Route generation method, route generation device, and route generation program

Abstract

To provide a path generation method, a path generation device and a path generation program with which it is possible to properly generate a target path in a farm field where a sufficient gyration area cannot be secured.SOLUTION: The path generation method executes: generating a plurality of work paths R1 in a work area F1 where crop V is arranged, in which a work vehicle 10 travels straight in a first direction Da which is the direction in which the work vehicle 10 travels; generating a movement path R3 in a headland area Fa adjacent to the work area F1 in the first direction Da out of a non-work area which is in the periphery of the work area F1 and where crop V is not arranged, the movement path R3 including a straight path R3b where the work vehicle 10 is traveled straight; and generating a movement path R4 which is a single path continuous to the movement path R3 and which guides the work vehicle 10 to each of the plurality of work paths R1.SELECTED DRAWING: Figure 11

Description

[Technical field]

[0001] The present invention relates to a route generation method, a route generation device, and a route generation program for generating a target route for a traveling vehicle that automatically travels in a traveling area. [Background technology]

[0002] There is known a work vehicle that travels autonomously while spraying a chemical solution on crops planted in a work area such as a field or farm (see, for example, Patent Document 1). For example, the work vehicle travels autonomously according to a target route that is generated in advance based on information such as the shape of the field, the position of the crops, and the type of work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-000021 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, in the case of a field with a narrow headland area, the work vehicle may not be able to turn appropriately when moving between crop rows. For example, in a field where the headland area is narrow and a sufficient turning area cannot be secured, when the work vehicle turns (e.g., turns 180 degrees) in the headland area to finish working on a first crop row and enter the next, second crop row, the work vehicle may deviate from the field. With conventional technology, it is difficult to generate an appropriate target route for such a field.

[0005] An object of the present invention is to provide a route generating method, a route generating device, and a route generating program that are capable of appropriately generating a target route in a farm field where a sufficient turning area cannot be secured. [Means for solving the problem]

[0006] The path generation method of the present invention is a method of generating multiple work paths in a work area where a work object is located, which causes the work vehicle to travel straight in a first direction, which is the traveling direction of the work vehicle; generating a first movement path in a first non-work area that is adjacent to the work area in the first direction among non-work areas surrounding the work area where the work object is not located, which is a path that continues from the work paths and includes a straight path that causes the work vehicle to travel straight; and generating a second movement path that is a single path that continues from the first movement path and leads the work vehicle to each of the multiple work paths.

[0007] The path generation device according to the present invention includes a path generation processing unit. The path generation processing unit generates a plurality of work paths for causing the work vehicle to travel straight in a first direction, which is a travel direction of the work vehicle, in a work area in which a work object is placed. The path generation processing unit also generates a first movement path that continues the work path and includes a straight path for causing the work vehicle to travel straight in a first non-work area that is adjacent to the work area in the first direction among non-work areas surrounding the work area in which the work object is not placed. The path generation processing unit also generates a second movement path that is a single path that continues the first movement path and leads the work vehicle to each of the plurality of work paths.

[0008] The path generation program of the present invention is a program for causing one or more processors to execute the following steps: generate multiple work paths in a work area where a work object is placed, for causing the work vehicle to travel straight in a first direction, which is the traveling direction of the work vehicle; generate a first movement path that continues from the work paths in a first non-work area that is adjacent to the work area in the first direction among non-work areas surrounding the work area where the work object is not placed, the first movement path including a straight path for causing the work vehicle to travel straight; and generate a second movement path that is a single path that continues from the first movement path and leads the work vehicle to each of the multiple work paths. Effect of the Invention

[0009] According to the present invention, it is possible to provide a route generation method, a route generation device, and a route generation program that are capable of appropriately generating a target route in a farm field where a sufficient turning area cannot be secured. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing the overall configuration of an automated driving system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing a configuration of an automatic driving system according to an embodiment of the present invention. [Diagram 3] FIG. 3 is an external view of the work vehicle according to the embodiment of the present invention, as viewed from the left front side. [Figure 4A] FIG. 4A is a left side external view of the work vehicle according to the embodiment of the present invention as viewed from the left side. [Figure 4B] FIG. 4B is an external view of the right side of the work vehicle according to the embodiment of the present invention as viewed from the right side. [Figure 4C] FIG. 4C is a rear external view of the work vehicle according to the embodiment of the present invention as viewed from the rear side. [Diagram 5] FIG. 5 is a diagram showing an example of a crop row according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a target route according to the first route generation mode according to the embodiment of the present invention. [Figure 7A] FIG. 7A is a diagram for explaining a method for generating a target route according to an embodiment of the present invention. [Figure 7B] FIG. 7B is a diagram for explaining a method for generating a target route according to an embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a farm field according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram for explaining conditions for switching the route generation mode according to the embodiment of the present invention. [Figure 10]FIG. 10 is a diagram showing an example of a target route according to the second route generation mode according to the embodiment of the present invention. [Figure 11] FIG. 11 is a flowchart showing an example of a procedure of an automatic driving process executed by the automatic driving system according to the embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing another example of a target route in the second route generation mode according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing another example of a target route in the second route generation mode according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0012] [Autonomous Driving System 1] 1 and 2, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10, an operation terminal 20, a base station 40, and a satellite 50. The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0013] In this embodiment, an example will be described in which the work vehicle 10 is a vehicle that performs spraying work to spray a chemical solution, water, etc. on a crop V (see FIG. 5) planted in a field F. The field F is, for example, an orchard such as a vineyard or an apple orchard. The crop V is, for example, grape trees. The spraying work is, for example, work to spray a chemical solution, water, or other such material on the crop V. In other embodiments, the work vehicle 10 may be a vehicle that performs weeding work, a vehicle that performs leaf cutting work, or a vehicle that performs harvesting work.

[0014] The crops V are arranged in multiple rows at predetermined intervals in the field F. Specifically, as shown in FIG. 5, the multiple crops V are planted linearly in a predetermined direction (direction D1), forming a crop row Vr including the multiple crops V arranged in a straight line. FIG. 5 illustrates three crop rows Vr. Each crop row Vr is arranged at a predetermined interval W1 in the row direction (direction D2). The area (space) of the interval W2 between adjacent crop rows Vr becomes a work passageway where the work vehicle 10 performs spraying work on the crops V while traveling in the direction D1.

