Work area setting system, work area setting method, and work area setting program

Abstract

To provide a work area setting system for setting a work area where a work vehicle can avoid coming into contact with an obstacle, and to provide a work area setting method, and a work area setting program.SOLUTION: A position acquisition part acquires position information on a work vehicle. A travelling track generation part generates a travelling track R1 of the work vehicle on the basis of the position information acquired by the position acquisition part. A complementation point generation part generates first complementation points P1, P2, P3, and P4, which are intersection points of extended lines of two adjacent straight lines connecting the travelling track R1 generated by the travelling track generation part as selection object points. A work region generation part generates a work region of the work vehicle on the basis of the selection object points selected by a user.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a work area setting system, a work area setting method, and a work area setting program for setting a work area of a work vehicle that autonomously travels.

Background Art

[0002] When setting a travel route of a work vehicle capable of autonomous travel, a process of registering a field that will be a work area is performed. Specifically, an operator travels along the outer periphery of the field with the work vehicle, and identifies the corners from the travel locus of the work vehicle to identify the shape of the field (see, for example, Patent Document 1). When the identified field is set as the work area and a travel route for traveling in the work area is set, the work vehicle can autonomously travel in the work area according to the travel route.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, for example, when there are obstacles such as slopes for entering the field at the corners of the field, the work vehicle must avoid the corners and travel and work when performing work. However, in the conventional technology, since the corners of the field are set based on the travel locus, the work area is set in a state where the corners overlap the obstacles. For this reason, a problem occurs in that the work vehicle traveling in the work area contacts the obstacles.

[0005] An object of the present invention is to provide a work area setting system, a work area setting method, and a work area setting program that can avoid the work vehicle from contacting an obstacle when setting a work area.

Means for Solving the Problems

[0006] The work area setting system according to the present invention includes a position acquisition unit, a travel trajectory generation unit, a complementary point generation unit, and a work area generation unit. The position acquisition unit acquires the position information of the work vehicle. The travel trajectory generation unit generates the travel trajectory of the work vehicle based on the position information acquired by the position acquisition unit. The complementary point generation unit generates a first complementary point, which is the intersection of the extension lines of two adjacent straight lines connecting the travel trajectory generated by the travel trajectory generation unit, as a selection target point. The work area generation unit generates the work area of the work vehicle based on the selection target point selected by the user.

[0007] The work area setting method according to the present invention is a method in which one or more processors execute acquiring the position information of the work vehicle, generating the travel trajectory of the work vehicle based on the position information, generating a first complementary point, which is the intersection of the extension lines of two adjacent straight lines connecting the travel trajectory, as a selection target point, and generating the work area of the work vehicle based on the selection target point selected by the user.

[0008] The work area setting program according to the present invention is a program for causing one or more processors to execute acquiring the position information of the work vehicle, generating the travel trajectory of the work vehicle based on the position information, generating a first complementary point, which is the intersection of the extension lines of two adjacent straight lines connecting the travel trajectory, as a selection target point, and generating the work area of the work vehicle based on the selection target point selected by the user.

Effect of the Invention

[0009] According to the present invention, it is possible to provide a work area setting system, a work area setting method, and a work area setting program for setting a work area capable of avoiding the work vehicle from contacting an obstacle.

Brief Description of the Drawings

[0010]

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Mode for Carrying Out the Invention

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

[0012] [Embodiment 1] As shown in FIG. 1, the autonomous driving system 1 according to Embodiment 1 of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN (such as the Internet).

[0013] The work vehicle of the present invention is, for example, a tractor. Note that the work vehicle of the present invention may be a rice transplanter, a combine, a construction machine, or the like. The work vehicle 10 is a so-called robot tractor having a configuration capable of autonomously traveling (automatically traveling) along a travel route in a work area R2 (see FIG. 7 etc.) in a field F. For example, the work vehicle 10 can autonomously travel along a travel route generated in advance for the field F based on the position information of the current position of the work vehicle 10 calculated by the positioning device 14. The operation terminal 20 sets the field F, the work area R2, the travel route, etc. based on the operation of an operator (an example of the user of the present invention).

[0014] [Work Vehicle 10] As shown in FIGS. 1 and 2, the work vehicle 10 includes a vehicle control device 11, a traveling device 12, a working machine 13, a positioning device 14, and the like. The vehicle control device 11 is electrically connected to the traveling device 12, the working machine 13, the positioning device 14, and the like. Note that the vehicle control device 11 and the positioning device 14 may be capable of wireless communication.

[0015] The vehicle control device 11 is a computer system including one or more processors and a storage memory such as a non-volatile memory and a RAM. Then, the vehicle control device 11 controls the operation of the work vehicle 10 according to various user operations on the work vehicle 10. Further, the vehicle control device 11 executes autonomous driving processing of the work vehicle 10 based on the current position of the work vehicle 10 calculated by a positioning device 14 described later and a pre-generated travel route. The travel route is stored in the storage memory. Further, the travel route may be stored in a storage unit 22 of the operation terminal 20.

