Route Setting Method, Route Setting System, and Route Setting Program

Abstract

To support a route setup for further safely performing work.SOLUTION: A route setup method includes: setting up a travel area (9) where a work vehicle (4) autonomously travels (S01); setting up an offset amount of a work machine (5) to be mounted on the work vehicle offset to the right or left with respect to the travel direction of the work vehicle (S02); setting up an internal work area (91) where the work vehicle travels parallel, in the inside of the travel area (S03); setting up an outer periphery work area (92) to be disposed around the periphery of the internal work area, as an area other than the internal work area out of the travel area (S03); generating a travel route where the work vehicle works while autonomously traveling the internal work area and the outer periphery work area (S04); determining whether or not the work machine goes out of the travel area when the work vehicle travels along the travel route (S05); and outputting notification information representing determination results (S07).SELECTED DRAWING: Figure 5B

Description

Technical Field

[0001] The present invention relates to a route setting method, a route setting system, and a route setting program, and can be suitably used, for example, for a route setting method, a route setting system, and a route setting program for setting a traveling route of a work vehicle that autonomously travels.

Background Art

[0002] When performing work such as mowing in a field by attaching a suitable work implement to a work vehicle such as a tractor, the work vehicle performs the work while traveling along a predetermined traveling route. When the work vehicle has a function of performing autonomous driving, by setting this traveling route in advance, the work vehicle can automatically perform the work while autonomously traveling along this traveling route.

[0003] The traveling route may be automatically generated based on the position and shape of the field. The following are known as judgment criteria required when automatically generating the traveling route. First, from the viewpoint of safety, it is preferable to grasp in advance where the work implement will move in the field when the work vehicle moves. Next, from the viewpoint of improving work efficiency, it is preferable that the total length of the traveling route is short. Also, from the viewpoint of improving work efficiency as well, it is preferable to keep the internal work area, where the work efficiency is relatively high, in the field as wide as possible, and conversely, it is preferable to keep the peripheral work area, where the work efficiency is relatively low, as narrow as possible. Furthermore, from the viewpoint of improving work efficiency as well, it is preferable that the traveling route that has been traveled once and on which work has been performed is not traveled again.

[0004] In relation to the above, Patent Document 1 (Japanese Patent Application Laid-Open No. 2017-211733) discloses an autonomous driving route generation system. This autonomous driving route generation system generates a driving route for autonomously driving a work vehicle equipped with a vehicle body and a working machine attached to the vehicle body in a predetermined driving area. This autonomous driving route generation system includes an offset setting unit and a route generation unit. Here, the offset setting unit can set the offset direction and offset distance of the reference point of the working machine with respect to the reference point of the vehicle body. Further, the route generation unit can generate a driving route within the driving area based on the reference point of the working machine.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] From the viewpoint of ensuring safety, it is preferable to set the outer peripheral work area wide enough so that the working machine offset from the work vehicle does not go outside the driving area. On the other hand, the wider the outer peripheral work area is, the narrower the inner work area with better work efficiency than the outer peripheral work area becomes, so the work efficiency of the entire field decreases.

[0007]

Means for Solving the Problems

[0008] ​The means for solving the problems will be described below using the numbers used in (Best Mode for Carrying Out the Invention). These numbers are added to clarify the correspondence between the description in (Claims) and (Best Mode for Carrying Out the Invention). However, these numbers shall not be used for interpreting the technical scope of the invention described in (Claims).

[0009] According to one embodiment, the route setting method includes setting a traveling area (9) in which the work vehicle (4) performs autonomous driving (S01), and setting an offset amount of a working machine (5) that is offset to the right or left with respect to the traveling direction of the work vehicle (4) and is attached to the work vehicle (4) (S02). The route setting method further includes setting an internal work area (91) in which the work vehicle (4) moves parallel to the first direction inside the traveling area (9) (S03), and setting an outer peripheral work area (92) disposed around the internal work area (91) as an area other than the internal work area (91) in the traveling area (9) (S03). The route setting method further includes generating a traveling route for the work vehicle (4) to work with the working machine (5) while performing autonomous driving in the internal work area (91) and the outer peripheral work area (92) (S04), determining whether the working machine (5) goes out of the traveling area (9) when the work vehicle (4) travels along the traveling route (S05), and outputting notification information indicating the result of the determination (S07).

[0010] According to an embodiment, a route setting system (2) includes a travel area setting unit (311), a work implement setting unit (312), an internal work area setting unit (313), an outer peripheral work area setting unit (314), a travel route generation unit (315), a determination unit (316), and a notification unit (317). The travel area setting unit (311) sets a travel area (9) in which the work vehicle (4) performs autonomous travel. The work implement setting unit (312) sets an offset amount of a work implement (5) that is mounted on the work vehicle (4) and is offset to the right or left with respect to the traveling direction of the work vehicle (4). The internal work area setting unit (313) sets an internal work area (91) within the travel area (9) in which the work vehicle (4) moves parallel to the first direction. The outer peripheral work area setting unit (314) sets an outer peripheral work area (92) disposed around the internal work area (91) as an area other than the internal work area (91) in the travel area (9). The travel route generation unit (315) generates a travel route for the work vehicle (4) to perform work with the work implement (5) while performing autonomous travel in the internal work area (91) and the outer peripheral work area (92). The determination unit (316) determines whether or not the work implement (5) goes outside the travel area (9) when the work vehicle (4) travels along the travel route. The notification unit (317) outputs notification information indicating the result of the determination.

[0011] According to one embodiment, the route setting program (321) is for realizing a predetermined process by execution. This process includes setting a travel area (9) in which the work vehicle (4) performs autonomous driving (S01), and setting an offset amount of a work implement (5) that is offset to the right or left with respect to the traveling direction of the work vehicle (4) and attached to the work vehicle (4) (S02). This process further includes setting an internal work area (91) in which the work vehicle (4) moves parallel to the first direction inside the travel area (9) (S03), and setting an outer peripheral work area (92) disposed around the internal work area (91) as an area other than the internal work area (91) in the travel area (9) (S03). This process further includes generating a travel route for the work vehicle (4) to work with the work implement (5) while performing autonomous driving in the internal work area (91) and the outer peripheral work area (92) (S04), determining whether the work implement (5) exits the travel area (9) when the work vehicle (4) travels along the travel route (S05), and outputting notification information indicating the result of the determination (S07).

Effects of the Invention

[0012] According to one embodiment, it is possible to set a route for autonomous driving to perform work efficiently while ensuring safety.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

[0014] Embodiments for implementing a route setting method, a route setting system, and a route setting program according to the present invention will be described below with reference to the accompanying drawings.

