completed work areas, or may ask the operator whether or not to permit the occurrence of such a gap.

[0146] [Procedure for generating the reference curve (first reference line Ra)] This section describes an example of the procedure for generating the first baseline Ra. Here, we describe an example of the procedure for generating the first baseline Ra based on positioning points (measurement points) acquired through teaching driving.

[0147] Figure 27A shows the work area registration screen D5 for registering a work area. For example, after the registration of a field based on the measurement points is completed, if the operator selects "Work Area Registration" from the menu screen D1 (see Figure 5) and selects the target field, the operation control unit 21 displays the work area registration screen D5 shown in Figure 27A. On the work area registration screen D5, the operator performs the operation to set the work area. For example, the operator selects the vertices that will be the corners of the outer edges of the work area from among the measurement points. The operator may select a measurement point located at a corner, or select an area outside the measurement point located at a corner. If the operator selects an area outside the measurement point, the operation control unit 21 sets interpolation points that will be the endpoints of the outer edges. Figure 27B shows the state where the operator has selected four points on the work area registration screen D5.

[0148] The operation control unit 21 sets and displays straight lines (edges) connecting each point selected by the operator. In addition, on the work area registration screen D5 shown in Figure 27B, the operation control unit 21 accepts the operation to select an edge from the set edges on which to perform curved work. If the operator wants to perform curved work on an edge, they select that edge (by tapping the edge on the screen (see Figure 27B)), and if there is no edge on which they want to perform curved work (to perform straight work on the entire area), they select "Next". When the operator selects the right edge on which they want to perform curved work (see Figure 27B), the operation control unit 21 generates a curved trajectory (reference curve) based on the measurement points corresponding to the right edge (measurement points between the rightmost point of the upper edge and the rightmost point of the lower edge).

[0149] Here, we will explain how to identify the measurement points (measurement points that become the endpoints of the curve) that correspond to the selected edge. For example, the operation control unit 21 identifies the point P that corresponds to the endpoint of the selected edge using the following procedure and generates a curve based on the measurement points between points P.

[0150] (Step 1) In step 1, as shown in Figure 28A, the operation control unit 21 determines whether the vertex of the work area (selected point) is included in the travel trajectory (measurement point). If the vertex of the work area is included in the travel trajectory, the operation control unit 21 sets point P at the position of that vertex; if the vertex of the work area is not included in the travel trajectory, the process proceeds to step 2.

[0151] (Step 2) In step 2, as shown in Figure 28B, the operation control unit 21 determines whether the travel trajectory is included within a predetermined distance X (m) from the vertex (completion point) of the work area. If the travel trajectory is included within the predetermined distance X from the vertex of the work area, the operation control unit 21 deletes the travel trajectory within the range and sets point P at the deleted position. If the travel trajectory is not included within the predetermined distance X from the vertex of the work area, the operation control unit 21 proceeds to step 3.

[0152] (Step 3) In step 3, as shown in Figure 28C, if the points are vertices of sides of a curve, the operation control unit 21 sets point P to the closest point within the range of (minimum side length from vertex) / 2 and within the range of (threshold) / 2 from the side bisector. The threshold used for determining whether to omit a measurement point is set to, for example, 0.1m. The operation control unit 21 omits a point if the distance between measurement points is less than or equal to the threshold. If the operation control unit 21 cannot find a point that satisfies the above conditions, it assumes that the start point and end point are far apart, and therefore sets the start point to point P.

[0153] Furthermore, in step 3, as shown in Figure 28D, if the point is a vertex between an edge of the curve and an edge of the straight line, the operation control unit 21 sets point P to the first point found within a range of (threshold) / 2 from the edge of the straight line. This method can correspond to the trajectory of the curve shown in Figure 29.

[0154] As described above, the operation control unit 21 identifies point P (the endpoints) and generates a curved path for one side based on the travel trajectory (measurement point) between point P. Once the operation control unit 21 generates the curved path, it replaces the selected side (see Figure 27B) with a curve and displays it, as shown in Figure 30.