[0016] The traveling device 12 is a driving unit that causes the work vehicle 10 to travel. As shown in FIG. 2, the traveling device 12 includes an engine 121, front wheels 122, rear wheels 123, a transmission 124, a front axle 125, a rear axle 126, a steering wheel 127, and the like. Note that the front wheels 122 and the rear wheels 123 are respectively provided on the left and right sides of the work vehicle 10. Further, the traveling device 12 is not limited to a wheel type including the front wheels 122 and the rear wheels 123, and may be a crawler type including crawlers provided on the left and right sides of the work vehicle 10.

[0017] The engine 121 is a drive source such as a diesel engine or a gasoline engine that is driven using fuel supplied from a fuel tank (not shown). The traveling device 12 may include an electric motor as a drive source together with the engine 121 or instead of the engine 121. Note that a generator (not shown) is connected to the engine 121, and electric power is supplied from the generator to electrical components such as the vehicle control device 11 provided in the work vehicle 10 and a battery. Note that the battery is charged by the electric power supplied from the generator. Then, electrical components such as the vehicle control device 11 and the positioning device 14 provided in the work vehicle 10 can be driven by the electric power supplied from the battery even after the engine 121 stops.

[0018] The driving force of the engine 121 is transmitted to the front wheels 122 via the transmission 124 and the front axle 125, and is transmitted to the rear wheels 123 via the transmission 124 and the rear axle 126. Further, the driving force of the engine 121 is also transmitted to the work implement 13 via a PTO shaft (not shown). When the work vehicle 10 performs autonomous driving, the traveling device 12 performs a traveling operation according to an instruction from the vehicle control device 11.

[0019] The work implement 13 is, for example, a lawn mower, a tiller, a plow, a fertilizer applicator, or a seeder, etc., and is detachable from the work vehicle 10. Thereby, the work vehicle 10 can perform various operations using each of the work implements 13. Here, the case where the work implement 13 is a lawn mower will be described as an example.

[0020] The work implement 13 may be supported by a lift mechanism (not shown) on the work vehicle 10 so as to be liftable. The vehicle control device 11 can control the lift mechanism to lift and lower the work implement 13. For example, when the work vehicle 10 moves forward in the work area R2 (see FIG. 7) of the farm field F, the vehicle control device 11 lowers the work implement 13, and when the work vehicle 10 moves backward, the vehicle control device 11 raises the work implement 13.

[0021] The steering wheel 127 is an operation unit operated by the operator or the vehicle control device 11. For example, in the traveling device 12, according to the operation of the steering wheel 127 by the vehicle control device 11, the angle of the front wheels 122 is changed by a hydraulic power steering mechanism (not shown) or the like, and the traveling direction of the work vehicle 10 is changed.

[0022] In addition to the steering wheel 127, the traveling device 12 includes a shift lever (not shown), an accelerator, a brake, etc. that are operated by the vehicle control device 11. In the traveling device 12, according to the operation of the shift lever by the vehicle control device 11, the gear of the transmission 124 is switched to a forward gear or a reverse gear, etc., and the traveling mode of the work vehicle 10 is switched to forward or reverse, etc. Further, the vehicle control device 11 controls the rotational speed of the engine 121 by operating the accelerator. Also, the vehicle control device 11 operates the brake to brake the rotation of the front wheels 122 and the rear wheels 123 using an electromagnetic brake.

[0023] The positioning device 14 is a communication device including a control unit 141, a storage unit 142, a communication unit 143, a positioning antenna 144, etc. For example, as shown in FIG. 2, the positioning device 14 is provided on the upper part of the cabin 18 where the operator rides. Also, the installation location of the positioning device 14 is not limited to the cabin 18. Furthermore, the control unit 141, the storage unit 142, the communication unit 143, and the positioning antenna 144 of the positioning device 14 may be distributed and arranged at different positions in the work vehicle 10. As described above, the battery is connected to the positioning device 14, and the positioning device 14 can operate even when the engine 121 is stopped. Also, as the positioning device 14, for example, a mobile phone terminal, a smartphone, or a tablet terminal, etc. may be substituted.

[0024] The control unit 141 is a computer system including one or more processors and storage memories such as a non-volatile memory and a RAM. The storage unit 142 is a non-volatile memory that stores a program for causing the control unit 141 to execute positioning processing, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 142. Note that the program may be downloaded from a server (not shown) to the positioning device 14 via the communication network N1 and stored in the storage unit 142.

[0025] The communication unit 143 is a communication interface for connecting the positioning device 14 to the communication network N1 by wire or wirelessly and performing data communication according to a predetermined communication protocol with external devices such as a base station server via the communication network N1.