[0015] The work vehicle 10 is also capable of automatic travel (autonomous travel) along a preset target route R. For example, as shown in FIG. 6, the work vehicle 10 automatically travels from a work start position S to a work end position G along a target route R including a work route R1 (work routes R1a to R1f) and a movement route R2. The work route R1 is a linear route along which the work vehicle 10 performs spraying work on the crop V, and the movement route R2 is a route along which the work vehicle 10 moves between the crop rows Vr without performing spraying work. The movement route R2 includes, for example, a turning route and a straight route. In the example shown in FIG. 6, a crop V consisting of crop rows Vr1 to Vr11 is arranged in a field F. In FIG. 6, the position where the crop V is planted (crop position) is represented by "Vp". Furthermore, the work vehicle 10 traveling in the field F in Fig. 6 has a vehicle body 100 having a gate-like shape (see Fig. 4C), and while traveling across one crop row Vr, sprays a chemical solution on the crops V in that crop row Vr and on the crop rows Vr adjacent to that crop row Vr. For example, as shown in Fig. 6, when the work vehicle 10 travels across a crop row Vr5, the left body (left side part 100L) of the work vehicle 10 travels on the work passage between the crop rows Vr4, Vr5, and the right body (right side part 100R) of the work vehicle 10 travels on the work passage between the crop rows Vr5, Vr6, and sprays a chemical solution on the crops V in the crop rows Vr4, Vr5, and Vr6.

[0016] The work vehicle 10 also travels automatically in a predetermined row order. For example, the work vehicle 10 travels across the crop row Vr1, then across the crop row Vr3, and then across the crop row Vr5. In this way, the work vehicle 10 travels automatically according to a preset order of the crop rows Vr. The work vehicle 10 may travel every other row in the order of the crop rows Vr, or every several rows.

[0017] The satellite 50 is a positioning satellite that constitutes a satellite positioning system such as the Global Navigation Satellite System (GNSS), and transmits a GNSS signal (satellite signal). The base station 40 is a reference point (reference station) that constitutes the satellite positioning system. The base station 40 transmits correction information to the work vehicle 10 for calculating the current position of the work vehicle 10.

[0018] The positioning device 16 mounted on the work vehicle 10 executes positioning processing to calculate the current position (latitude, longitude, altitude) and current direction of the work vehicle 10 using the GNSS signal transmitted from the satellite 50. Specifically, the positioning device 16 locates the position of the work vehicle 10 using an RTK (Real Time Kinematic) method or the like that locates the position of the work vehicle 10 based on positioning information (GNSS signals, etc.) received by two receivers (antenna 164 and base station 40) and correction information generated by the base station 40. The positioning method is a well-known technology, so a detailed description will be omitted.

[0019] Hereinafter, each of the components constituting the automated driving system 1 will be described in detail.

[0020] [Work vehicle 10] Fig. 3 is an external view of the work vehicle 10 as viewed from the left front side. Fig. 4A is an external view of the left side of the work vehicle 10 as viewed from the left side, Fig. 4B is an external view of the right side of the work vehicle 10 as viewed from the right side, and Fig. 4C is an external view of the rear of the work vehicle 10 as viewed from the rear side.

[0021] 1 to 4, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a spraying device 14, a communication unit 15, a positioning device 16, an obstacle detection device 17, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the spraying device 14, the positioning device 16, the obstacle detection device 17, etc. The vehicle control device 11 and the positioning device 16 may be capable of wireless communication.

[0022] The communication unit 15 is a communication interface for connecting the work vehicle 10 to the communication network N1 by wire or wirelessly, and for executing data communication in accordance with a predetermined communication protocol with external devices such as the operation terminal 20 via the communication network N1.

[0023] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various information. The storage unit 12 stores a control program such as an automatic driving program for causing the vehicle control device 11 to execute an automatic driving process (see FIG. 11) described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program 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 route data including information on a target route R generated in the operation terminal 20. For example, the route data is transferred from the operation terminal 20 to the work vehicle 10 and stored in the storage unit 12.

[0024] Here, the work vehicle 10 is equipped with a gate-shaped vehicle body 100 that travels across crops V (fruit trees) planted in multiple rows in a farm field F. As shown in Fig. 4C, the vehicle body 100 is formed in a gate shape with a left side part 100L, a right side part 100R, and a connection part 100C that connects the left side part 100L and the right side part 100R, and a space 100S that allows the crops V to pass through is secured inside the left side part 100L, the right side part 100R, and the connection part 100C.

[0025] A crawler 101 is provided at the lower end of each of the left side 100L and right side 100R of the vehicle body 100. An engine (not shown), a battery (not shown), etc. are provided on the left side 100L. A storage tank 14A (see FIG. 4B) of the spraying device 14 and the like are provided on the right side 100R. In this way, by distributing and arranging the components on the left side 100L and right side 100R of the vehicle body 100, the work vehicle 10 is balanced left and right and has a low center of gravity. As a result, the work vehicle 10 can travel stably on slopes of the field F.

[0026] The traveling device 13 is a drive unit that drives the work vehicle 10. The traveling device 13 includes an engine, crawlers 101, and the like.

[0027] The left and right crawlers 101 are driven by power from the engine in a state where independent speed changes are possible by a hydrostatic continuously variable transmission. As a result, the vehicle body 100 is in a forward state moving straight forward in the forward direction when the left and right crawlers 101 are driven at a constant speed in the forward direction, and in a reverse state moving straight backward in the reverse direction when the left and right crawlers 101 are driven at a constant speed in the reverse direction. The vehicle body 100 is in a forward turning state where it turns while moving forward when the left and right crawlers 101 are driven at unequal speeds in the forward direction, and in a reverse turning state where it turns while moving backward when the left and right crawlers 101 are driven at unequal speeds in the reverse direction. The vehicle body 100 is in a pivot turning state when one of the left and right crawlers 101 is stopped and the other crawler 101 is driven, and in a spin turning state when the left and right crawlers 101 are driven at a constant speed in the forward direction and the reverse direction. Furthermore, the vehicle body 100 comes to a stop moving state by stopping the driving of the left and right crawlers 101. The left and right crawlers 101 may be configured as an electrically driven type driven by an electric motor.