[0015] (Embodiment) As shown in FIG. 1, an autonomous work system 1 according to an embodiment includes at least a work vehicle 4 and a route setting system 2. A detachable work implement 5 is attached to the work vehicle 4. The work vehicle 4 performs work using the work implement 5 while executing autonomous driving based on route information 20 received from the route setting system 2. As an example, the work vehicle 4 is a tractor and the work implement 5 is a lawn mower.

[0016] The route setting system 2 according to one embodiment includes at least the terminal 3. The route setting system 2 according to one embodiment may further include the server 7. At this time, the terminal 3 and the server 7 may perform wireless communication and / or wired communication via a predetermined network 8.

[0017] The route setting system 2 according to one embodiment sets a route for the work vehicle 4 to autonomously travel. The route may be set by the terminal 3 alone, by the server 7 alone, or by the cooperation of the terminal 3 and the server 7. As an example, the terminal 3 may be owned by a user located relatively close to the work vehicle 4, and the server 7 may be arranged at a position relatively far from the work vehicle 4. When the terminal 3 sets the route alone, the server 7 can be omitted.

[0018] With reference to FIGS. 2, 3, and 4, a configuration example of the terminal 3, the server 7, and the work vehicle 4 according to one embodiment will be described. Thereafter, with reference to FIGS. 5A and 5B, an operation example of the route setting system 2 according to one embodiment, that is, a configuration example of a route setting method according to one embodiment will be described. Note that a configuration example of a route setting method according to one embodiment is also a configuration example of route setting programs 321 and 721 according to one embodiment.

[0019] As shown in FIG. 2, the terminal 3 according to one embodiment is a so-called tablet-type terminal and may include a so-called computer. The terminal 3 includes a bus 30, an arithmetic unit 31, a storage device 32, an interface device 33, and a communication device 34. The arithmetic unit 31, the storage device 32, the interface device 33, and the communication device 34 are communicably connected to each other via the bus 30.

[0020] The arithmetic unit 31 realizes the functions of the terminal 3 by executing the route setting program 321 stored in the storage device 32. The route setting program 321 may be read from the recording medium 320 and stored in the storage device 32, or may be received from the outside via the communication device 34 and stored in the storage device 32. The recording medium 320 may be non-transitory and tangible.

[0021] The travel area setting unit 311 is a functional block that virtually illustrates the function of setting the parameters of the travel area, which is realized when the arithmetic unit 31 executes the route setting program 321. Similarly, the work implement setting unit 312 is a functional block that virtually illustrates the function of setting the parameters of the work implement 5. The internal work area setting unit 313 is a functional block that virtually illustrates the function of setting the parameters of the internal work area. The outer peripheral work area setting unit 314 is a functional block that virtually illustrates the function of setting the parameters of the outer peripheral work area. The travel route generation unit 315 is a functional block that virtually illustrates the function of generating the parameters of the travel route. The determination unit 316 is a functional block that virtually illustrates the function of making a predetermined determination. The notification unit 317 is a functional block that virtually illustrates the function of notifying predetermined information to the outside. Details of each functional block will be described later.

[0022] The interface device 33 includes an input device that receives operations by the user and an output device that outputs information to the outside. As an example, the interface device 33 includes a touch panel display that optically outputs information and can receive touch operations by the user.

[0023] The communication device 34 performs wireless communication with the work vehicle 4. The communication device 34 may further communicate with the server 7 via the network 8.

[0024] As shown in FIG. 3, the server 7 according to one embodiment may include a so-called computer. The server 7 includes a bus 70, an arithmetic unit 71, a storage device 72, an interface device 73, and a communication device 74. The arithmetic unit 71, the storage device 72, the interface device 73, and the communication device 74 are communicably connected to each other via the bus 70.

[0025] The arithmetic unit 71 realizes the functions of the server 7 by executing a route setting program 721 stored in the storage device 72. The route setting program 721 may be read from a recording medium 720 and stored in the storage device 72, or may be received from the outside via the communication device 74 and stored in the storage device 72. The recording medium 720 may be non-transitory and tangible.

[0026] The arithmetic unit 71 of the server 7 may have the same functional blocks as the arithmetic unit 31 of the terminal 3. The travel area setting unit 711 is a functional block that virtually illustrates the function of setting the parameters of the travel area, which is realized by the arithmetic unit 71 executing the route setting program 721. Similarly, the work implement setting unit 712 is a functional block that virtually illustrates the function of setting the parameters of the work implement 5. The internal work area setting unit 713 is a functional block that virtually illustrates the function of setting the parameters of the internal work area. The outer peripheral work area setting unit 714 is a functional block that virtually illustrates the function of setting the parameters of the outer peripheral work area. The travel route generation unit 715 is a functional block that virtually illustrates the function of generating the parameters of the travel route. The determination unit 716 is a functional block that virtually illustrates the function of performing a predetermined determination. The notification unit 717 is a functional block that virtually illustrates the function of notifying predetermined information to the outside. Details of each functional block will be described later. When the terminal 3 and the server 7 cooperate to set the route, at least one of the arithmetic unit 31 and the arithmetic unit 71 may have functional blocks with the same function. For example, when the arithmetic unit 31 of the terminal 3 includes the travel area setting unit 311, the travel area setting unit 711 of the arithmetic unit 71 of the server 7 can be omitted. Conversely, when the arithmetic unit 71 of the server 7 includes the travel area setting unit 711, the travel area setting unit 311 of the arithmetic unit 31 of the terminal 3 can be omitted.

[0027] The interface device 73 includes an input device that receives operations by the user and an output device for outputting information to the outside. The communication device 74 may communicate with the terminal 3 and the like via the network 8.

[0028] As shown in FIG. 4, a work vehicle 4 according to an embodiment is an autonomously drivable tractor equipped with a working machine 5 and includes an autonomous driving system for realizing autonomous driving. The autonomous driving system may include a storage device for storing a program and an arithmetic device for realizing various functions by executing the program, in other words, it may include a so-called computer. The autonomous driving system of the work vehicle 4 includes a first bus 41, a CAN-WiFi router 411, a receiving BOX 412, and an autonomous driving ECU 413. Here, "CAN" means "Controller Area Network". "WiFi" is a registered trademark related to wireless LAN (Local Area Network). "BOX" means "box". "ECU" means "Electronic Control Unit". The autonomous driving system of the work vehicle 4 further includes a second bus 42, a steering controller 421, an engine controller 422, an HMT controller 423, a UFO controller 424, a TECU 425, and a meter panel 426. Here, "HMT" means "Hydraulic Mechanical Transmission". "UFO" means "Automatic Level Control Device". "TECU" means "Tractor Electronic Control Unit". The autonomous driving system of the work vehicle 4 further includes a third bus 43 and a working machine ECU 431. Some or all of these components may be configured as virtual functional blocks having functions realized by the arithmetic device executing a program.