[0026] The positioning antenna 144 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0027] The control unit 141 calculates the position (current position) of the work vehicle 10 based on the GNSS signals received by the positioning antenna 144 from satellites. For example, when the work vehicle 10 autonomously travels within the farm field F, when the positioning antenna 144 receives radio waves (transmission time, orbital information, etc.) transmitted from each of a plurality of satellites, the control unit 141 calculates the distances between the positioning antenna 144 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distances. Further, the control unit 141 may perform positioning by a real-time kinematic method (RTK-GPS positioning method, hereinafter referred to as the "RTK method") of calculating the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. Thus, the work vehicle 10 performs autonomous driving using the positioning information by the RTK method.

[0028] The travel route on which the work vehicle 10 travels is generated, for example, by the operation terminal 20. The work vehicle 10 acquires the data of the travel route from the operation terminal 20, and performs work (for example, mowing work) by the work implement 13 while autonomously traveling within the farm field F according to the travel route.

[0029] [Operation terminal 20] As shown in FIG. 1, the operation terminal 20 is an information processing device including a control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, and the like. The operation terminal 20 may be configured by a portable terminal such as a tablet terminal or a smartphone.

[0030] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the communication network N1, either wired or wirelessly, and performing data communication according to a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0031] The operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display for displaying various types of information, and an operation unit such as a touch panel, a mouse, or a keyboard for receiving operations. An operator can perform an operation of registering various types of information (such as work vehicle information, field information, work information, work area information, etc.) by operating the operation unit on the operation screen displayed on the display unit. Further, the operator can perform an autonomous driving instruction for the work vehicle 10 by operating the operation unit. Furthermore, the operator can grasp the driving state of the work vehicle 10 that autonomously drives along the driving route within the field F based on the driving track displayed on the operation terminal 20 at a location away from the work vehicle 10.

[0032] The storage unit 22 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) for storing various types of information. The storage unit 22 stores control programs such as a work area setting program for causing the control unit 21 to execute a work area setting process (see FIG. 8) described later. For example, the work area setting program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a reading device (not shown) such as a CD drive or a DVD drive provided in the operation terminal 20 and stored in the storage unit 22. Note that the work area setting program may be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22. Further, the storage unit 22 may store work information (such as mowing amount, harvesting amount, etc.) transmitted from the work vehicle 10.

[0033] In addition, a dedicated application for autonomous driving of the work vehicle 10 is installed in the storage unit 22. The control unit 21 activates the dedicated application to perform setting processes for various types of information regarding the work vehicle 10, setting processes for the field F, setting processes for the work area, generation processes for the travel route of the work vehicle 10, autonomous driving instructions for the work vehicle 10, and the like.

[0034] Here, according to the conventional technology, there is a risk that the work vehicle 10 traveling in the work area may come into contact with an obstacle. For example, when registering the field F in a predetermined area AR, the operator drives the work vehicle 10 along the outer periphery of the area to be registered as the field F. The control unit 21 acquires position information from the work vehicle 10 to generate a travel trajectory R1, and registers the field F based on the travel trajectory R1. For example, as shown in FIG. 4, the control unit 21 generates an intersection point P1 of the extension lines of adjacent straight lines Ra and Rb connecting the travel trajectory R1, an intersection point P2 of the extension lines of adjacent straight lines Rb and Rc connecting the travel trajectory R1, an intersection point P3 of the extension lines of adjacent straight lines Rc and Rd connecting the travel trajectory R1, and an intersection point P4 of the extension lines of adjacent straight lines Rd and Ra connecting the travel trajectory R1. Each of the above intersection points is referred to as a "first complementary point". The control unit 21 registers the area surrounded by the first complementary points P1 to P4 as the field F (see FIG. 5). That is, the first complementary points P1 to P4 become the corner portions of the field F. In addition, the control unit 21 sets the area surrounded by the first complementary points P1 to P4 as the work area R2. When the control unit 21 generates the work area R2, it generates a travel route for autonomous driving in the work area R2. The work vehicle 10 travels and works in the work area R2 according to the generated travel route.

[0035] Here, when there is an obstacle such as a slope SL in the predetermined area AR and a part of the slope SL overlaps the field F, as shown in FIG. 5, the work area R2 is set in a state where the corner portion of the field F overlaps the obstacle. In this case, when the work vehicle 10 travels in the work area R2, there is a problem that it comes into contact with the slope SL.

[0036] On the other hand, as shown below, the autonomous driving system 1 according to Embodiment 1 is configured to generate a work area capable of avoiding contact between the work vehicle 10 that autonomously drives and an obstacle.