[0155] Furthermore, the operation control unit 21 can generate a single curved path based on a partial straight line connecting a plurality of measurement points located between points P1, using the method shown in the above-described embodiment (Figures 6 to 10). That is, the curved path is generated by connecting straight paths of a predetermined length. The operation control unit 21 may also set the curved path as the first reference line Ra.

[0156] Next, other methods for generating the first reference line Ra will be described. Specifically, the operation control unit 21 generates the first reference line Ra based on at least one of the following conditions: path length, azimuth deviation between adjacent paths, and deviation (distance) between the measurement point and the path. For example, the operation control unit 21 generates a partial straight line such that the path length is greater than or equal to a first predetermined length (e.g., 1 m) (first condition). The operation control unit 21 also generates a partial straight line such that the path length is less than a second predetermined length (e.g., 5 m) (second condition). Furthermore, the operation control unit 21 generates a partial straight line such that the azimuth deviation between adjacent paths is less than 3 degrees (the angle between adjacent paths is 177 degrees or more) (third condition). Furthermore, the operation control unit 21 generates a partial straight line such that the deviation between the measurement point and the path is less than 10 cm (fourth condition).

[0157] The operation control unit 21 may generate the first reference line Ra by setting the priority of the first to fourth conditions described above. For example, the operation control unit 21 may set the first condition to priority 1 and the second to fourth conditions to priority 2.

[0158] Figure 31A shows an example of a partial straight line that satisfies the first, second, and third conditions. In Figure 31A, θ represents the azimuth deviation between adjacent paths. Figure 31B shows an example of a partial straight line that satisfies the first, second, and fourth conditions. In Figure 31B, L1 to L4 represent the deviation between the measurement point and the path, respectively.

[0159] If a priority is set for the above conditions, there is a possibility that routes that do not satisfy the lower priority conditions may be generated. To prevent the generation of such unexpected routes, the operation control unit 21 may set error judgment conditions that classify unacceptable routes as errors. For example, the error judgment conditions may include "the azimuth deviation between adjacent routes is 10 degrees or more (the angle between adjacent routes is less than 170 degrees)" and "the deviation between the measurement point and the route is 30 cm or more". If the operation control unit 21 determines that an error has occurred because the error judgment conditions are met, it interrupts the generation of the curved route and displays a route generation error screen (not shown).

[0160] Furthermore, if the operator approves a route that has been determined to be an error on the route generation error screen, the operation control unit 21 may set that route as a curved route (first reference line Ra).

[0161] Furthermore, if the operator issues a route correction instruction on the route generation error screen, the operation control unit 21 may correct the route to one that no longer satisfies the error judgment conditions and regenerate the curved route. The operator may also be able to set in advance on the settings screen whether or not to perform the route correction process when a route generation error occurs.

[0162] Furthermore, when a route correction is performed, the operation control unit 21 may display the route before correction and the route after correction side by side, accept a selection operation from the operator, and set the selected route as the curved route (first reference line Ra).

[0163] When generating a target curved path in the headland area, the operation control unit 21 generates a target curved path (first reference line Ra) in the headland area of ​​the side selected by the operator (see Figure 27B). Specifically, the operation control unit 21 receives information from the operator such as field selection, work area selection, work vehicle selection, work equipment selection, work setting in the headland area, path generation mode selection (first path generation mode, second path generation mode (overlapping mode, non-overlapping mode)) (see Figure 18), and turning method setting, and generates a curved path (target path) in the headland area based on the information corresponding to each operation.

[0164] [Extension of the first reference line Ra] The operation control unit 21 may extend the generated first reference line Ra (curved path). Specifically, the operation control unit 21 generates a straight line (extension line) by extending the first straight path (partial straight) and the last straight path (partial straight) that constitute the first reference line Ra outwards. The length of the extension line is set to, for example, 1 km. The operation control unit 21 may also display the extended portion (extension line) in an identifiable manner. By extending the path, it becomes possible to automatically drive, for example, the work vehicle 10 to the field boundary (edge ​​of the field).