[0029] The CAN-WiFi router 411 performs wireless communication with the terminal 3 via the antenna 400 on the one hand, and is connected to the first bus 41 on the other hand. The reception BOX 412 performs wireless communication with a predetermined remote control on the one hand, and is connected to the first bus 41 on the other hand. The autonomous driving ECU 413 is connected to the first bus 41 on the one hand, and is connected to the second bus 42 on the other hand. The steering controller 421, the engine controller 422, the HMT controller 423, the UFO controller 424, and the meter panel 426 are each connected to the second bus 42. The TECU 425 is connected to the second bus 42 on the one hand, and is connected to the third bus 43 on the other hand. The work machine ECU 431 is connected to the third bus 43.

[0030] The CAN-WiFi router 411 transmits the information received from the terminal 3 to the autonomous driving ECU 413. The reception BOX 412 transmits the control signal received from the remote control to the autonomous driving ECU 413. The autonomous driving ECU 413 generates various control signals for performing autonomous driving based on the transmitted information and control signals, and transmits them to the steering controller 421, the engine controller 422, the HMT controller 423, the UFO controller 424, the TECU 425, and the meter panel 426.

[0031] The steering controller 421 is connected to the steering wheel of the work vehicle 4 and controls the rotation angle of the steering wheel under the control of the autonomous driving ECU 413. The engine controller 422 is connected to the engine of the work vehicle 4 and controls the engine speed and the like under the control of the autonomous driving ECU 413. The HMT controller 423 is connected to the hydro-mechanical transmission of the work vehicle 4 and changes the gear ratio of the hydro-mechanical transmission under the control of the autonomous driving ECU 413 to control the vehicle speed of the work vehicle 4. The UFO controller 424 is connected to the automatic leveling control device of the work vehicle 4 and performs automatic leveling control for adjusting the attitude of the work vehicle 4 under the control of the autonomous driving ECU 413. The meter panel 426 is provided with instruments, displays, and the like, and visually displays various parameters representing the state of the work vehicle 4 under the control of the autonomous driving ECU 413. The TECU 425 generates a control signal for controlling the operation of the work implement ECU 431 under the control of the autonomous driving ECU 413. The work implement ECU 431 is connected to the work implement 5 mounted on the work vehicle 4 and controls the raising and lowering of the work implement 5 under the control of the TECU 425.

[0032] Referring to the flowcharts of FIGS. 5A and 5B, a configuration example of a route setting method according to an embodiment will be described. Here, a case where the terminal 3 independently realizes the route setting method will be described. In the case where the server 7 realizes part or all of the route setting method, in the following description, the functional blocks realized by the terminal 3 may be appropriately replaced with the functional blocks realized by the server 7.

[0033] As an example, the route setting method is started when the user operates the interface device 33 of the terminal 3. When the route setting method is started, step S01 is executed. In step S01, the arithmetic unit 31 of the terminal 3 executes the route setting program 321, whereby the function of the travel area setting unit 311 is realized. The travel area setting unit 311 sets a travel area. More specifically, the travel area setting unit 311 sets parameters that define the travel area in which the work vehicle 4 performs autonomous driving. This parameter may include information representing a group of frame lines that define the outer periphery of the travel area, and this information may include the coordinates of a plurality of points that define each frame line included in the group of frame lines. As an example, the user may operate the terminal 3 to input a farm field to be worked as the travel area, or the terminal 3 may read out the coordinates of the farm field stored in advance in the storage device 72 of the server 7 and define it as the travel area.

[0034] In the example of FIG. 6, the travel area 9 is defined as a rectangular farm field. The parameters that define the travel area 9 may include, for example, the coordinates representing the positions of the respective vertices of this rectangle. The positions and traveling directions of the plurality of work vehicles 4 shown in FIG. 6 respectively indicate the plurality of positions and traveling directions of the same work vehicle 4 traveling along the travel route at different times.

[0035] After step S01, step S02 is executed. In step S02, the arithmetic unit 31 of the terminal 3 executes the route setting program 321, whereby the function of the work implement setting unit 312 is realized. The work implement setting unit 312 sets the work implement 5. More specifically, the work implement setting unit 312 sets parameters that define the type, shape, dimensions, etc. of the work implement 5 mounted on the work vehicle 4.

[0036] In the example of FIG. 6, the working machine 5 attached to the work vehicle 4 is offset to the right with respect to the traveling direction of the work vehicle 4. In this state, when the work vehicle 4 turns right in the clockwise direction, the working machine 5 is offset toward the inside of the path along which the work vehicle 4 travels and passes inside the side surface of the work vehicle 4. Conversely, when the work vehicle 4 turns left in the counterclockwise direction, the working machine 5 faces the outside of the path. The parameters defining the working machine 5 may include, for example, the direction of the offset with respect to the traveling direction of the work vehicle 4, the amount of offset from a predetermined reference point of the work vehicle 4 to the end portion in the offset direction of the working machine 5, and the like.

[0037] After step S02, step S03 is executed. In step S03, the arithmetic unit 31 of the terminal 3 executes the path setting program 321, whereby the functions of the internal work area setting unit 313 and the outer work area setting unit 314 are realized. The internal work area setting unit 313 sets the internal work area 91. More specifically, the internal work area setting unit 313 sets the parameters defining the internal work area 91. The parameters defining the internal work area 91 may include information representing a group of boundary lines defining the outer periphery of the internal work area 91, and this information may include the coordinates of a plurality of points defining each boundary line included in the group of boundary lines. Further, the outer work area setting unit 314 sets the outer work area 92. More specifically, the parameters defining the outer work area 92 are set. As an example, the internal work area 91 is an area within the traveling area 9 where the work vehicle 4 performs work with the working machine 5 while moving parallel in a predetermined direction. Also, the outer work area 92 may be a portion other than the internal work area 91 disposed around the internal work area 91 within the traveling area 9. At this time, the group of boundary lines separates the internal work area 91 and the outer work area 92. Therefore, the parameters defining the outer work area 92 may include the parameters defining the traveling area 9 and the parameters defining the internal work area 91.