[0037] Specifically, as shown in FIG. 1, the control unit 21 of the operation terminal 20 includes various processing units such as a vehicle setting unit 211, a work setting unit 212, a position acquisition unit 213, a travel trajectory generation unit 214, a field registration unit 215, a complement point generation unit 216, a display processing unit 217, a reception processing unit 218, and a work area generation unit 219. The control unit 21 functions as the various processing units by executing various processes according to the work area setting program using the CPU. Also, some or all of the processing units may be configured by electronic circuits. Note that the work area setting program may be a program for causing a plurality of processors to function as the processing units.

[0038] The vehicle setting unit 211 sets information regarding the work vehicle 10 (hereinafter referred to as work vehicle information). The vehicle setting unit 211 sets the information by the operator performing an operation of registering in the operation terminal 20 information such as the model of the work vehicle 10, the position where the positioning antenna 144 is attached to the work vehicle 10, the type of the work implement 13, the size and shape of the work implement 13, the position of the work implement 13 with respect to the work vehicle 10, the vehicle speed and engine speed during operation of the work vehicle 10, and the vehicle speed and engine speed during turning of the work vehicle 10.

[0039] The work setting unit 212 sets information regarding how to specifically perform the work (hereinafter referred to as work information). The work setting unit 212 is configured to be able to set, as work information, the presence or absence of cooperative work between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, the number of skipped work routes (skip number) when the work vehicle 10 turns on the headland, the width of the headland, and the width of the non-cultivated land.

[0040] The position acquisition unit 213 acquires the position information of the work vehicle 10. Specifically, the position acquisition unit 213 acquires the position information of the current position of the work vehicle 10 based on the positioning information measured by the positioning device 14. When the position acquisition unit 213 acquires the position information, it registers the position information in the storage unit 22. For example, when the work vehicle 10 is caused to travel when registering the field F (see FIG. 3), the position acquisition unit 213 acquires the position information of the work vehicle 10 at a predetermined sampling interval. The black dot shown in FIG. 3 corresponds to each position information. The position acquisition unit 213 is an example of the position acquisition unit of the present invention.

[0041] The travel locus generation unit 214 generates a travel locus R1 of the work vehicle 10 based on the position information acquired by the position acquisition unit 213. For example, as shown in FIG. 3, the travel locus generation unit 214 generates an outer peripheral travel locus R1 that the work vehicle 10 traveled when registering the field F. The travel locus R1 is represented by a plurality of points obtained by plotting positions corresponding to the position information on a map as shown in FIG. 3. The travel locus generation unit 214 is an example of the travel locus generation unit of the present invention.

[0042] The field registration unit 215 registers the field F. Specifically, the field registration unit 215 registers the field F based on the position information acquired by the position acquisition unit 213. Further, the field registration unit 215 registers the field F based on the travel locus R1 generated by the travel locus generation unit 214. A specific example of field registration will be described below.

[0043] The complementary point generation unit 216 generates a first complementary point for setting the corner of the field F. Specifically, as shown in FIG. 4, the complementary point generation unit 216 generates an intersection point (first complementary point P1) of the extension lines of adjacent straight lines Ra and Rb connecting the travel locus R1, an intersection point (first complementary point P2) of the extension lines of adjacent straight lines Rb and Rc connecting the travel locus R1, an intersection point (first complementary point P3) of the extension lines of adjacent straight lines Rc and Rd connecting the travel locus R1, and an intersection point (first complementary point P4) of the extension lines of adjacent straight lines Rd and Ra connecting the travel locus R1. Each of the straight lines is an approximate straight line connecting the travel locus R1 (plots) where the work vehicle 10 traveled straight.

[0044] The field registration unit 215 registers, as a field F, the area surrounded by the straight lines connecting the first supplementary points P1 to P4 (see FIG. 5). In this way, the field registration unit 215 calculates the corner points (first supplementary points) based on the travel locus R1 of the work vehicle 10 operated by the operator, and registers the area surrounded by the corner points as the field F. The field registration unit 215 stores the information of the field F (field information) in the storage unit 22. The operator can perform an operation of reading out the field F stored in the storage unit 22 and setting the work area R2.

[0045] When setting the work area R2, the supplementary point generation unit 216 further generates second supplementary points. The second supplementary points are points (points to be selected) that can be selected by the operator for setting the work area R2. Specifically, the supplementary point generation unit 216 generates the second supplementary points within the area from the travel locus R1 to the first supplementary points. For example, the supplementary point generation unit 216 generates one or a plurality of the second supplementary points on the extension line within the area from the travel locus R1 to the first supplementary points.