[0028] As shown in FIG. 4C, the spraying device 14 includes a storage tank 14A for storing the chemical solution etc., a spraying pump (not shown) for pressurizing the chemical solution etc., an electric spraying motor (not shown) for driving the spraying pump, spraying pipes 14B arranged in parallel, two on each side, in a vertical position on the back of the vehicle body 100, a total of 12 spraying nozzles 14C, three on each spraying pipe 14B, an electronically controlled valve unit (not shown) for changing the amount and spraying pattern of the chemical solution etc., and a plurality of spraying pipes (not shown) connecting these together.

[0029] Each spray nozzle 14C is attached to the corresponding spray pipe 14B so that its position can be changed in the up-down direction. This allows each spray nozzle 14C to change the interval between adjacent spray nozzles 14C and its height position relative to the spray pipe 14B depending on the object to be sprayed (crop V). Also, each spray nozzle 14C is attached so that its height position and left-right position relative to the vehicle body 100 can be changed depending on the object to be sprayed.

[0030] In the spraying device 14, the number of spray nozzles 14C provided on each spray pipe 14B can be changed in various ways depending on the type of crop V, the length of each spray pipe 14B, and the like.

[0031] As shown in FIG. 4C, among the multiple spray nozzles 14C, the three spray nozzles 14C provided on the leftmost spray pipe 14B spray the chemical solution to the left toward the crop Va located on the left outer side of the vehicle body 100. Among the multiple spray nozzles 14C, the three spray nozzles 14C provided on the left inner spray pipe 14B adjacent to the leftmost spray pipe 14B spray the chemical solution to the right toward the crop Vb located in the space 100S in the center of the left and right of the vehicle body 100. Among the multiple spray nozzles 14C, the three spray nozzles 14C provided on the rightmost spray pipe 14B spray the chemical solution to the right toward the crop Vc located on the right outer side of the vehicle body 100. Of the multiple spray nozzles 14C, the three spray nozzles 14C provided on the right inner spray pipe 14B adjacent to the rightmost spray pipe 14B spray the chemical solution leftward toward the crop Vb located in the space 100S.

[0032] With the above-mentioned configuration, in the spraying device 14, the two spraying pipes 14B and six spraying nozzles 14C provided on the left side 100L of the vehicle body 100 function as the left spraying section 14L. Also, the two spraying pipes 14B and six spraying nozzles 14C provided on the right side 100R of the vehicle body 100 function as the right spraying section 14R. The left and right spraying sections 14L, 14R are arranged at the rear of the vehicle body 100 with a left-right interval between them that allows the crop Vb to pass through (space 100S) while spraying in the left and right directions.

[0033] In the spraying device 14, the spraying patterns produced by the spraying sections 14L, 14R include a four-way spraying pattern in which each of the spraying sections 14L, 14R sprays the chemical solution in both the left and right directions, and a directional limited spraying pattern in which the spraying direction by the spraying sections 14L, 14R is limited. The direction-limited spray patterns include a left side three-way spray pattern in which spraying part 14L sprays the chemical liquid in both the left and right directions and spraying part 14R sprays the chemical liquid only in the left direction; a right side three-way spray pattern in which spraying part 14L sprays the chemical liquid only in the right direction and spraying part 14R sprays the chemical liquid in both the left and right directions; a two-way spray pattern in which spraying part 14L sprays the chemical liquid only in the right direction and spraying part 14R sprays the chemical liquid only in the left direction; a left side one-way spray pattern in which spraying part 14L sprays the chemical liquid only in the left direction and spraying part 14R does not spray the chemical liquid; and a right side one-way spray pattern in which spraying part 14R sprays the chemical liquid only in the right direction and spraying part 14L does not spray the chemical liquid.

[0034] The vehicle body 100 is equipped with an automatic travel control unit that automatically travels the vehicle body 100 along a target route R in the field F based on positioning information acquired from the positioning device 16, an engine control unit that controls the engine, an HST (Hydro-Static Transmission) control unit that controls the hydrostatic continuously variable transmission, and an implement control unit that controls the implements such as the spraying device 14. Each control unit is constructed by an electronic control unit equipped with a microcontroller, and various information and control programs stored in a non-volatile memory (for example, an EEPROM such as a flash memory) of the microcontroller. The various information stored in the non-volatile memory may include a target route R generated in advance. In this embodiment, each control unit is collectively referred to as a "vehicle control device 11" (see FIG. 2).

[0035] The positioning device 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and an antenna 164. The antennas 164 are provided in front and behind the ceiling (connection unit 100C) of the vehicle body 100 (see FIG. 3). Also, the ceiling of the vehicle body 100 is provided with indicator lights 102 that display the traveling state of the work vehicle 10 (see FIG. 3). The battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine is stopped.

[0036] The communication unit 163 is a communication interface for connecting the positioning device 16 to the communication network N1 in a wired or wireless manner and for executing data communication with an external device such as the base station 40 via the communication network N1 in accordance with a predetermined communication protocol.

[0037] The antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites. Since the antennas 164 are provided at the front and rear of the work vehicle 10, the current position and current orientation of the work vehicle 10 can be determined with high accuracy.

[0038] The positioning control unit 161 is a computer system including one or more processors, and storage memories such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores a control program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. The positioning control unit 161 measures the current position and current orientation of the work vehicle 10 using a predetermined positioning method (such as the RTK method) based on the GNSS signal received by the antenna 164 from the satellite 50.

[0039] The obstacle detection device 17 includes a lidar sensor 171L provided on the front left side of the vehicle body 100, and a lidar sensor 171R provided on the front right side of the vehicle body 100 (see FIG. 3). Each lidar sensor measures the distance from the lidar sensor to each ranging point (measurement object) within the measurement range, for example, by a Time Of Flight (TOF) method that measures the distance to a ranging point based on the round-trip time it takes for laser light emitted by the lidar sensor to reach the ranging point and return.

[0040] The measurement range of the lidar sensor 171L is set to a predetermined range on the front left side of the vehicle body 100, and the measurement range of the lidar sensor 171R is set to a predetermined range on the front right side of the vehicle body 100. Each lidar sensor transmits measurement information such as the measured distance to each ranging point and the scanning angle (coordinates) for each ranging point to the vehicle control device 11.