[0165] Figure 32 shows an example of a path extended from the first reference line Ra. For example, the operation control unit 21 sets an extended line Rs1, which is an extension of the first straight line Rs, and an extended line Rg1, which is an extension of the last straight line Rg, in the curved path (first reference line Ra) from the starting point Ps (the starting point of the first straight line Rs that constitutes the curved path (first reference line Ra)) to the ending point Pg (the ending point of the last straight line Rg that constitutes the curved path).

[0166] Furthermore, as shown in Figure 33, the operation control unit 21 generates the work path R1 by duplicating the generated curved path (first reference line Ra) in the left and right directions. At this time, extended paths (extended lines) may be excluded from the duplication. Specifically, the operation control unit 21 duplicates the curved path by translating each straight path (partial straight line) that constitutes the curved path at equal intervals in the vertical direction, similar to the method shown in Figures 10A to 10C. The distance to be translated is set based on the setting information of the work machine 14 (e.g., work width, overlap width, etc.). After duplicating (translating) the curved path, the operation control unit 21 may perform the above-described path extension process (see Figure 32) on each duplicated curved path. The number of paths to be duplicated may be set by the operator. For example, if the operator specifies 10 paths, the operation control unit 21 will duplicate a total of 20 curved paths: 10 to the left of the first reference line Ra and 10 to the right.

[0167] Furthermore, as shown in Figure 34A, the operation control unit 21 may extend the work path R1, which has been duplicated (generated) based on the first reference line Ra, and display it on the operation screen. Each work path R1 is composed of multiple straight paths (partial straight lines), but the operation control unit 21 displays it as a single curved path on the operation screen. The operation control unit 21 may also display the extension line in an identifiable manner, omit the display of the extension line, or switch the display / hide of the extension line according to the operator's operation. In Figure 34A, the extension line is represented by a dotted line.

[0168] Furthermore, the operation control unit 21 may search for a work path R1 that can be started automatically (path search) and display the searched work path R1 in an identifiable manner. Specifically, the operation control unit 21 searches for one or more work paths R1 that are included in a range in a predetermined direction from the current position of the work vehicle 10 and highlights the work paths R1 included in that range. Figure 34B shows the operation screen with three work paths R1 included in the range highlighted.

[0169] Furthermore, as shown in Figure 34C, the operation control unit 21 may highlight a work route R1 that is the target of the automatic travel route once it has been determined. The operation control unit 21 may also highlight the single work route R1 while the vehicle is traveling automatically.

[0170] [How to display work path R1] The operation control unit 21 may display the work path R1 (target path) on the operation screen aligned with the outer edge of field F. For example, as shown in Figure 35A, the operation control unit 21 may display each work path R1 as a single curved path, and may also display each work path R1 only inside field F, and not outside field F. Specifically, as shown in Figure 35A, the operation control unit 21 does not display the start and end portions of each work path R1 (see Figure 34A), including extensions, that are located outside field F, and only displays the portion located inside field F. The operation control unit 21 may also extend and display straight paths outside field F (paths shown by dotted lines in Figure 35A).

[0171] Furthermore, as shown in Figure 35B, the operation control unit 21 may display a predetermined number of work routes R1 in the headland area, and display some of the work routes R1 outside the field F. For example, the operation control unit 21 may display eight work routes R1 in the headland area, displaying six of them inside the field F and the remaining two outside the field F. The operation control unit 21 may also display a number of work routes R1 set by the operator both inside and outside the field F.