[0046] For example, as shown in FIG. 6, the complementary point generation unit 216 generates one or a plurality of second complementary points P1a on the extension line of the straight line Ra within the region from the travel locus R1 to the first complementary point P1, and generates one or a plurality of second complementary points P1b on the extension line of the straight line Rb within the region from the travel locus R1 to the first complementary point P1. Similarly, the complementary point generation unit 216 generates one or a plurality of second complementary points P2b on the extension line of the straight line Rb within the region from the travel locus R1 to the first complementary point P2, and generates one or a plurality of second complementary points P2c on the extension line of the straight line Rc within the region from the travel locus R1 to the first complementary point P2. Further, the complementary point generation unit 216 generates one or a plurality of second complementary points P3c on the extension line of the straight line Rc within the region from the travel locus R1 to the first complementary point P3, and generates one or a plurality of second complementary points P3d on the extension line of the straight line Rd within the region from the travel locus R1 to the first complementary point P3. Additionally, the complementary point generation unit 216 generates one or a plurality of second complementary points P4d on the extension line of the straight line Rd within the region from the travel locus R1 to the first complementary point P4, and generates one or a plurality of second complementary points P4a on the extension line of the straight line Ra within the region from the travel locus R1 to the first complementary point P4. The complementary point generation unit 216 generates a plurality of the second complementary points at equal intervals on each of the extension lines.

[0047] As another embodiment, the complementary point generation unit 216 may generate one or a plurality of second complementary points within the region surrounded by the extension lines of two straight lines adjacent to the curve of the turning path of the travel locus R1.

[0048] As described above, when setting the work area R2, the complementary point generation unit 216 generates the first complementary points and the second complementary points that can be selected by the operator as the selection target points. The complementary point generation unit 216 is an example of the complementary point generation unit of the present invention.

[0049] The display processing unit 217 causes a setting screen for setting the work area R2 to be displayed. For example, the display processing unit 217 causes the travel locus R1, the first supplementary points P1 to P4, and the second supplementary points P1a, P1b, P2b, P2c, P3c, P3d, P4d, and P4a to be displayed on the setting screen. Note that the display processing unit 217 may display the travel locus R1, the first supplementary points, and the second supplementary points in different display modes. The travel locus R1, the first supplementary points, and the second supplementary points are examples of the selection target points of the present invention.

[0050] The reception processing unit 218 receives an operation for setting the work area R2 by the operator. For example, when a part of the slope SL (see FIG. 6) overlaps the field F, the operator selects the first supplementary point P1, the second supplementary points P2b and P2c, the first supplementary point P3, and the first supplementary point P4 so that the work area R2 does not overlap the slope SL. That is, the operator selects the second supplementary points P2b and P2c instead of the first supplementary point P2 for the lower right corner of the field F.

[0051] The work area generation unit 219 generates the work area R2 of the work vehicle 10 based on the selection target points selected by the operator. Specifically, the work area generation unit 219 generates the area surrounded by the corners of the first supplementary point or the second supplementary point as the work area R2. For example, when the operator selects the first supplementary point P1, the second supplementary points P2b and P2c, the first supplementary point P3, and the first supplementary point P4, the work area generation unit 219 generates, as shown in FIG. 7, the area surrounded by connecting these points with straight lines as the work area R2. In this way, each corner of the work area R2 is composed of the first supplementary point or the second supplementary point. As a result, at the lower right corner of the field F, since the work area R2 is partitioned by a diagonal straight line connecting the second supplementary points P2b and P2c, the slope SL can be excluded from the work area R2.

[0052] When the work area generation unit 219 generates the work area R2, the reception processing unit 218 receives an operation from the operator to set the work start position and the work end position of the work vehicle 10 in the work area R2. When the reception processing unit 218 receives an operation from the operator to specify the work start position and the work end position, the work area generation unit 219 sets the work start position and the work end position in the work area R2. The work area generation unit 219 stores the information of the generated work area R2 in the storage unit 22. Note that the operator can also read and edit the work area R2 from the storage unit 22. The work area generation unit 219 is an example of the work area generation unit of the present invention.

[0053] The control unit 21 further generates a travel route, which is a route for autonomously driving the work vehicle 10, based on the setting information. Specifically, the control unit 21 generates a travel route that travels from the work start position to the work end position in the set work area R2. The control unit 21 outputs the information of the generated travel route to the work vehicle 10. In addition, the control unit 21 can instruct the work vehicle 10 to start and stop autonomous driving by transmitting a control signal to the work vehicle 10 via the communication unit 24. Thereby, it becomes possible to autonomously drive the work vehicle 10.

[0054] When the data of the travel route generated in the operation terminal 20 is transferred to the work vehicle 10 and stored in the storage memory of the vehicle control device 11, the work vehicle 10 is configured to be able to autonomously travel along the travel route while detecting its current position by the positioning antenna 144. For example, when the current position of the work vehicle 10 coincides with the work start position and the operator presses the work start button on the operation screen to give an instruction of "work start", the work vehicle 10 starts autonomous driving. The vehicle control device 11 autonomously drives the work vehicle 10 from the work start position to the work end position based on the travel route acquired from the operation terminal 20. In addition, when the work vehicle 10 finishes the work, the vehicle control device 11 may autonomously drive the work vehicle 10 from the work end position to the entrance of the field F.