[0038] In the example of FIG. 6, the internal work area 91 is defined as a rectangular area arranged inside the travel area 9. For easy distinction, only the internal work area 91 within the travel area 9 is shown hatched. The parameters defining the internal work area 91 may include, for example, the coordinates representing the positions of the respective vertices of this rectangle. Further, the outer peripheral work area 92 is defined as the area arranged around the internal work area 91, excluding the internal work area 91, within the travel area 9. In other words, the internal work area setting unit 313 and the outer peripheral work area setting unit 314 divide the travel area 9 into an internal work area 91 arranged in the central portion of the travel area 9 and an outer peripheral work area 92 arranged in the outer peripheral portion of the travel area 9. Therefore, the parameters defining the outer peripheral work area 92 may include, for example, the parameters defining the travel area 9 and the parameters defining the internal work area 91.

[0039] After step S03, step S04 is executed. In step S04, the arithmetic unit 31 of the terminal 3 executes the route setting program 321, whereby the function of the travel route generation unit 315 is realized. The travel route generation unit 315 generates a travel route along which the work vehicle 4 travels for working with the work implement 5 inside the travel area 9. More specifically, the travel route generation unit 315 sets the parameters defining the travel route.

[0040] In the example of FIG. 6, the travel route includes connection routes 111 and 112, an internal route 911, a turning route 912, and an outer peripheral route 921. For easy distinction, among the travel routes, only the internal route 911 is shown by a solid line, and the rest are shown by a dashed line. The internal route 911 is a route along which the work vehicle 4 moves inside and / or at the end of the internal work area 91. The turning route 912 is a route that connects a plurality of internal routes 911. The outer peripheral route 921 is a route along which the work vehicle 4 moves along the outer periphery of the travel area 9 so that the work implement 5 can work in the outer peripheral work area 92. The connection route 111 is a route that connects the work start position 101 and the outer peripheral route 921. The connection route 112 is a route that connects the outer peripheral route 921 and the internal route 911. In this sense, the connection routes 111 and 112 may be included in the outer peripheral route 921. However, the connection route 111 may be a route that connects either the work start position 101 or the work end position 102 and either the internal route 911 or the outer peripheral route 921. Also, the connection route 112 may be a route that connects the internal route 911 and the outer peripheral route 921. The travel route is a single route that starts from the work start position 101, passes through the connection route 111, the internal route 911 and the turning route 912, the connection route 112, and the outer peripheral route 921 in sequence, and ends at the work end position 102.

[0041] The order in which the work vehicle 4 travels through each component of the travel route will be described. In the example of FIG. 6, the work vehicle 4 travels along the outer peripheral route 921 and then along the internal route 911, but one embodiment is not limited to this example. For example, when the work vehicle 4 performs mowing work as an operation, when it is desired to reduce the range in which the work vehicle 4 enters the unworked area, it is preferable to start the work in the internal work area 91 after finishing the work in the outer peripheral work area 92. Conversely, when starting the work in the outer peripheral work area 92 after finishing the work in the internal work area 91, the travel route may be generated such that the work vehicle 4 travels along the internal route 911 and then along the outer peripheral route 921.

[0042] The internal working area 91 will be described. As shown in the example of FIG. 6, the internal working area 91 is an area within the traveling area 9 where the work vehicle 4 performs work with the work implement 5 while moving parallel in a predetermined direction. In other words, the internal path 911 includes a plurality of straight paths that are parallel to each other when viewed from above and each have a straight shape. The direction of the internal path 911 is, for example, the longitudinal direction of the internal working area 91. The plurality of straight paths included in the internal path 911 are connected by the turning path 912. Part or all of the turning path 912 may be arranged in the outer peripheral working area 92. In other words, the outer peripheral working area 92 may include the apron around the internal working area 91. Here, if the direction of the internal path 911 is the longitudinal direction of the internal working area 91, the number of turns of the work vehicle 4 when working in the internal working area 91 can be reduced as compared with the case of other directions. When the direction of the internal path 911 is referred to as the first direction, the work vehicle 4 moves parallel to the first direction in the internal working area 91.

[0043] The outer peripheral working area 92 will be described. The outer peripheral working area 92 is an area within the traveling area 9 where the work vehicle 4 performs work with the work implement 5 while moving around the periphery of the internal working area 91 along the group of frame lines that define the traveling area 9. In other words, the outer peripheral path 921 includes a plurality of straight lines parallel to any of the boundary lines of the internal working area 91 when viewed from above. Note that a part of the outer peripheral path 921 may be included inside the internal working area 91 as shown in the example of FIG. 6. This is because the work vehicle 4 can perform work on a portion of the outer peripheral working area 92 that is as close as possible to the internal working area 91 using the work implement 5 that is offset to the right with respect to the traveling direction. Further, the outer peripheral path 921 may include a path along the outer periphery of the traveling area 9 and moving within the traveling area 9.

[0044] The turning direction of the work vehicle 4 will be described. In the example of FIG. 6, the internal path 911 and the turning path 912 are generated such that the work vehicle 4 turns clockwise (right turn) in the internal work area 91. This is to prevent the work implement 5, which is offset to the right with respect to the traveling direction of the work vehicle 4, from going outside the traveling area 9 when the work vehicle 4 turns. Conversely, the outer peripheral path 921 is generated such that the work vehicle 4 turns counterclockwise (left turn) in the outer peripheral work area 92. This is because the work vehicle 4 can perform work up to the edge of the traveling area 9 as much as possible using the work implement 5 that is offset to the right with respect to the traveling direction.

[0045] After step S04, step S05 in FIG. 5B is executed. In step S05, the arithmetic unit 31 of the terminal 3 executes the path setting program 321, thereby realizing the function of the determination unit 316. The determination unit 316 calculates the location where the work implement 5 passes when the work vehicle 4 travels along the generated travel path, and determines whether the work implement 5 goes outside the travel area 9. This determination may be made based on the parameters defining the travel area 9, the parameters defining the work implement 5, and the parameters defining the travel path.

[0046] If it is determined that the work implement 5 does not go outside the travel area 9 (No), the process proceeds to step S06. Conversely, if it is determined that the work implement 5 goes outside the travel area 9 (Yes), the process proceeds to step S07.