[0041] The obstacle detection device 17 also includes left and right ultrasonic sensors 172F (see FIG. 3) provided on the front side of the vehicle body 100, and left and right ultrasonic sensors 172R (see FIGS. 4A to 4C) provided on the rear side of the vehicle body 100. Each ultrasonic sensor measures the distance from the ultrasonic sensor to the ranging point using a TOF method that measures the distance to the ranging point based on the round-trip time it takes for ultrasonic waves emitted by the ultrasonic sensor to reach the ranging point and return.

[0042] The front left ultrasonic sensor 172F has a measurement range set to a predetermined range on the front left side of the vehicle body 100, the front right ultrasonic sensor 172F has a measurement range set to a predetermined range on the front right side of the vehicle body 100, the rear left ultrasonic sensor 172R has a measurement range set to a predetermined range on the rear left side of the vehicle body 100, and the rear right ultrasonic sensor 172R has a measurement range set to a predetermined range on the rear right side of the vehicle body 100. Each ultrasonic sensor transmits measurement information including the measured distance to the measurement object and the direction of the measurement object to the vehicle control device 11.

[0043] The obstacle detection device 17 also includes left and right contact sensors 173F (see FIG. 3) provided on the front side of the vehicle body 100, and left and right contact sensors 173R (see FIGS. 4A and 4B) provided on the rear side of the vehicle body 100. The contact sensor 173F on the front side of the vehicle body 100 detects an obstacle when the obstacle comes into contact with the contact sensor 173F. The spraying device 14 is provided in front of the contact sensor 173R on the rear side of the vehicle body 100 (the rear side of the work vehicle 10), and when an obstacle comes into contact with the spraying device 14, the contact sensor 173R detects the obstacle by moving the spraying device 14 backward (the front side of the work vehicle 10). Each contact sensor transmits a detection signal to the vehicle control device 11 when it detects an obstacle.

[0044] The vehicle control device 11 executes an avoidance process for avoiding an obstacle when there is a possibility that the work vehicle 10 will collide with the obstacle, based on measurement information relating to the obstacle obtained from the obstacle detection device 17.

[0045] The vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (work area) for various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing, with the CPU, various control programs that are stored in advance in the ROM or the storage unit 12.

[0046] The vehicle control device 11 controls the traveling of the work vehicle 10. Specifically, the vehicle control device 11 automatically travels the work vehicle 10 along the target route R based on position information indicating the position of the work vehicle 10 measured by the positioning device 16. For example, when the positioning state becomes a state in which RTK positioning is possible and the operator presses the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the vehicle control device 11 acquires the work start instruction from the operation terminal 20, it starts the automatic traveling of the work vehicle 10 based on the position information indicating the position of the work vehicle 10 measured by the positioning device 16. As a result, the work vehicle 10 starts automatic traveling along the target route R, and starts the spraying work by the spraying device 14 in the work passage.

[0047] Furthermore, the vehicle control device 11 stops the automatic traveling of the work vehicle 10 when it receives a traveling stop instruction from the operation terminal 20. For example, when the operator presses the stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs the traveling stop instruction to the work vehicle 10. When the vehicle control device 11 receives the traveling stop instruction from the operation terminal 20, it stops the automatic traveling of the work vehicle 10. As a result, the work vehicle 10 stops the automatic traveling and the spraying work by the spraying device 14 stops.

[0048] With the above configuration, the work vehicle 10 can be automatically driven along the target route R with high accuracy, and the spraying device 14 can properly spray a chemical solution or the like.

[0049] The above-mentioned configuration of the work vehicle 10 is one example of the configuration of the work vehicle of the present invention, and the present invention is not limited to the above-mentioned configuration. The above-mentioned work vehicle 10 is a vehicle that can perform a spraying operation of spraying a spraying material on the first crop row Vr and the second crop rows Vr on the left and right sides of the first crop row Vr while traveling across the first crop row Vr. As another embodiment, the work vehicle 10 may have a normal shape in which the vehicle body 100 does not have a gate-shaped shape, but the entire vehicle body 100 travels between the crop rows Vr (work passage). In this case, the work vehicle 10 automatically travels through each work passage in order without straddling the crop rows Vr. In addition, the spraying device 14 has one spraying unit, and performs a spraying operation by switching between a spraying pattern in which the chemical solution is sprayed in both the left and right directions, a spraying pattern in which the chemical solution is sprayed only in the left direction, and a spraying pattern in which the chemical solution is sprayed only in the right direction.

[0050] [Operation terminal 20] 2, the operation terminal 20 is an information processing device including a control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone. The operation terminal 20 is an example of a route generation device of the present invention.

[0051] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the communication network N1 via a wired or wireless connection, and for performing data communication in accordance with a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0052] The operation display unit 23 is a user interface equipped with 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, a mouse, or a keyboard that accepts operations. The operator can operate the operation unit to register various information (such as work vehicle information, field information, and work information described below) on the operation screen displayed on the display unit. The operator can also operate the operation unit to give instructions to the work vehicle 10 to start work and stop traveling. Furthermore, the operator can grasp the traveling state, work situation, and surrounding situation of the work vehicle 10 that automatically travels in the field F according to the target route R from the traveling trajectory and the surrounding image of the vehicle body 100 displayed on the operation terminal 20 at a location away from the work vehicle 10.

[0053] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 22 stores control programs such as an automatic driving program (route generation program) for causing the control unit 21 to execute an automatic driving process (see FIG. 11) including a route generation process described below. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The automatic driving program may be downloaded from a server (not shown) to the operation terminal 20 via a communication network N1 and stored in the storage unit 22.

[0054] The control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The control unit 21 controls the operation terminal 20 by executing, by the CPU, various control programs stored in advance in the ROM or the storage unit 22.

[0055] However, in the case of a field F with a narrow headland area, the work vehicle 10 may not be able to turn appropriately when moving through the crop row Vr. For example, as shown in FIG. 8, in a field F where the headland area Fa is narrow and a sufficient turning area cannot be secured, when the work vehicle 10 turns (e.g., turns 180 degrees) in the headland area Fa to enter the next crop row, after finishing work on the first crop row, the work vehicle 10 may deviate from the field. With conventional technology, it is difficult to generate an appropriate target route R for such a field F. In contrast, with the operation terminal 20 according to this embodiment, it is possible to generate an appropriate target route R in a field F where a sufficient turning area cannot be secured.

[0056] 8, the symbol F1 indicates the work area where the crops V are planted, the symbols Fa and Fc indicate the headland area (turning area) where the work vehicle 10 turns, and the symbol Fb indicates the movement area for the work vehicle 10 to move. The headland areas Fa and Fc and the movement area Fb are areas surrounding the work area F1, and are included in the non-work area where the crops V are not planted.