[0172] Furthermore, as shown in Figure 35C, the operation control unit 21 may lock (fix to the target route for automatic driving start) a curved edge (first reference line Ra) among the outer edges of the field F. Figure 35C shows the state in which a curved edge is locked. For example, when an operator taps a curved edge on the operation screen, the operation control unit 21 locks that curved edge. Alternatively, for example, when the work vehicle 10 is facing the same or a similar direction as the curved work path R1, the operation control unit 21 may lock the curved edge when the operator taps the lock icon on the operation screen. In another embodiment, if no edges are locked, the operation control unit 21 may display (highlight) the path of the edge closest to the current direction of the work vehicle 10 in an identifiable manner.

[0173] In each of the embodiments described above, the automated driving 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.

[0174] [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.

[0175] <Note 1> A path generation method for generating a target path for an automated work vehicle to travel within a work area, One or more processors A path generation method that sets either a first path generation mode in which the target path is generated based on a first reference line that serves as a reference when generating the target path, or a second path generation mode in which the target path is generated based on the first reference line and a second reference line that has a different shape or orientation from the first reference line.

[0176] <Note 2> In the first route generation mode, the shape or orientation of all routes included in the target route is set based on the shape or orientation of the first reference line. In the second path generation mode, the shape or orientation of the first path included in the target path is set based on the shape or orientation of the first reference line, and the shape or orientation of the second path included in the target path is set based on the shape or orientation of the second reference line. Route generation method as described in Appendix 1.

[0177] <Note 3> In the second path generation mode, the shapes or orientations of the multiple paths included in the target path are set such that they approach the shape or orientation of the second reference line from the shape or orientation of the first reference line as the arrangement direction of the multiple paths progresses. Route generation method as described in Appendix 1 or 2.

[0178] <Note 4> A selection screen is displayed that allows the user to choose either the first route generation mode or the second route generation mode. Route generation method as described in any of the appendices 1 to 3.

[0179] <Note 5> The second path generation mode includes an overlapping mode in which the target path is generated by overlapping a portion of the working width of adjacent paths included in the target path, and a non-overlapping mode in which the target path is generated without overlapping the working widths of adjacent paths included in the target path. Route generation method as described in any of Appendix 1 to 4.

[0180] <Note 6> A selection screen is displayed that allows the user to choose one of the following modes: the first route generation mode, the overlap mode, or the non-overlap mode. Route generation method as described in Appendix 5.

[0181] <Note 7> In the selection screen, the mode corresponding to the work machine or work content among the first route generation mode, the overlap mode, and the non-overlap mode is displayed in an identifiable manner. Route generation method as described in Appendix 6.

[0182] <Note 8> A selection screen is displayed that allows the user to choose between a curved mode, which generates the target path based on a first reference line including a curved portion, and a straight mode, which generates the target path based on a first reference line that is a straight line and does not include a curved portion. A route generation method described in any of the appendices 1 to 7.

[0183] <Note 9> In the curve mode and the second path generation mode, the shapes of the multiple paths included in the target path are set such that they approach from curves to straight lines or from straight lines to curves as they move in the direction of the arrangement of the multiple paths. In the curve mode and the first path generation mode, the shape of each of the multiple paths included in the target path is set to a curve shape. Route generation method as described in Appendix 8.

[0184] <Note 10> In the linear mode and the second path generation mode, the orientations of the multiple paths included in the target path are set to move from being parallel to the first reference line to being parallel to the second reference line as you move in the direction of the arrangement of the multiple paths. In the linear mode and the first path generation mode, the orientation of each of the multiple paths included in the target path is set to be parallel to the first reference line. Route generation method as described in Appendix 8 or 9.

[0185] <Note 11> A path generation program that generates a target path for an automated work vehicle to travel within a work area, A path generation program that causes one or more processors to set either a first path generation mode, which generates the target path based on a first reference line that serves as a criterion when generating the target path, or a second path generation mode, which generates the target path based on the first reference line and a second reference line that has a different shape or orientation from the first reference line.