[0047] In step S06, the arithmetic unit 31 of the terminal 3 determines the generated travel path. The arithmetic unit 31 generates path information 20 representing the determined travel path, and transmits the path information 20 to the work vehicle 4. The arithmetic unit 31 may display the path information 20 on the touch panel display of the terminal 3 to notify the user that the path information 20 has been generated and transmitted to the work vehicle 4, as well as the specific content of the path information 20. This notification may be realized as the function of the notification unit 317 described later. After step S06, the flowcharts shown in FIGS. 5A and 5B end, and the path setting method according to one embodiment ends.

[0048] In step S07, the arithmetic unit 31 of the terminal 3 executes the route setting program 321, thereby realizing the function of the notification unit 317. The notification unit 317 outputs notification information representing the result of the determination. More specifically, the result of the determination made in step S06 is notified by, for example, displaying an appropriate image on the touch panel display so that the user of the terminal 3 can recognize it. This image includes, for example, a map of the area including the traveling area 9 and an arrow representing the traveling route. The arrow representing the traveling route may be divided into a plurality of arrows. Each of the divided arrows may represent the connection routes 111, 112, the internal route 911, the turning route 912, the outer peripheral route 921, or a part thereof. Further, when it is determined in step S05 that the working machine 5 has exited the traveling area 9, it may be displayed on the map at which position of the frame group of the traveling area 9 the working machine 5 has exited.

[0049] After step S07, step S08 is executed. In step S08, the notification unit 317 receives an instruction from the user as to whether to approve the expansion of the outer peripheral working area 92 or maintain the outer peripheral working area 92. This instruction may be input, for example, as a touch operation on the touch panel display of the terminal 3, or a dialog image for receiving this instruction may be displayed on the touch panel display in advance.

[0050] The main purpose of expanding the outer peripheral working area 92 is to increase the degree of freedom in setting the traveling route with this expansion and suppress the working machine 5 from exiting the traveling area 9 by changing the range of this degree of freedom. However, expanding the outer peripheral working area 92 without changing the traveling area 9 means reducing the internal working area 91. And there is a possibility that the working efficiency may decrease by expanding the outer peripheral working area 92. Therefore, in one embodiment, the user is asked to determine whether to expand the outer peripheral working area 92.

[0051] If the user approves the expansion of the outer work area 92 (Yes), the process proceeds to step S09. Conversely, if the user does not approve the expansion of the outer work area 92 (No), the process proceeds to step S12.

[0052] In step S09, the outer work area setting unit 314 updates the setting of the outer work area 92 set in step S03 so as to expand the outer work area 92. At this time, simultaneously, the setting of the inner work area 91 set in step S03 is updated so as to shrink the inner work area 91. Then, the process returns to step S04 in FIG. 5A, the details of which will be described later.

[0053] As an example, as shown in FIG. 7, the inner work area 91 is shrunk compared to FIG. 6, and the outer work area 92 is expanded by the amount by which the inner work area 91 is shrunk. In the example of FIG. 6, when the work vehicle 4 moves from the end of the outer path 921 to the start of the inner path 911, the work implement 5 is in a state of going outside the traveling area 9. However, as shown in FIG. 7, by expanding the outer work area 92, a state is obtained in which the work implement 5 does not go outside the traveling area 9 when the work vehicle 4 moves from the end of the outer path 921 to the start of the inner path 911.

[0054] In the example where the travel route in FIG. 6 is modified as in FIG. 7, by expanding the outer work area 92, the inner work area 91 is shrunk on all four sides thereof. In other words, by moving all the boundary lines of the inner work area 91 toward the center of the inner work area 91, the inner work area 91 can be shrunk, and the outer work area 92 can be expanded by the amount by which the inner work area 91 is shrunk.

[0055] As another example, a case where the internal work area 91 is reduced only on two adjacent sides out of its four sides will be described. First, in step S04, a travel route having a shape as shown in FIG. 6 is generated. Next, in this example, as shown in FIG. 8, the internal work area 91 is reduced from that in FIG. 6, and the outer peripheral work area 92 is enlarged by the amount by which the internal work area 91 is reduced. In the example of FIG. 8, compared with FIG. 6, among the four sides of the internal work area 91, the internal work area 91 is reduced and the outer peripheral work area 92 is enlarged only on the first side (the right side toward FIG. 8) facing the work start position 101 and the second side adjacent to the first side (the upper side toward FIG. 8). In other words, among the boundary line group that the internal work area 91 has, the first boundary line as the first side and the second boundary line as the second side adjacent to the first side are each moved toward the center of the internal work area 91, so that the internal work area 91 is reduced, and the outer peripheral work area 92 is enlarged by the amount by which the internal work area 91 is reduced. Here, the first boundary line or the second boundary line may be the boundary line closest to the path along which the work vehicle 4 travels with the work machine 5 out of the travel area 9 among the boundary line group. Further, the enlarged portions of the outer peripheral work area 92 are the first partial area between the first boundary line and the first frame line facing the first boundary line among the frame line group, and the second partial area between the second boundary line and the second frame line facing the second boundary line among the frame line group. At this time, an additional outer peripheral path 921 is generated in the first partial area and the second partial area. As a result, at least one of the internal path start position where the travel route enters the internal work area 91, the internal path end position where the travel route exits the internal work area 91, the outer peripheral path start position where the travel route enters the outer peripheral work area 92, and the outer peripheral path end position where the travel route exits the outer peripheral work area 92 moves to the first partial area or the second partial area. In this way, in the example of FIG. 8, compared with the example of FIG. 7, a larger area of the internal work area 91 can be ensured, and thus, the efficiency of the work in the entire travel area 9 can be kept higher.

[0056] Even when the travel route in FIG. 6 is modified as shown in FIG. 7 or when the travel route in FIG. 6 is modified as shown in FIG. 8, the partial region in the outer peripheral work area 92 where the connection route 112 along which the work vehicle 4 travels when the work implement 5 exits the travel area 9 is arranged is enlarged. This partial region is a corner belonging to both the first partial region facing the first side of the inner work area 91 and the second partial region facing the second side of the inner work area 91 among the outer peripheral work area 92 in each of FIGS. 6, 7, and 8. In other words, among the group of boundary lines between the inner work area 91 and the outer peripheral work area 92, the boundary line closest to the position where the work implement 5 exits the travel area 9 when the work vehicle 4 travels along the travel route is moved toward the center of the inner work area 91, and the outer peripheral work area 92 is enlarged by the amount by which the boundary line has moved. At this time, the travel route along which the work vehicle 4 travels when the work implement 5 exits the travel area 9 is also moved toward the center of the inner work area 91, that is, moved away from the frame line group of the travel area 9. As a result, when the work vehicle 4 travels along the moved travel route, the work implement 5 does not exit the travel area 9.

