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

Abstract

To provide a route generating method that can improve workability of work for generating a target route for making a work vehicle automatically travel in a farm field, a route generating system, and a route generating program.SOLUTION: A setting processing part 713 identifies any one of a plurality of route generating modes for generating a target route R on the basis of a reference point set at a prescribed position within a farm field F. A generation processing part 714 generates the target route R by the identified route generating mode.SELECTED DRAWING: Figure 5B

Description

Technical Field

[0001] The present invention relates to a path generation method, a path generation system, and a path generation program for generating a target path for automatically driving a work vehicle in a field.

Background Art

[0002] Conventionally, a technique for generating a target path for automatically driving a work vehicle in a field is known. For example, a first position (reference starting point) and a second position (reference ending point) in the field are acquired, a line segment connecting the reference starting point and the reference ending point is registered as a reference line, and a straight travel path (target path) parallel to the reference line is set, and a technique for automatically driving a work vehicle along the straight travel path is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technique, it is necessary for an operator to manually drive the work vehicle in order to acquire the reference starting point and the reference ending point. For example, after the operator moves the work vehicle to an arbitrary position and registers the reference starting point, the operator further manually drives the work vehicle to register the reference ending point at an arbitrary position. Thus, in the conventional technique, there arises a problem that the work of generating the target path is time-consuming.

[0005] An object of the present invention is to provide a path generation method, a path generation system, and an automatic driving program capable of improving the workability of the work of generating a target path for automatically driving a work vehicle in a field.

Means for Solving the Problems

[0006] The path generation method according to the present invention is a path generation method for generating a target path for automatically driving a work vehicle in a field, and includes identifying any one of a plurality of path generation modes for generating the target path based on a reference point set at a predetermined position in the field, and generating the target path according to the identified path generation mode.

[0007] The path generation system according to the present invention includes a setting processing unit and a generation processing unit. The setting processing unit identifies any one of a plurality of path generation modes for generating the target path based on a reference point set at a predetermined position in the field. The generation processing unit generates the target path according to the identified path generation mode.

[0008] The path generation program according to the present invention is a path generation program for generating a target path for automatically driving a work vehicle in a field, and includes causing one or more processors to identify any one of a plurality of path generation modes for generating the target path based on a reference point set at a predetermined position in the field, and generate the target path according to the identified path generation mode.

Advantages of the Invention

[0009] According to the present invention, it is possible to provide a path generation method, a path generation system, and an automatic driving program that can improve the workability of the operation of generating a target path for automatically driving a work vehicle in a field.

Brief Description of the Drawings

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

[0012] As shown in FIGS. 1 and 2, an automatic driving system 1 according to an embodiment of the present invention includes a work vehicle 10, a satellite 20, and a base station (not shown). In the present embodiment, a case where the work vehicle 10 is a tractor will be described as an example. As another embodiment, the work vehicle 10 may be a rice transplanter, a combine harvester, a construction machine, a snow removal vehicle, or the like. The work vehicle 10 travels along a target path R while performing a predetermined operation (for example, tilling operation) in a field F (see FIG. 4) according to an operator's operation. Specifically, the work vehicle 10 travels straight along the target path R according to automatic steering, and turns according to manual steering (driving operation) by the operator. The work vehicle 10 travels in the field F while switching between automatic driving on a straight path and manual driving on a turning path to perform work. The target path R may be generated in advance based on an operator's operation and stored as path data. Further, the work vehicle 10 may be provided with a function (vehicle speed control function) for automatically increasing or decreasing the vehicle speed. For example, the work vehicle 10 may automatically change the vehicle speed according to the travel path.

[0013] The work vehicle 10 travels in the field F shown in FIG. 4, for example, until the work is completed while repeating straight running and turning. Each of the plurality of straight running paths is substantially parallel to each other. The target path R shown in FIG. 4 is an example, and the target path R is appropriately determined according to the size of the work vehicle 10, the size of the work implement 14, the work content, the shape of the field F, and the like.

[0014] Note that the automatic driving system 1 may include an operation terminal (such as a tablet terminal or a smartphone) operated by an operator. The operation terminal can communicate with the work vehicle 10 via a communication network such as a mobile phone line network, a packet line network, or a wireless LAN. For example, the operator performs an operation of registering various information (such as work vehicle information, field information, and work information) on the operation terminal. Further, the operator can grasp the traveling status, work status, etc. of the work vehicle 10 from a location away from the work vehicle 10 based on the traveling locus displayed on the operation terminal.