[0186] <Note 12> A route generation system that generates a target route for an automated work vehicle to travel within a work area, A path generation system that sets either a first path generation mode in which the target path is generated based on a first reference line that serves as a reference when generating the target path, or a second path generation mode in which the target path is generated based on the first reference line and a second reference line that has a different shape or orientation from the first reference line. [Explanation of Symbols]

[0187] 1: Automated driving system 10: Work vehicles 11: Vehicle control system 14: Work Machines 16: Positioning Unit 20: Operating terminal 21: Operation Control Unit 111: Driving section 211: Registration Processing Unit 212: Configuration Processing Unit 213: Generation Processing Unit 214: Output Processing Unit F: Field (work area) R1: Work path (target path) Ra: 1st reference line Rb: Second reference line D1: Menu screen D2: Reference line selection screen D3: Work equipment selection screen D4: Route creation method selection screen D41: Route creation method selection screen D42: Route creation method selection screen D5: Work area registration screen

Claims

1. A path generation method for generating a target path for an automated work vehicle to travel within a work area, A path generation method that sets either a first path generation mode in which the target path is generated based on a first reference line that serves as a reference when generating the target path, or a second path generation mode in which the target path is generated based on the first reference line and a second reference line that has a different shape or orientation from the first reference line.

2. In the first route generation mode, the shape or orientation of all routes included in the target route is set based on the shape or orientation of the first reference line. In the second path generation mode, the shape or orientation of the first path included in the target path is set based on the shape or orientation of the first reference line, and the shape or orientation of the second path included in the target path is set based on the shape or orientation of the second reference line. The route generation method according to claim 1.

3. In the second path generation mode, the shapes or orientations of the multiple paths included in the target path are set such that they approach the shape or orientation of the second reference line from the shape or orientation of the first reference line as the arrangement direction of the multiple paths progresses. The route generation method according to claim 1.

4. A selection screen is displayed that allows the user to choose either the first route generation mode or the second route generation mode. The route generation method according to claim 1.

5. The second path generation mode includes an overlapping mode in which the work widths of adjacent paths included in the target path overlap with each other to generate the target path, and a non-overlapping mode in which the work widths of adjacent paths included in the target path do not overlap with each other to generate the target path. The route generation method according to claim 1.

6. A selection screen is displayed that allows the user to choose one of the following modes: the first route generation mode, the overlap mode, or the non-overlap mode. The route generation method according to claim 5.

7. In the selection screen, the mode corresponding to the work machine or work content is displayed in an identifiable manner from among the first route generation mode, the overlap mode, and the non-overlap mode. The route generation method according to claim 6.

8. A selection screen is displayed that allows the user to choose between a curved mode, which generates the target path based on a first reference line including a curved portion, and a straight mode, which generates the target path based on a first reference line that is a straight line and does not include a curved portion. The route generation method according to claim 1.

9. In the curve mode and the second path generation mode, the shapes of the multiple paths included in the target path are set such that they approach curves from straight lines or straight lines from curves as they move in the direction of the arrangement of the multiple paths. In the curve mode and the first path generation mode, the shape of each of the multiple paths included in the target path is set to a curve shape. The route generation method according to claim 8.

10. In the linear mode and the second path generation mode, the orientations of the multiple paths included in the target path are set to move from being parallel to the first reference line to being parallel to the second reference line as the arrangement direction of the multiple paths progresses. In the linear mode and the first path generation mode, the orientation of each of the multiple paths included in the target path is set to be parallel to the first reference line. The route generation method according to claim 8.

11. A path generation program that generates a target path for an automated work vehicle to travel within a work area, A path generation program that causes one or more processors to set either a first path generation mode, which generates the target path based on a first reference line that serves as a criterion when generating the target path, or a second path generation mode, which generates the target path based on the first reference line and a second reference line that has a different shape or orientation from the first reference line.

12. A route generation system that generates a target route for an automated work vehicle to travel within a work area, A path generation system that sets either a first path generation mode in which the target path is generated based on a first reference line that serves as a reference when generating the target path, or a second path generation mode in which the target path is generated based on the first reference line and a second reference line that has a different shape or orientation from the first reference line.

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