[0057] After step S09, step S11 is executed. In step S11, the inner work area setting unit 313 and / or the outer peripheral work area setting unit 314 updates the setting of the start position and end position of the inner path 911 and the start position and end position of the outer peripheral path 921. More specifically, as shown in FIGS. 7 and 8, in accordance with the reduced inner work area 91, the setting of the start position and end position of the inner path 911 and the start position and end position of the outer peripheral path 921 are appropriately updated so that the arrangement of the inner path 911 and the turning path 912 can be appropriately changed in step S04 to be executed later. The setting of the start position and end position of the inner path 911 and the start position and end position of the outer peripheral path 921 may include coordinates representing the positions of the start position and end position of the inner path 911 and the start position and end position of the outer peripheral path 921.

[0058] Incidentally, the starting position of the internal path 911 is, in other words, the internal path starting position where the work vehicle 4 enters the internal work area 91 and the internal path 911 starts. The ending position of the internal path 911 is, in other words, the internal path ending position where the work vehicle 4 exits the internal work area 91 and the internal path 911 ends. The starting position of the outer peripheral path 921 is, in other words, the outer peripheral path starting position where the work vehicle 4 enters the outer peripheral work area 92 and the outer peripheral path 921 starts. The ending position of the outer peripheral path 921 is, in other words, the outer peripheral path ending position where the work vehicle 4 exits the outer peripheral work area 92 and the outer peripheral path 921 ends.

[0059] After step S11, step S04 in FIG. 5A is executed again. Thereafter, step S05 in FIG. 5B is executed again, and the determination unit 316 determines whether the working machine 5 exits the traveling area 9 when the work vehicle 4 travels along the newly generated traveling route. If it is determined that the working machine 5 exits the traveling area 9, step S07 is executed again, the notification unit 317 outputs notification information indicating the result of the determination, and then step S08 is executed again, and the notification unit 317 receives an instruction from the user.

[0060] Step S12, which is executed when the expansion of the outer peripheral work area 92 is not approved in step S08 of FIG. 5B, will be described. In step S12, the internal work area setting unit 313 and / or the outer peripheral work area setting unit 314 updates the conditions for generating the traveling route generated in step S04 without expanding the outer peripheral work area 92. More specifically, the parameters that are the conditions for generating the traveling route are updated as appropriate.

[0061] As an example, the case of updating the setting of the connection path 111 will be described. Among the driving routes shown in FIG. 6, the connection path 111 is configured such that the work vehicle 4 mainly makes a left turn counterclockwise. Therefore, as shown in FIG. 9, the setting of the connection path 111 is updated so that the work vehicle 4 can travel from the work start position 101 to the start position of the outer peripheral path 921 only by making a right turn clockwise. As a result, in the example of FIG. 9, the work implement 5 does not go out of the driving area 9. However, in this case, from the viewpoint that the connection path 111 will substantially go around the outer peripheral portion of the driving area 9, there is a possibility that the working efficiency of the entire driving area 9 may decrease. Therefore, regarding whether to allow such an update of the setting, the user may be asked for instructions at the time of step S08.

[0062] As another example, the case of updating the setting of the turning path 912 will be described. As shown in FIG. 10, when the internal path 911 in the internal work area 91 is set by the adjacent tillage method, the turning path 912 may include a fishtail turn operation. Here, the fishtail turn operation may include an operation in which the work vehicle 4 makes a left turn counterclockwise. Therefore, as shown in FIG. 11, the settings of the internal path 911 and the turning path 912 are updated so that the work vehicle 4 only makes a right turn clockwise when traveling on the internal path 911 and the turning path 912. As a result, in the examples of FIGS. 10 and 11, it is possible to prevent the work implement 5 from going out of the driving area 9.

[0063] In addition, in FIGS. 6 to 9, the case of generating a driving route in which the work vehicle 4 travels on the outer peripheral path 921 and then on the internal path 911 has been described, but one embodiment is not limited to this example. As shown in FIGS. 10 and 11, a driving route in which the work vehicle 4 travels on the internal path 911 and then on the outer peripheral path 921 may be generated.

[0064] After step S12, step S04 is executed again.

[0065] As described above, according to one embodiment, by suppressing the work machine 5 from going out of the traveling area 9, while ensuring safety, by suppressing the reduction of the internal work area 91 as much as possible, it becomes possible to set a path for autonomous driving to perform work efficiently.

[0066] (Second Embodiment) In the above-described first embodiment, it has been described that in step S08 of FIG. 5B, by moving the boundary lines as two adjacent sides among the boundary lines of the internal work area 91 to expand the outer peripheral work area 92, a travel route can be generated that suppresses the work machine 5 from going out of the travel area 9. In the present embodiment, as a modification of the first embodiment, when it is allowed to set a path along which the work vehicle 4 travels without performing work in the outer peripheral work area 92, it will be described that a travel route different from that of the first embodiment can be generated that suppresses the work machine 5 from going out of the travel area 9.

[0067] FIG. 12 is a diagram showing an example of an updated travel route according to an embodiment. Compared with the travel route before update shown in FIG. 6, the internal work area 91 in the travel route of FIG. 12 is reduced at two opposite sides out of its four sides. That is, among the four sides of the internal work area 91, the internal work area 91 is reduced only at the first side (the right side toward FIG. 12) facing the work start position 101 and the third side (the left side toward FIG. 12) parallel to the first side, and the outer peripheral work area 92 is enlarged. In other words, among the boundary line group of the internal work area 91, the first boundary line as the first side and the second boundary line as the second side facing the first side are each moved toward the center of the internal work area 91, so that the internal work area 91 is reduced, and the outer peripheral work area 92 is enlarged by the amount by which the internal work area 91 is reduced. Here, the first boundary line or the second boundary line may be the boundary line closest to the path along which the work vehicle 4 travels with the work machine 5 out of the travel area 9 among the boundary line group. Also, the enlarged portions of the outer peripheral work area 92 are the first partial area between the first boundary line and the first frame line facing the first boundary line among the frame line group, and the second partial area between the second boundary line and the second frame line facing the second boundary line among the frame line group. At this time, an additional outer peripheral path 921 is generated in the first partial area and the second partial area. As a result, at least one of the internal path start position where the travel route enters the internal work area 91, the internal path end position where the travel route exits the internal work area 91, the outer peripheral path start position where the travel route enters the outer peripheral work area 92, and the outer peripheral path end position where the travel route exits the outer peripheral work area 92 moves to the first partial area or the second partial area. Thus, also in the example of FIG. 12, compared with the example of FIG. 7, a larger area of the internal work area 91 can be ensured, and therefore, the efficiency of the work in the entire travel area 9 can be kept higher.