[0055] Here, when the work vehicle 10 is autonomously traveling, the control unit 21 can receive the state (position, traveling speed, etc.) of the work vehicle 10 from the work vehicle 10 and display it on the operation display unit 23.

[0056] Note that the operation terminal 20 may be able to access a website (agricultural support site) of an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal of the server when a browser program is executed by the control unit 21. And the server includes each of the above-described processing units in the control unit 21 and executes each process.

[0057] According to the above configuration, as shown in FIG. 7, it is possible to generate a work area R2 that avoids an obstacle (for example, the slope SL). Therefore, it is possible to avoid the work vehicle 10 from coming into contact with an obstacle when autonomously traveling in the work area R2.

[0058] [Work area setting process] Hereinafter, an example of the work area setting process executed by the control unit 21 of the operation terminal 20 will be described with reference to FIG. 8. For example, the work area setting process is started by the control unit 21 when the control unit 21 receives an instruction from the operator to set the field F and the work area.

[0059] Note that the present invention may be regarded as an invention of a work area setting method in which the control unit 21 executes part or all of the work area setting process, or an invention of a work area setting program for causing the control unit 21 to execute part or all of the work area setting method. Also, the work area setting process may be executed by one or a plurality of processors.

[0060] In step S1, the control unit 21 acquires the position information of the current position of the work vehicle 10 operated by the operator when registering the field F. For example, the operator drives the work vehicle 10 along the outer periphery of the area targeted for the field. The control unit 21 acquires the position information of the work vehicle 10 at predetermined intervals based on the positioning information measured by the positioning device 14.

[0061] Next, in step S2, the control unit 21 generates a travel locus R1 based on the position information. For example, as shown in FIG. 3, the control unit 21 generates the travel locus R1 of the outer periphery along which the work vehicle 10 has traveled.

[0062] Next, in step S3, the control unit 21 starts registering the field F. Specifically, in step S4, as shown in FIG. 4, the control unit 21 generates intersection points (first complementary points P1 to P4) of the extension lines of adjacent straight lines connecting the travel locus R1. Then, the control unit 21 registers the area surrounded by the first complementary points P1 to P4 as the field F (see FIG. 5). The control unit 21 stores the registration information of the field F in the storage unit 22.

[0063] Next, in step S5, the control unit 21 generates second complementary points for setting the work area R2. Specifically, the control unit 21 generates second complementary points within the area from the travel locus R1 to the first complementary points. For example, the complementary point generation unit 216 generates the second complementary points on the extension lines within the area from the travel locus R1 to the first complementary points. For example, as shown in FIG. 6, the control unit 21 generates second complementary points P1a, P1b, P2b, P2c, P3c, P3d, P4d, P4a corresponding to each of the first complementary points P1 to P4 corresponding to the respective corner portions of the field F.

[0064] Next, in step S6, the control unit 21 causes the selection target points for setting the work area R2 to be displayed on the setting screen of the operation terminal 20. For example, as shown in FIG. 6, the control unit 21 causes the travel locus R1, the first complementary points P1 to P4, and the second complementary points P1a, P1b, P2b, P2c, P3c, P3d, P4d, P4a to be displayed. The travel locus R1, the first complementary points P1 to P4, and the second complementary points P1a, P1b, P2b, P2c, P3c, P3d, P4d, P4a are an example of the selection target points of the present invention.

[0065] Next, in step S7, the control unit 21 starts accepting an operation for the operator to select the selection target points. When the operator selects two points out of the travel locus R1, the first complementary points P1 to P4, and the second complementary points P1a, P1b, P2b, P2c, P3c, P3d, P4d, P4a, the control unit 21 causes a straight line connecting the two points to be displayed. Further, when the operator selects the third selection target point, the control unit 21 connects the three points with a straight line and displays the area surrounded by the three points. The control unit 21 generates and displays the area surrounded by the selected selection target points according to the selection operation of the operator. When the selection operation of the selection target points by the operator ends (S8: Yes), the process proceeds to step S9.

[0066] In step S9, the control unit 21 sets the work area R2. Specifically, the control unit 21 sets the area surrounded by the selection target points selected by the operator as the work area R2. For example, when the operator selects the first complementary point P1, the second complementary point P2b, the second complementary point P2c, the first complementary point P3, and the first complementary point P4, the control unit 21 sets the area surrounded by connecting these points with a straight line as the work area R2 as shown in FIG. 7. As described above, the control unit 21 sets the work area R2 corresponding to the farm field F.