[0015] [Work vehicle 10] As shown in FIGS. 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning device 16, an operation device 17, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the traveling device 13, the work implement 14, the positioning device 16, the operation device 17, and the like. Note that the vehicle control device 11 and the positioning device 16 may be capable of wireless communication. Also, the vehicle control device 11 and the operation device 17 may be capable of wireless communication.

[0016] The communication unit 15 is a communication interface for connecting the work vehicle 10 to a communication network by wire or wirelessly and performing data communication according to a predetermined communication protocol with an external device (such as an operation terminal) via the communication network.

[0017] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute automatic driving processing. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12. Note that the automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via a communication network and stored in the storage unit 12. Further, the storage unit 12 may store data of the target route R generated in the operation device 17.

[0018] The traveling device 13 is a driving unit that causes the work vehicle 10 to travel. As shown in FIG. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a steering wheel 137, and the like. Note that the front wheels 132 and the rear wheels 133 are respectively provided on the left and right sides of the work vehicle 10. Further, the traveling device 13 is not limited to a wheel type including the front wheels 132 and the rear wheels 133, and may be a crawler type including crawlers provided on the left and right sides of the work vehicle 10.

[0019] The engine 131 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 13 may include an electric motor as a drive source together with the engine 131 or instead of the engine 131. Note that a generator (not shown) is connected to the engine 131, 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, the positioning device 16, and the operation device 17 provided in the work vehicle 10 can be driven by the electric power supplied from the battery even after the engine 131 stops.

[0020] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and is transmitted to the rear wheels 133 via the transmission 134 and the rear axle 136. Also, the driving force of the engine 131 is transmitted to the work implement 14 via a PTO shaft (not shown). The traveling device 13 performs a traveling operation according to an instruction from the vehicle control device 11.

[0021] The work implement 14 is, for example, a tiller, a seeder, a lawn mower, a plow, or a fertilizer applicator, etc., and is detachable from the work vehicle 10. Thereby, the work vehicle 10 can perform various operations using each of the work implements 14. FIG. 2 shows the case where the work implement 14 is a tiller. The work implement 14 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 14.

[0022] The steering wheel 137 is an operation unit operated by an operator or the vehicle control device 11. For example, the traveling device 13 changes the angle of the front wheels 132 by a hydraulic power steering mechanism (not shown) or the like according to the operation of the steering wheel 137 by the operator or the vehicle control device 11, and changes the traveling direction of the work vehicle 10.

[0023] Also, in addition to the steering wheel 137, the traveling device 13 includes a shift lever, an accelerator, a brake, etc. (not shown) operated by the vehicle control device 11. In the traveling device 13, according to the operation of the shift lever by the vehicle control device 11, the gears of the transmission 134 are switched to forward gears or reverse gears, etc., and the traveling mode of the work vehicle 10 is switched to forward or reverse, etc. Also, the vehicle control device 11 controls the rotational speed of the engine 131 by operating the accelerator. Also, the vehicle control device 11 operates the brake to brake the rotation of the front wheels 132 and the rear wheels 133 using an electromagnetic brake.

[0024] The positioning device 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, a positioning antenna 164, and the like. For example, as shown in FIG. 2, the positioning device 16 is provided above the cabin 18 in which the operator rides. Further, the installation location of the positioning device 16 is not limited to the cabin 18. Furthermore, the positioning control unit 161, the storage unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be distributed and arranged at different positions in the work vehicle 10. As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. Further, as the positioning device 16, for example, a mobile phone terminal, a smartphone, or a tablet terminal may be substituted.

[0025] The positioning control unit 161 is a computer system including one or more processors and a storage memory such as a non-volatile memory and a RAM. The storage unit 162 is a non-volatile memory or the like that stores a positioning control program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. For example, the positioning control 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 162. Note that the positioning control program may be downloaded from a server (not shown) to the positioning device 16 via a communication network and stored in the storage unit 162.

[0026] The communication unit 163 is a communication interface for connecting the positioning device 16 to a communication network by wire or wirelessly and performing data communication according to a predetermined communication protocol with an external device such as a base station server via the communication network.

[0027] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from the satellite 20.

[0028] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from the satellites 20. For example, when the work vehicle 10 automatically travels in the farm field F, when the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) transmitted from each of the plurality of satellites 20, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite 20, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. Further, the positioning control unit 161 may perform positioning by a real-time kinematic method (RTK-GPS positioning method (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. In this way, the work vehicle 10 performs automatic driving using the positioning information by the RTK method. Note that the current position of the work vehicle 10 may be the same position as the positioning position (for example, the position of the positioning antenna 164), or may be a position deviated from the positioning position.