[0068] In the case of FIG. 12, a partial area including a connection path 112 along which the work vehicle 4 travels with the work implement 5 outside the travel area 9 in the outer peripheral work area 92 is enlarged. This partial area is a corner portion belonging to a portion of the outer peripheral work area 92 facing the first side of the inner work area 91 in each of FIGS. 6 and 12. In other words, similar to the case of FIG. 8, among the boundary line group separating the inner work area 91 from the outer peripheral work area 92, the boundary line closest to the position where the work implement 5 exits the travel area 9 when the work vehicle 4 travels along the travel path is moved toward the center of the inner work area 91, and the outer peripheral work area 92 is enlarged by the amount of movement of the boundary line. At this time, the travel path along which the work vehicle 4 travels when the work implement 5 exits the travel area 9 is also moved toward the center of the inner work area 91, that is, moved away from the frame line group of the travel area 9. As a result, when the work vehicle 4 travels along the moved travel path, the work implement 5 does not exit the travel area 9.

[0069] Referring to FIGS. 5A and 13, a path setting method according to an embodiment will be described. FIG. 13 is the latter half of a flowchart showing the configuration of a path setting method according to an embodiment. The first half of this flowchart is the same as the first half of the flowchart showing the configuration of the path setting method according to the first embodiment shown in FIG. 5A. In the present embodiment, after step S04 in FIG. 5A, step S05 in FIG. 13 is executed. Steps S05 to S09, step S11, and step S12 in FIG. 13 are the same as steps S05 to S09, step S11, and step S12 in FIG. 5A described in the first embodiment, respectively.

[0070] In the flowchart of FIG. 13, after step S09, step S10 is executed. In step S10, the outer peripheral work area setting unit 314 sets a path along which the work vehicle 4 travels without performing work in the outer peripheral work area 92. More specifically, the outer peripheral work area setting unit 314 sets parameters defining a partial path along which the work vehicle 4 travels without performing work in the outer peripheral path 921.

[0071] The partial path along which the work vehicle 4 travels without performing work is, for example, the dummy run path 922 shown in FIG. 12. That is, the dummy run path 922 is a partial path within the outer peripheral path 921 that the work vehicle 4 travels again after having traveled once. When the work vehicle 4 first travels along this partial path, it performs work with the work implement 5, and when it travels again, it travels without performing work. However, in FIG. 12, for the sake of clarity, the dummy run path 922 is shown shifted from the same part of the outer peripheral path 921 that it traveled along previously.

[0072] By doing so, without expanding the partial area of the outer peripheral work area 92 where the dummy run path 922 is set, only other partial areas of the outer peripheral work area 92 are expanded, thereby enabling the overall work efficiency of the travel area 9 to be maintained at a higher level. However, in the case of mowing work, traveling again along the outer peripheral path 921 where work has been completed after one pass may reduce the efficiency of another subsequent work (such as collecting the mowed grass). Therefore, at the time of step S08, the user may be asked for an instruction as to whether to allow the path along which the work vehicle 4 travels without performing work to be set in the outer peripheral work area 92.

[0073] In the flowchart of FIG. 13, after step S10, step S11 is executed. Step S11 in FIG. 13 is the same as step S11 in FIG. 5B.

[0074] As described above, according to the present embodiment, by allowing the path along which the work vehicle 4 travels without performing work to be set in the outer peripheral work area 92, a travel path different from that of the first embodiment can be generated. By appropriately combining the present embodiment and the first embodiment, the degree of freedom in updating the travel path increases.

[0075] The invention made by the inventor has been specifically described based on the embodiments. However, it goes without saying that the present invention is not limited to the embodiments and can be variously modified without departing from the gist thereof. In addition, each feature described in the embodiments can be freely combined within a range where there is no technical contradiction.

[0076] In the above, in one embodiment, the case where the working machine 5 is offset to the right with respect to the traveling direction of the work vehicle 4 has been described. However, one embodiment is not limited to this example. The working machine 5 may be offset to the left with respect to the traveling direction of the work vehicle 4. In that case, in the above description, the left and right may be read in reverse, and the clockwise and counterclockwise may be read in reverse.

[0077] In the above description, in one embodiment, step S02 was executed after step S01. However, as a modified example, step S02 may be executed before step S01, or a part or all of step S02 may be executed simultaneously with step S01.

[0078] In the above description, in one embodiment, after receiving an instruction from the user as to whether to approve the expansion of the outer peripheral work area 92 in step S08, the processes of steps S09 to S12 were performed. However, one embodiment is not limited to this example. As a modified example of one embodiment, after performing the processes of steps S09 to S12 first, an instruction from the user as to whether to approve the expansion of the outer peripheral work area 92 may be received. In this case, a setting that conforms to this instruction may be extracted from the plurality of settings updated or changed in steps S09 to S12, and in step S04 to be executed thereafter, a travel route using the extracted setting may be generated.

[0079] In the above description, in one embodiment, steps S09, S10, and S11 were executed in this order. However, these steps may be executed in a different order, or a part or all of these steps may be executed in parallel.

Explanation of Reference Numerals

[0080] 1 Autonomous operation system 2 Route setting system 20 Route information 3 Terminal 30 Bus 31 Arithmetic unit 311 Travel area setting section 312 Work machine setting section 313 Internal work area setting section 314 Peripheral work area setting section 315 Travel route generation section 316 Judgment section 317 Notification section 32 Storage device 320 Recording medium 321 Route setting program 33 Interface device 34 Communication device 4 Work vehicle 400 Antenna 41 First bus 411 CAN-WiFi router 412 Reception BOX 413 Autonomous driving ECU 42 Second bus 421 Steering controller 422 Engine controller 423 HMT controller 424 UFO controller 425 TECU 426 Meter panel 43 Third bus 431 Work machine ECU 5 Work machine 7 Server 70 Bus 71 Arithmetic unit 711 Travel area setting section 712 Work machine setting section 713 Internal work area setting section 714 Peripheral work area setting section 715 Travel route generation section 716 Judgment section 717 Notification section 72 Memory device 720 Recording medium 721 Route setting program 73 Interface device 74 Communication device 8 Network 9 Travel area 91 Internal work area 911 Internal route 912 Turning route 92 Peripheral work area 921 Peripheral route 922 Dummy run route 101 Work start position 102 Work end position 111 Connection route 112 Connection route

Claims

1. Setting a driving area for the work vehicle to perform autonomous driving; Setting an offset amount of a work implement mounted on the work vehicle, offset to the right or left with respect to the traveling direction of the work vehicle; Setting an internal work area within the driving area where the work vehicle moves parallel to the first direction; Setting an outer peripheral work area disposed around the internal work area as an area other than the internal work area in the driving area; Generating a travel route for the work vehicle to work with the work implement while performing the autonomous driving in the internal work area and the outer peripheral work area; Determining whether the work implement exits the driving area when the work vehicle travels along the travel route; Outputting notification information indicating the result of the determination including a route setting method.