[0067] As described above, the autonomous driving system 1 according to the present embodiment acquires the position information of the work vehicle 10 and generates the travel locus R1 of the work vehicle 10 based on the position information. Further, the autonomous driving system 1 generates, as selection target points, a first complementary point that is an intersection of extension lines of two adjacent straight lines connecting the generated travel locus R1, and a second complementary point within the region from the travel locus R1 to the first complementary point, and generates a work area R2 of the work vehicle 10 based on the selection target point selected by the operator.

[0068] Thereby, for example, when there are obstacles in the field F, the operator can generate a work area R2 that avoids the obstacles. According to the work area R2 generated in this way, the work vehicle 10 can autonomously travel in the work area R2 while avoiding the obstacles.

[0069] [Embodiment 2] The autonomous driving system 1 may include the configuration of Embodiment 2 in addition to the configuration of Embodiment 1. In the autonomous driving system 1 according to Embodiment 2, the description of the same configuration as that of the autonomous driving system 1 according to Embodiment 1 is omitted.

[0070] The autonomous driving system 1 according to Embodiment 2 has a configuration that can set a work area R2 with an arbitrary position and shape within the field F (within the travel locus R1). Further, the autonomous driving system 1 can set a plurality of work areas R2 within one field F.

[0071] Specifically, the reception processing unit 218 receives an operation by the operator to select an arbitrary position within the field F in the registered field F. The control unit 21 newly sets the selection target point within the field F. The selection target points within the field F are set at predetermined intervals. The operator can select the selection target point by touching the screen on the operation display unit 23 with a finger. The work area generation unit 219 generates a work area R2 of the work vehicle 10 based on the selection target point selected by the operator. Specifically, the work area generation unit 219 generates, as the work area R2, an area surrounded by a plurality of the selection target points within the travel locus R1.

[0072] For example, as shown in FIG. 9A, when the operator selects (touches) points Pa, Pb, Pc, and Pd among the above-mentioned selectable points newly added in the field F, the work area generation unit 219 generates an area surrounded by connecting these points with a straight line as the work area R2. The work area generation unit 219 stores the information of the generated work area R2 in the storage unit 22.

[0073] Note that the operator can also read and edit the work area R2 from the storage unit 22. For example, when the operator moves the position of point Pd in the work area R2 shown in FIG. 9A read from the storage unit 22, the work area generation unit 219 changes the work area R2 to a shape corresponding to the position after the movement of point Pd, as shown in FIG. 9B. Note that the operator can perform an operation (movement operation) of touching the screen with a finger on the operation display unit 23 to move the position of point Pd.

[0074] In addition, the operator can also expand or contract the work area R2 while maintaining its shape. For example, when the work area R2 shown in FIG. 10A is set, if the operator touches two points within the work area R2 on the screen of the operation display unit 23 and performs an operation (pinch-out operation) of widening the interval between the two points, the work area generation unit 219 expands the work area R2 as shown in FIG. 10B. Also, if the operator touches two points within the work area R2 on the screen of the operation display unit 23 and performs an operation (pinch-in operation) of narrowing the interval between the two points, the work area generation unit 219 contracts the work area R2.

[0075] In addition, when the rectangular work area R2 shown in FIG. 11A is set and the operator touches point Pd and moves it to the lower right side, the work area generation unit 219 changes the shape of the work area R2 while maintaining the angles of each corner at 90 degrees, as shown in FIG. 11B. Thereby, a rectangular work area R2 with a desired size can be easily generated.

[0076] Also, when the operator touches the generated work area R2 and moves it to a desired position, the work area generation unit 219 moves the work area R2 to that position. That is, the work area generation unit 219 can operate the work area R2 to a position according to the operator's operation within the field F.

[0077] In this way, the work area generation unit 219 may change at least one of the position and shape of the work area R2 based on a predetermined operation of the operator on the generated work area R2.

[0078] Also, the work area generation unit 219 may generate a plurality of work areas R2 within one field F. The plurality of work areas R2 may have the same shape or different shapes. The operator can set a plurality of different work areas R2 according to the work content, etc. in one field F.

[0079] Also, the work area generation unit 219 may generate, as the work area R2, an area surrounded by a selection target point, the first complementary point, and the second complementary point within the field F. That is, the work area generation unit 219 may generate, as the work area R2, an area surrounded by the selection target point within the travel locus R1 and a corner of the first complementary point or the second complementary point. For example, when the operator selects a point Pd within the field F, the first complementary point P1, the second complementary point P2b, the second complementary point P2c, and the first complementary point P3 on the screen shown in FIG. 11A, the work area generation unit 219 generates, as the work area R2, an area surrounded by connecting these points with straight lines.

[0080] According to the configuration according to Embodiment 2, the operator can set the work area R2 at a desired position within the field F by registering the field F once. Therefore, when the operator generates the work area R2 within the field F, it is not necessary to run the work vehicle 10 again to generate the travel locus R1. In this way, the degree of freedom in setting the work area R2 can be improved.