[0057] Specifically, as shown in Fig. 2, the control unit 21 includes various processing units such as a setting processing unit 211, a route generation processing unit 212, and an output processing unit 213. The control unit 21 functions as the various processing units by executing various processes according to the control program with the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units.

[0058] The setting processing unit 211 sets and registers information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the field F (hereinafter referred to as field information), and information about work (here, spraying work) (hereinafter referred to as work information).

[0059] In the process of setting the work vehicle information, the setting processing unit 211 sets information such as the model of the work vehicle 10, the position where the antenna 164 is attached on the work vehicle 10, the type of work implement (here, the spraying device 14), the size and shape of the work implement, the position of the work implement relative to the work vehicle 10, the vehicle speed and engine RPM of the work vehicle 10 while working, and the vehicle speed and engine RPM of the work vehicle 10 while turning, by the operator performing an operation to register the information on the operation terminal 20. In this embodiment, information related to the spraying device 14 is set as the information on the work implement.

[0060] In the field information setting process, the setting processing unit 211 sets information such as the position and shape of the field F, the work start position S where work begins and the work end position G where work ends (see FIG. 6), the work direction, etc., by the operator performing an operation to register the information on the operation terminal 20. Note that the work direction means the direction in which the work vehicle 10 travels while performing spraying work with the spraying device 14 in the work area F1, which is the area of ​​the field F excluding non-work areas such as the headland area Fa.

[0061] Information on the position and shape of the field F can be automatically acquired, for example, by an operator manually driving the work vehicle 10 around the perimeter of the field F and recording the transition of the position information of the antenna 164 at that time. The position and shape of the field F can also be acquired based on a polygon obtained by the operator operating the operation terminal 20 while a map is displayed on the map and specifying multiple points on the map. The area specified by the acquired position and shape of the field F is the area in which the work vehicle 10 can be driven (travel area).

[0062] In the process of setting the work information, the setting processing unit 211 is configured to be able to set, as work information, the skip number, which is the number of work routes that the work vehicle 10 skips when turning on the headland, the width of the headland, etc.

[0063] The route generation processing unit 212 generates a target route R, which is a route along which the work vehicle 10 will automatically travel, based on each of the setting information. The target route R is, for example, a route from a work start position S to a work end position G. The route generation processing unit 212 generates the target route R in a first route generation mode in the case of a field F in which a sufficient turning area can be secured, and generates the target route R in a second route generation mode in the case of a field F in which a sufficient turning area cannot be secured. That is, the route generation processing unit 212 sets the route generation mode for generating the target route R to the first route generation mode or the second route generation mode based on the shape of the field F, and executes route generation processing to generate the target route R. The route generation processing unit 212 is an example of a route generation processing unit of the present invention.

[0064] Here, an example of a method for generating a target route R (see Fig. 6) in the first route generation mode will be described. The target route R shown in Fig. 6 includes a linear work route R1 for spraying a chemical solution on the crops V in an area where the crops V are planted (work area F1), and a movement route R2 for moving between the crop rows Vr without performing spraying in an area where the crops V are not planted (headland area Fa).

[0065] 7A and 7B show an overview of a method for generating a target route R in the first route generation mode. FIG. 7A shows a schematic diagram of a crop row Vr. First, an operator manually drives the work vehicle 10 along the outer periphery of the crop row Vr (see FIG. 7A). The work vehicle 10 detects an end point E1 on one side (lower side of FIG. 7A) and an end point E2 on the other side (upper side of FIG. 7A) of each crop row Vr while driving, and acquires position information (coordinates) of each end point E1, E2. The end points E1, E2 may be the positions of crops V that have already been planted, or may be the positions of targets indicating the positions of crops V to be planted in the future. When the route generation processing unit 212 acquires the position information (coordinates) of each end point E1, E2 from the work vehicle 10, it sets a line L1 (see FIG. 7B) connecting the corresponding end points E1, E2 to the work route R1 of the crop row Vr, and generates a target route R including a plurality of work routes R1 and a movement route R2 (turning route). Furthermore, the route generation processing unit 212 generates a target route R along which the work vehicle 10 travels back and forth along a plurality of work routes R1 in the work area F1 and turns 180 degrees in the headland area Fa. The route generation processing unit 212 may store the generated target route R in the storage unit 22.

[0066] Next, an example of a method for generating a target route R in the second route generation mode will be described using the field F shown in Fig. 8 as an example. Here, the route generation processing unit 212 generates the target route R in the second route generation mode when information relating to the field F and the work vehicle 10 satisfies a predetermined condition. Specifically, the route generation processing unit 212 generates the target route R in the second route generation mode when the following conditional expression is satisfied: D<1.5L+W / 2+r

[0067] FIG. 9 shows a schematic diagram of the relationship between the work vehicle 10 and the headland area Fa. FIG. 9 shows the work vehicle 10 completing work on the work path Rx (first crop row Vr) and turning around the turning path Ra in the headland area Fa to move to the next work path Ry (second crop row Vr). In the above conditional formula, "D" indicates the width of the headland area Fa, "L" indicates the overall length of the work vehicle 10, "W" indicates the lateral width of the work vehicle 10, and "r" indicates the turning radius of the work vehicle 10. The turning start position of the work vehicle 10 is set to a position half the length (0.5L) of the overall length of the work vehicle 10 from the end point E2 (end point) of the crop row Vr.

[0068] If the conditional expression is satisfied, the work vehicle 10 cannot perform a 180-degree turn in the headland area Fa, and there is a risk of it straying outside the field. Therefore, if the conditional expression is satisfied, the route generation processing unit 212 generates a target route R in the second route generation mode. That is, if the conditional expression is not satisfied, the route generation processing unit 212 generates a target route R (see FIG. 6) in the first route generation mode, and if the conditional expression is satisfied, generates a target route R (see FIG. 10) in the second route generation mode.

[0069] 10 shows an example of a target route R in the second route generation mode. The route generation processing unit 212 accepts an operation from the operator on the operation screen to specify a work start position S and a work end position G, and sets the work start position S and the work end position G based on the operation.