2. In the route setting method according to Claim 1, Among the group of boundary lines separating the outer peripheral work area and the internal work area, moving the first boundary line closest to the route along which the work vehicle travels with the work implement in a state of exiting the driving area, toward the center of the internal work area, so as to expand a first partial area between the first boundary line and a first frame line facing the first boundary line among the group of frame lines defining the outer periphery of the driving area, updating the setting of the outer peripheral work area; Regenerating the travel route based on the updated setting of the outer peripheral work area further including a route setting method.

3. In the route setting method according to Claim 2, Updating the setting of the outer peripheral work area is By moving a second boundary line adjacent to the first boundary line among the group of boundary lines toward the center of the internal work area, so as to expand a second partial area between the second boundary line and a second frame line facing the second boundary line among the group of frame lines, updating the setting of the outer peripheral work area including a route setting method.

4. In the route setting method according to Claim 3, Updating the setting of the outer peripheral work area is Updating the setting of the outer peripheral work area so as to generate a first additional outer peripheral route in the first partial area of the outer peripheral work area; Updating the setting of the outer peripheral work area so as to generate a second additional outer peripheral route in the second partial area of the outer peripheral work area; updating the setting of the outer peripheral work area so that at least one of an internal path start position where the travel path enters the internal work area, an internal path end position where the travel path exits the internal work area, an outer peripheral path start position where the travel path enters the outer peripheral work area, and an outer peripheral path end position where the travel path exits the outer peripheral work area is moved to the first partial area or the second partial area further comprising a path setting method

5. In the path setting method according to claim 2, updating the setting of the outer peripheral work area is to move a second boundary line facing the first boundary line among the boundary line groups toward the center of the internal work area, so that, among the outer peripheral work areas, between the second boundary line and updating the setting of the outer peripheral work area so as to expand a second partial area between the second boundary line and a second frame line facing the second boundary line among the frame line groups including a path setting method

6. In the path setting method according to claim 5, updating the setting of the outer peripheral work area is to update the setting of the outer peripheral work area so as to generate a first additional outer peripheral path in the first partial area of the outer peripheral work area, update the setting of the outer peripheral work area so as to generate a second additional outer peripheral path in the second partial area of the outer peripheral work area, and update the setting of the outer peripheral work area so as to generate a dummy run path connecting the first additional outer peripheral path and the second additional outer peripheral path overlapping a part of the outer peripheral path arranged before regenerating the travel path again including a path setting method

7. In the path setting method according to claim 5 or 6, updating the setting of the outer peripheral work area is to update the setting of the outer peripheral work area so that at least one of an internal path start position where the travel path enters the internal work area, an internal path end position where the travel path exits the internal work area, an outer peripheral path start position where the travel path enters the outer peripheral work area, and an outer peripheral path end position where the travel path exits the outer peripheral work area is moved to the first partial area or the second partial area further comprising a path setting method

8. In the path setting method according to any one of claims 2 to 7, after outputting the notification information, receiving a first instruction regarding allowing the expansion of the outer peripheral work area further comprising, when receiving the first instruction, updating the setting of the outer peripheral working area and regenerating the travel route further comprising a route setting method.

9. In the route setting method according to claim 1, the travel route includes an internal route along which the work vehicle moves parallel to the first direction in the internal working area, an outer peripheral route along which the work vehicle moves in a circular motion along a group of frame lines defining the travel area in the outer peripheral working area, a first connection route connecting either a work start position which is a position where the work vehicle enters the travel area or a work end position which is a position where the work vehicle exits the travel area, and either the internal route or the outer peripheral route, and a second connection route connecting the internal route and the outer peripheral route wherein, when the work vehicle turns in the first connection route and the second connection route, the work vehicle travels in a state where the work implement is offset toward the inside of the turn, updating the setting of the outer peripheral working area further comprising a route setting method.

10. In the route setting method according to claim 9, the internal route includes a plurality of straight routes that are parallel to each other and each have a straight line shape wherein, the travel route further includes a turning route connecting the plurality of straight routes wherein, updating the setting of the outer peripheral working area is updating the setting of the outer peripheral working area such that when the work vehicle turns in the turning route, the work vehicle travels in a state where the work implement is offset toward the inside of the turn wherein, it is a route setting method.

11. In the route setting method according to claim 9 or 10, after outputting the notification information, receiving a second instruction regarding maintaining the outer peripheral working area further comprising when receiving the second instruction, updating the setting of the outer peripheral working area and regenerating the travel route further comprising a route setting method.

12. a travel area setting unit that sets a travel area for the work vehicle to perform autonomous travel, a work implement setting unit that sets an offset amount of a work implement mounted on the work vehicle and offset to the right or left with respect to the traveling direction of the work vehicle, an internal working area setting unit that sets an internal working area inside the travel area where the work vehicle moves parallel to the first direction, An outer work area setting unit that sets an outer work area disposed around the inner work area as an area other than the inner work area in the traveling area; A travel route generation unit that generates a travel route for the work vehicle to perform work with the work implement while performing the autonomous travel in the inner work area and the outer work area; A determination unit that determines whether or not the work implement exits the travel area when the work vehicle travels along the travel route; A notification unit that outputs notification information indicating the result of the determination Comprising A route setting system.

13. A route setting program for realizing a predetermined process by execution, wherein The process includes Setting a travel area in which the work vehicle performs autonomous travel; Setting an offset amount of a work implement that is offset to the right or left with respect to the traveling direction of the work vehicle and is attached to the work vehicle; Setting an inner work area in which the work vehicle moves parallel to the first direction inside the travel area; Setting an outer work area disposed around the inner work area as an area other than the inner work area in the travel area; Generating a travel route for the work vehicle to perform work with the work implement while performing the autonomous travel in the inner work area and the outer work area; Determining whether or not the work implement exits the travel area when the work vehicle travels along the travel route; Outputting notification information indicating the result of the determination Including A route setting program.

Images