[0081] Note that the control unit 21 may set a predetermined condition for the selectable target points within the farm field F. For example, the control unit 21 may set an upper limit number of selectable target points. Thereby, it is possible to prevent the generation of a complicated work area R2.

[0082] The autonomous driving system 1 according to Embodiment 2 may not include the configuration for generating the second complementary point shown in Embodiment 1. That is, the work area setting system according to the present invention may include only the configuration shown in Embodiment 2. Further, the autonomous driving system 1 according to Embodiment 2 may include the configuration for generating the second complementary point shown in Embodiment 1 only when there are obstacles at corners or the like of the farm field F. For example, the autonomous driving system 1 according to Embodiment 2 determines whether the set corner of the farm field F overlaps with an obstacle, generates the second complementary point when the corner of the farm field F overlaps with the obstacle, and receives an operation of selecting the second complementary point from the user to generate the work area R2 of the work vehicle 10.

[0083] The work area setting system according to the present invention includes a position acquisition unit, a travel trajectory generation unit, a complementary point generation unit, and a work area generation unit. The position acquisition unit acquires the position information of the work vehicle. The travel trajectory generation unit generates the travel trajectory of the work vehicle based on the position information acquired by the position acquisition unit. The complementary point generation unit generates, as selectable target points, a first complementary point that is an intersection of extension lines of two adjacent straight lines connecting the travel trajectories generated by the travel trajectory generation unit, and a second complementary point within the area from the travel trajectory to the first complementary point. The work area generation unit generates the work area of the work vehicle based on the selectable target points selected by the user.

[0084] The work area setting method according to the present invention is a method in which one or more processors acquire position information of a work vehicle, generate a travel locus of the work vehicle based on the position information, and use a first complementary point that is an intersection of extension lines of two adjacent straight lines connecting the travel locus and a second complementary point within a region from the travel locus to the first complementary point as selection target points, and generate a work area of the work vehicle based on the selection target points selected by a user.

[0085] The work area setting program according to the present invention is a program for causing one or more processors to acquire position information of a work vehicle, generate a travel locus of the work vehicle based on the position information, generate a first complementary point that is an intersection of extension lines of two adjacent straight lines connecting the travel locus and a second complementary point within a region from the travel locus to the first complementary point as selection target points, and generate a work area of the work vehicle based on the selection target points selected by a user.

Explanation of Signs

[0086] 1: Autonomous driving system 10: Work vehicle 20: Operation terminal 21: Control unit 22: Storage unit 23: Operation display unit 211: Vehicle setting unit 212: Work setting unit 213: Position acquisition unit 214: Travel locus generation unit 215: Field registration unit 216: Complementary point generation unit 217: Display processing unit 218: Reception processing unit 219: Work area generation unit F: Field P1~P4: First complementary points (selection target points) P1a, P1b, P2b, P2c, P3c, P3d, P4a, P4d: Second complementary points (selection target points) R1: Travel trajectory R2: Working area

Claims

1. A position acquisition unit that acquires the position information of the work vehicle; A travel trajectory generation unit that generates a travel trajectory of the work vehicle based on the position information acquired by the position acquisition unit; A setting unit that sets a selection target point at the intersection of two adjacent straight lines connecting the travel trajectories generated by the travel trajectory generation unit and within the area surrounded by the travel trajectory; A work area generation unit that generates, as a work area of the work vehicle, an area surrounded by the plurality of selection target points when the plurality of selection target points within the travel trajectory are selected by a user; A work area setting system comprising:

2. When the selection target point and the intersection point within the travel trajectory are selected by the user, the work area generation unit generates, as the work area, an area surrounded by the selection target point and the intersection point. The work area setting system according to Claim 1.

3. Based on a predetermined operation of the user on the generated work area, the work area generation unit changes at least one of the position and shape of the work area. The work area setting system according to Claim 1 or 2.

4. One or more processors execute: Acquiring the position information of the work vehicle; Generating a travel trajectory of the work vehicle based on the position information; Setting a selection target point at the intersection of two adjacent straight lines connecting the travel trajectory and within the area surrounded by the travel trajectory; When a plurality of the selection target points within the travel trajectory are selected by the user, generating, as a work area of the work vehicle, an area surrounded by the plurality of selection target points. A work area setting method.

5. Acquiring the position information of the work vehicle; Generating a travel trajectory of the work vehicle based on the position information; Setting a selection target point at the intersection of two adjacent straight lines connecting the travel trajectory and within the area surrounded by the travel trajectory; When a plurality of the selection target points within the travel trajectory are selected by the user, generating, as a work area of the work vehicle, an area surrounded by the plurality of selection target points. A work area setting program for causing one or more processors to execute. ​ ​ ​ ​

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