[0070] Furthermore, the path generation processing unit 212 generates multiple work paths R1 (work paths R1a to R1f in FIG. 10) that cause the work vehicle 10 to travel straight in the first direction Da, which is the traveling direction of the work vehicle 10, in the work area F1. Note that the path generation processing unit 212 generates multiple work paths R1 in one direction (first direction Da) by lines connecting the end points E1, E2 of each crop row Vr, similar to the method of generating the work path R1 of the target path R in the first path generation mode (see FIGS. 7A and 7B).

[0071] Furthermore, the path generation processing unit 212 generates a movement path R3 (corresponding to the first movement path of the present invention) continuing from the work path R1 in a headland area Fa (corresponding to the first non-work area of ​​the present invention) adjacent to the work area F1 in the first direction Da among non-work areas surrounding the work area F1 where crops V are not placed. The movement path R3 includes a turning path R3a that connects to the work path R1 and a straight path R3b that connects to the turning path R3a. Moreover, the straight path R3b extends in a direction inclined at a predetermined angle θ with respect to the first direction Da.

[0072] The path generation processing unit 212 also generates a movement path R4 (corresponding to the second movement path of the present invention) which is a single path continuing from the movement path R3 and leads the work vehicle 10 to each of the multiple work paths R1 (work paths R1a to R1f). The movement path R4 includes a turning path R4a which connects to the straight path R3b, and a straight path R4b which connects to the turning path R4a. The movement path R4 is also included in a movement area Fb (corresponding to the second non-working area of ​​the present invention), which is a non-working area adjacent to the working area F1 in a direction perpendicular to the first direction Da, among the non-working areas. The straight path R4b extends in a second direction Db which is opposite to the first direction Da.

[0073] The path generation processing unit 212 also generates a movement path R5 that is a path following the movement path R4 and connects to each of the multiple work paths R1 (work paths R1a to R1f). The movement path R5 includes a turning path R5a that connects to the straight path R4b, a straight path R5b that connects to the turning path R5a, and a turning path R5c that connects to the straight path R5b and the work path R1. The movement path R5 is also included in the headland area Fc, which is adjacent to the work area F1 in the second direction Db, among the non-working areas. The straight path R5b extends in a direction perpendicular to the first direction Da and the second direction Db. The headland area Fc shown in FIG. 10 may have a width that does not satisfy the above conditional expression.

[0074] The path generation processing unit 212 also sets the turning radius TR0 of the turning path R3a, the turning radius TR1 of the turning path R4a, the turning radius TR2 of the turning path R5a, and the turning radius TR3 of the turning path R5c. For example, the path generation processing unit 212 accepts an operation of selecting a turning radius from the operator on the operation screen (corresponding to a user operation of the present invention). Then, the path generation processing unit 212 sets the turning radius of each turning path based on the selection operation of the operator. Here, the angle θ between the working path R1 and the straight path R3b is greater than 90 degrees. In this case, the path generation processing unit 212 sets the turning radius TR0 of the turning path R3a to a value smaller than the turning radius TR1 of the turning path R4a, the turning radius TR2 of the turning path R5a, and the turning radius TR3 of the turning path R5c. That is, the path generation processing unit 212 causes the work vehicle 10 to turn by setting the turning radius to a small value in the headland area Fa where a sufficient turning area cannot be secured.

[0075] The method of setting the turning radii is not limited to the above configuration. In another embodiment, the path generation processing unit 212 may set each turning radii based on information such as the shape of the field F, the width of the turning area (headland area Fa), and the size and shape of the work vehicle 10. In other words, the path generation processing unit 212 may automatically set each turning radii without the intervention of the user operation.

[0076] In this way, the path generation processing unit 212 generates a target path R (see FIG. 10) including a work path R1 and movement paths R3, R4, and R5 for automatically driving the work vehicle 10 from the work start position S to the work end position G in the second path generation mode. The work vehicle 10 automatically drives along the generated target path R. That is, the work vehicle 10 travels in a circumnavigation of the field F by traveling in the first direction Da along the work paths R1a-R1f in order when traveling in the work area F1, and repeatedly traveling along the same movement path R4 (straight path R4b) when traveling in the movement area Fb. In this way, the work vehicle 10 travels in a circumnavigation of the field F by traveling in order along the work paths R1a-R1f as an outbound path, and traveling along the movement path R4 as a fixed return path.

[0077] In addition, the route generation processing unit 212 sets the travel speed of the work vehicle 10 traveling on the target route R. Specifically, the route generation processing unit 212 sets the travel speed of the work vehicle 10 traveling on the movement routes R3, R4, and R5 to a speed according to the length of the movement route. For example, the route generation processing unit 212 sets the travel speed faster as the length of the straight route included in the movement route is longer. For example, when the travel speed of the work route R1 is V1, the travel speed of the straight route R3b is V3, the travel speed of the straight route R4b is V4, and the travel speed of the straight route R5b is V5, the travel speeds V3, V4, and V5 are set faster than the travel speed V1. In addition, when the length of the straight route R4b is longer than the straight route R3b and the straight route R5b, the travel speed V4 is set faster than the travel speeds V3 and V5. This makes it possible to shorten the travel time compared to when the travel speeds along the movement routes R3, R4, and R5 are set to a uniform speed (the same speed), thereby improving work efficiency.

[0078] As described above, the route generation processing unit 212 generates a target route R in a first route generation mode when the field F does not satisfy the condition equation, and generates a target route R in a second route generation mode when at least a portion of the headland area of ​​the field F satisfies the condition equation.

[0079] The output processing unit 213 outputs route data including information on the target route R generated by the route generation processing unit 212 to the work vehicle 10. The output processing unit 213 may output the route data to a server (not shown). The server stores and manages the multiple route data acquired from each of the multiple operation terminals 20 in association with the operation terminals 20 and the work vehicle 10.

[0080] In addition to the above-mentioned processing, the control unit 21 executes processing for displaying various information on the operation display unit 23. For example, the control unit 21 causes the operation display unit 23 to display a registration screen for registering work vehicle information, field information, work information, etc., an operation screen for generating a target route R, an operation screen for causing the work vehicle 10 to start automatic traveling, a display screen for displaying the traveling state of the work vehicle 10, etc.

[0081] The control unit 21 also accepts various operations from the operator. Specifically, the control unit 21 accepts from the operator a work start instruction to cause the work vehicle 10 to start work, a travel stop instruction to cause the work vehicle 10 to stop traveling during automatic traveling, etc. When the control unit 21 accepts each of the instructions, it outputs each of the instructions to the work vehicle 10.