[0029] The operation device 17 is a device operated by an operator boarding the work vehicle 10, and displays various information and accepts the operator's operations. Specifically, the operation device 17 displays various setting screens to accept various setting operations from the operator, and displays information regarding the work vehicle 10 during traveling. The specific configuration of the operation device 17 will be described later.

[0030] The vehicle control device 11 includes control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as BIOS and OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the vehicle control device 11 controls the work vehicle 10 by causing the CPU to execute various control programs stored in advance in the ROM or the storage unit 12. Further, the vehicle control device 11 executes various processes according to the automatic driving program by the CPU.

[0031] Specifically, the vehicle control device 11 controls the travel of the work vehicle 10. For example, when the travel mode of the work vehicle 10 is manual travel (manual travel mode), the vehicle control device 11 causes the work vehicle 10 to travel manually based on the operator's operation (manual steering). For example, the vehicle control device 11 acquires operation information corresponding to driving operations such as the operator's steering operation, gear shift operation, shift operation, accelerator operation, and brake operation, and causes the traveling device 13 to execute a traveling operation based on the operation information.

[0032] In addition, when the travel mode of the work vehicle 10 is autonomous travel (autonomous travel mode), the vehicle control device 11 causes the work vehicle 10 to travel autonomously based on position information (positioning information) indicating the current position of the work vehicle 10 measured by the positioning control unit 161. For example, when the work vehicle 10 satisfies the autonomous travel start condition and the vehicle control device 11 acquires a travel start instruction from the operator, the vehicle control device 11 starts the autonomous travel of the work vehicle 10 based on the positioning information. Further, the vehicle control device 11 causes the work vehicle 10 to travel autonomously according to a target route R (straight travel route) generated in advance.

[0033] In addition, the vehicle control device 11 can cause the work vehicle 10 to travel autonomously according to a target route R (straight travel route) generated according to any one of a plurality of route generation modes (details will be described later). For example, when the operator selects the first route generation mode, the vehicle control device 11 causes the work vehicle 10 to travel autonomously according to the target route R generated by the first route generation mode. Further, for example, when the operator selects the second route generation mode, the vehicle control device 11 causes the work vehicle 10 to travel autonomously according to the target route R generated by the second route generation mode. Further, for example, when the operator selects the third route generation mode, the vehicle control device 11 causes the work vehicle 10 to travel autonomously according to the target route R generated by the third route generation mode. Note that the setting process of the route generation mode is executed by the operation device 17.

[0034] The automatic driving system 1 according to this embodiment includes three route generation modes (the first route generation mode, the second route generation mode, and the third route generation mode), but the present invention is not limited thereto. Details of the route generation mode will be described later.

[0035] In addition, when the work vehicle 10 reaches the end of the straight path, the vehicle control device 11 switches the driving mode to manual driving. The vehicle control device 11 may switch the driving mode to manual driving when it determines that the work vehicle 10 has reached the end, or may switch the driving mode to manual driving according to the operation of the operator. When the driving mode is switched to manual driving, for example, the operator manually steers the work vehicle 10 to perform turning driving (manual driving).

[0036] As described above, the vehicle control device 11 switches the driving mode according to the operation of the operator on the operation device 17, and automatically drives the work vehicle 10 along the straight path (target path R) by automatic steering and manually drives the work vehicle 10 along the turning path by manual steering.

[0037] Here, the target path R (straight path) for automatically driving the work vehicle 10 is generated based on the work (route generation work) by the operator. In the conventional technology in the route generation work, it is necessary for the operator to manually drive the work vehicle 10 to obtain the reference start point (point A) and the reference end point (point B). For example, the operator moves the work vehicle 10 to an arbitrary position to register point A, and then manually drives the work vehicle 10 again to register point B at an arbitrary position. Therefore, there is a problem that the route generation work is time-consuming. On the contrary, according to the configuration of this embodiment, as shown below, it is possible to improve the workability of the route generation work. Hereinafter, the specific configuration of the operation device 17 will be described.

[0038] [Operation device 17] As shown in FIG. 1, the operation device 17 includes an operation control unit 71, a storage unit 72, an operation display unit 73, etc. The operation device 17 may be a device that can be attached to and detached from the work vehicle 10. Further, the operation device 17 may be a portable terminal (such as a tablet terminal or a smartphone) that can be carried by an operator. Also, the operation device 17 is communicably connected to the vehicle control device 11 by wire or wirelessly.