[0082] When the vehicle control device 11 of the work vehicle 10 receives a work start instruction from the operation terminal 20, it starts the automatic traveling and spraying work of the work vehicle 10. In addition, when the vehicle control device 11 receives a traveling stop instruction from the operation terminal 20, it stops the automatic traveling and spraying work of the work vehicle 10.

[0083] The operation terminal 20 may be able to access a website (agricultural support site) of an agricultural support service provided by the server via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the control unit 21.

[0084] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the control unit 21 of the operation terminal 20 and the vehicle control device 11 of the work vehicle 10 will be described with reference to FIG.

[0085] The present invention can be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. One or more steps included in the automatic driving process described here may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same action and effect is achieved. Furthermore, although an example is described here in which the control unit 21 and the vehicle control device 11 execute each step in the automatic driving process, another embodiment of the automatic driving method may be one in which one or more processors execute each step in the automatic driving process in a distributed manner. The automatic driving process includes a route generation process executed by the control unit 21 of the operation terminal 20. The automatic driving method includes the route generation method of the present invention.

[0086] In step S1, the control unit 21 of the operation terminal 20 registers various setting information. Specifically, the control unit 21 sets and registers information about the work vehicle 10 (work vehicle information), information about the field F (field information), and information about the work (work information) based on the setting operation of the operator.

[0087] Next, in step S2, the control unit 21 judges whether the width of the headland area of ​​the field F is equal to or greater than a predetermined width. For example, in the field F shown in FIG. 8, the control unit 21 judges whether the width D (see FIG. 9) of the headland area Fa is equal to or greater than a predetermined width (1.5L+W / 2+r) based on the field information. If the width D of the headland area Fa is equal to or greater than the predetermined width (S2: Yes), the process proceeds to step S3. On the other hand, if the width D of the headland area Fa is less than the predetermined width (S2: No), the process proceeds to step S21. Note that the field F shown in FIG. 6 shows a field where the width D of the headland area Fa is equal to or greater than the predetermined width, and the field F shown in FIG. 8 shows a field where the width D of the headland area Fa is less than the predetermined width.

[0088] In step S3, the control unit 21 generates a target route R in the first route generation mode. For example, when the control unit 21 receives an operation from the operator specifying a work start position S and a work end position G in the field F shown in Fig. 6, the control unit 21 generates a target route R including a plurality of work routes R1 along which the work vehicle 10 travels back and forth in the work area F1, and a movement route R2 along which the work vehicle 10 turns 180 degrees in the headland areas Fa, Fc. After step S3, the process proceeds to step S4.

[0089] In response to this, in step S21, the control unit 21 generates a target route R in the second route generation mode. For example, when the control unit 21 receives an operation from the operator to specify a work start position S and a work end position G in the field F shown in Fig. 8, the control unit 21 generates a target route R including a plurality of work routes R1 for traveling the work vehicle 10 in one direction (first direction Da) in the work area F1, a movement route R3 including a straight route R3b for traveling the work vehicle 10 straight in the headland area Fa, a movement route R4 which is a single route following the movement route R3 and includes a straight route R4b for traveling the work vehicle 10 straight in one direction (second direction Db), and a movement route R5 which is a route following the movement route R4 and causes the work vehicle 10 to enter each work route R1 (work routes R1a to R1f).

[0090] The movement route R4 is set in the movement area Fb of the non-working area, and a straight route R4b included in the movement route R4 extends in a second direction Db opposite to the first direction Da. After step S21, the process proceeds to step S4.

[0091] In step S4, the control unit 21 transfers the route data of the target route R to the work vehicle 10. The vehicle control device 11 of the work vehicle 10 stores the route data in the memory unit 12 upon acquiring the route data.

[0092] Next, in step S5, the vehicle control device 11 determines whether or not a work start instruction has been acquired from the operation terminal 20. For example, when the operator presses the start button on the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the vehicle control device 11 acquires a work start instruction from the operation terminal 20 (S5: Yes), the process proceeds to step S6. The vehicle control device 11 waits until it acquires a work start instruction from the operation terminal 20 (S5: No).

[0093] In step S6, the vehicle control device 11 starts automatic traveling along the target route R according to the route data. For example, in the field F shown in Fig. 6, the work vehicle 10 performs automatic traveling along the target route R generated in the first route generation mode. Also, for example, in the field F shown in Fig. 10, the work vehicle 10 performs automatic traveling along the target route R generated in the second route generation mode.

[0094] Next, in step S7, the vehicle control device 11 determines whether the work vehicle 10 has finished work. The vehicle control device 11 determines that work has ended when the position of the work vehicle 10 matches the work end position G. If the work vehicle 10 has finished work (S7: Yes), the automatic driving process ends. The vehicle control device 11 continues automatic driving by repeating the process of step S7 until the work vehicle 10 finishes work.

[0095] As described above, the automatic driving system 1 of this embodiment generates multiple work paths R1 in the work area F1 where the work object (crop V) is located, which causes the work vehicle 10 to travel straight in the first direction Da, which is the traveling direction of the work vehicle 10, generates a movement path R3 that continues from the work path R1 and includes a straight path R3b that causes the work vehicle 10 to travel straight in the first direction Da, in a first non-work area (headland area Fa) that is adjacent to the work area F1 in the first direction Da among the non-work areas surrounding the work area F1 where the work object is not located, and generates a movement path R4 that is a single path that continues from the movement path R3 and leads the work vehicle 10 to each of the multiple work paths R1.

[0096] In addition, the automatic driving method (route generation method) of this embodiment is a method in which one or more processors execute the following steps: generate multiple work paths R1 in a work area F1 where the work object (crop V) is located, which causes the work vehicle 10 to travel straight in a first direction Da, which is the traveling direction of the work vehicle 10; generate a movement path R3 that continues from the work path R1 and includes a straight path R3b that causes the work vehicle 10 to travel straight in a first non-work area (headland area Fa) that is adjacent to the work area F1 in the first direction Da among the non-work areas surrounding the work area F1 where the work object is not located; and generate a movement path R4 that is a single path that continues from the movement path R3 and leads the work vehicle 10 to each of the multiple work paths R1.

[0097] According to the above configuration, for example as shown in Fig. 10, when the shape of the headland area Fa makes it difficult to turn the work vehicle 10 180 degrees, it is possible to generate a target route R for the work vehicle 10 to travel along the straight route R3b in the headland area Fa without turning 180 degrees after traveling along the work route R1. In this way, it is possible to appropriately generate the target route R in a field F where a sufficient turning area cannot be secured. And the work vehicle 10 can efficiently perform work while automatically traveling even in a field F where a sufficient turning area cannot be secured.

[0098] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0099] For example, the field F shown in FIG. 12 is a field in which both the headland area Fa adjacent to the working area F1 in the first direction Da and the headland area Fc adjacent to the working area F1 in the second direction Db satisfy the above conditional expression. In this case, as another embodiment of the present invention, the path generation processing unit 212 generates a movement path R5 that connects to the working path R1 in the headland area Fc adjacent to the working area F1 in the second direction Db among non-working areas surrounding the working area F1 where crops V are not placed. The movement path R5 includes a turning path R5a that connects to the straight path R4b of the movement path R4, and a straight path R5b that connects to the turning path R5c. The straight path R5b extends in a direction inclined at a predetermined angle θ with respect to the first direction Da.

[0100] Moreover, the route generation processing unit 212 sets the turning radius TR3 of the turning route R5c to a value smaller than the turning radius TR1 of the turning route R4a and the turning radius TR2 of the turning route R5a. In this way, the route generation processing unit 212 generates the target route R in the second route generation mode when at least a part of the headland region of the field F satisfies the conditional expression.

[0101] As another embodiment of the present invention, the working area F1 may include a moving route R4 (return route) that connects to a moving route R3 included in a headland area Fa where it is difficult for the working vehicle 10 to turn 180 degrees. That is, the straight route R4b included in the moving route R4 may be one of the work routes R1. For example, as shown in FIG. 13, the straight route R4b may be a work route R1g that is located at the end of the working area F1 among the multiple work routes R1. Thereby, when traveling in the working area F1, the working vehicle 10 travels in the first direction Da on the work routes R1a-R1f in order, and travels repeatedly on the same moving route R4 (work route R1g), thereby traveling around the field F. In this way, the working vehicle 10 travels around the working area F1 by traveling in order on the work routes R1a-R1f as an outward route and traveling on the work route R1g as a fixed return route.

[0102] 13, the work vehicle 10 performs spraying work when traveling along the work path R1g for the first time, and does not perform spraying work when traveling along the work path R1g for the second time or later. Also, the work vehicle 10 may set the travel speed when traveling along the work path R1g for the second time or later to be faster than the travel speed when traveling along the work path R1g for the first time.

[0103] In each of the above-described embodiments, the operation terminal 20 alone corresponds to the route generation device according to the present invention, but the route generation device according to the present invention may include one or more of the components of the operation terminal 20 and a server (not shown). For example, the server alone may constitute the route generation device according to the present invention. [Explanation of symbols]

[0104] 1:Autonomous driving system 10: Work vehicle 11: Vehicle control device 14: Spraying device 16: Positioning device 17: Obstacle detection device 20: Operation terminal (route generation device) 211: Setting processing section 212: Route generation processing unit 213: Output processing section 40:Base station 50:Satellite F: Field F1 :Work area R: Target route R1: Work path R2: Movement route R3: Movement route (first movement route) R3b: Straight route R4: Movement route (second movement route) R4b: Straight route Fa: Headland area (first non-working area) Fb: Moving area (second non-working area) V: Crops (work objects) Vr: Crop row Da: First direction Db:Second direction

Claims

1. generating a plurality of work paths for causing the work vehicle to travel straight in a first direction, which is a travel direction of the work vehicle, in a work area in which a work object is placed; generating a first movement path in a first non-working area adjacent to the working area in the first direction among non-working areas surrounding the working area in which the work object is not placed, the first movement path being a path continuing from the working path and including a straight path along which the work vehicle travels straight; generating a second movement path, which is a single path continuing from the first movement path in a second non-working area adjacent to the working area in a direction perpendicular to the first direction among the non-working areas, and which guides the work vehicle to each of the plurality of working paths; A path generation method that performs the above.

2. The second movement path includes a straight path in which the work vehicle travels straight in a second direction opposite to the first direction. The route generation method according to claim 1 .

3. The straight path included in the first movement path extends in a direction inclined with respect to the first direction. The route generation method according to claim 1 or 2.

4. setting a turning radius of a turning path included in the first moving path to a value smaller than a turning radius of a turning path included in the second moving path; The route generation method according to any one of claims 1 to 3.

5. Accept a user operation to select a turning radius of the turning path, setting a turning radius of a turning path included in the first moving path and a turning radius of a turning path included in the second moving path based on the user operation; The route generation method according to claim 4 .

6. setting a travel speed of the work vehicle traveling along the second movement path to a speed according to a length of the second movement path; The route generation method according to any one of claims 1 to 5.

7. The work vehicle is a vehicle capable of performing a spraying operation in which a spraying material is sprayed on a first work object and on second work objects to the left and right of the first work object while traveling across the first work object. The route generation method according to any one of claims 1 to 6.

8. a plurality of work paths for causing the work vehicle to travel straight in a first direction, which is a travel direction of the work vehicle, in a work area in which a work object is placed; a first movement path that is a path continuing from the work path in a first non-work area, which is a non-work area surrounding the work area and in which the work object is not placed and is adjacent to the work area in the first direction, the first movement path including a straight path along which the work vehicle travels straight; a second movement path that is a single path continuing from the first movement path in a second non-working area that is adjacent to the working area in a direction perpendicular to the first direction among the non-working areas, and that guides the work vehicle to each of the plurality of working paths; A route generation device comprising a route generation processing unit that generates a route generation.

9. generating a plurality of work paths for causing the work vehicle to travel straight in a first direction, which is a travel direction of the work vehicle, in a work area in which a work object is placed; generating a first movement path in a first non-working area adjacent to the working area in the first direction among non-working areas surrounding the working area in which the work object is not placed, the first movement path being a path continuing from the working path and including a straight path along which the work vehicle travels straight; generating a second movement path, which is a single path continuing from the first movement path in a second non-working area adjacent to the working area in a direction perpendicular to the first direction among the non-working areas, and which guides the work vehicle to each of the plurality of working paths; A path generation program for causing one or more processors to execute the above.

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