[0039] The operation display unit 73 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display for displaying various information, and an operation unit such as an operation button or a touch panel for receiving operations. The operation display unit 73 displays various setting screens, work screens, etc. according to the instructions of the operation control unit 71. Also, the operation display unit 73 receives the operations of the operator on the setting screen and the work screen.

[0040] Also, the operation unit includes an auto run button for the operator to give a run start instruction when starting the auto run of the work vehicle 10, an offset button for performing an offset operation (correction operation) to correct the position deviation between the work vehicle 10 and the target route R, and a plurality of selection buttons for performing selection operations on the setting screen and the work screen (none of them are shown in the figure).

[0041] The operation device 17 is installed near the steering wheel 137 in the cabin 18, for example, as shown in FIGS. 2 and 3.

[0042] The storage unit 72 is a non-volatile storage unit such as an HDD or an SSD that stores various types of information. The storage unit 72 stores control programs such as a route generation program for causing the operating device 17 to execute the route generation process (see FIGS. 14 and 15) described later. For example, the route generation 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 72. Note that the route generation program may be downloaded from a server (not shown) to the operating device 17 via a communication network and stored in the storage unit 72. Further, the route generation program may be stored in the storage unit 12 of the work vehicle 10. Also, the storage unit 72 may store data of the target route R generated in the operating device 17.

[0043] The operation control unit 71 includes control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the operation control unit 71 controls the operating device 17 by causing the CPU to execute various control programs pre-stored in the ROM or the storage unit 72.

[0044] Specifically, as shown in FIG. 1, the operation control unit 71 includes various processing units such as a display processing unit 711, a reception processing unit 712, a setting processing unit 713, and a generation processing unit 714. Note that the operating device 17 functions as the various processing units by causing the CPU to execute various processes according to the route generation program. Also, some or all of the processing units may be configured by electronic circuits. Note that the route generation program may be a program for causing a plurality of processors to function as the processing units.

[0045] The display processing unit 711 causes various information to be displayed on the operation display unit 73. For example, the display processing unit 711 causes the operation display unit 73 to display a setting screen for performing various settings (FIGS. 5, 7, 9, 13, etc.), a work screen D1 (FIGS. 11, 12, etc.) including travel information such as the travel status and work status of the work vehicle 10, and the like.

[0046] The reception processing unit 712 receives various operations by the operator. For example, the reception processing unit 712 receives from the operator operations for generating the target route R on the setting screen, that is, various operations related to the route generation work.

[0047] The setting processing unit 713 specifies one of a plurality of route generation modes. The plurality of route generation modes are route generation modes for generating the target route R based on a reference point (for example, point A) set at a predetermined position in the farm field F. The setting processing unit 713 is an example of the setting processing unit of the present invention.

[0048] The plurality of route generation modes according to the present embodiment include a first route generation mode for generating the target route R based on a reference line L1 passing through two reference points (point A and point B) respectively set at two positions in the farm field F according to the setting operations of the operator, a second route generation mode for generating the target route R based on a reference line L1 passing through a reference point (point A) set at the position (for example, the current position) of the work vehicle 10 in the farm field F and extending in the direction of the orientation (vehicle orientation) of the work vehicle 10, and a third route generation mode for generating the target route R based on a reference line L1 passing through a reference point (point A) set at the position (for example, the current position) of the work vehicle 10 in the farm field F and extending in the direction of a set azimuth angle d1 (set angle) set according to the setting operation of the operator.

[0049] The operator can select one of the plurality of route generation modes. FIG. 5A shows an example of the setting screen P1. For example, when the operator selects work settings (not shown) on the menu screen when performing route generation work, the display processing unit 711 causes the setting screen P1 to be displayed on the operation display unit 73.

[0050] The setting screen P1 includes a setting item K11 ("reference line creation") for setting the path generation mode, a setting item K12 ("set azimuth angle") for setting the set azimuth angle, and the like. Note that the operator can move the selection position and display page of the setting item by pressing the operation button K1, can select the setting item by pressing the determination button K2, and can move the display page to the previous page by pressing the return button K3. Each of the buttons K1 to K3 is an example of the operation unit in the operation display unit 73.

[0051] When the operator selects the setting item K11, the display processing unit 711 displays a setting screen P11 shown in FIG. 5B. The display processing unit 711 displays, on the setting screen P11, a selection column for a plurality of path generation modes and explanation information corresponding to each selection column. That is, the display processing unit 711 displays a setting screen P11 (an example of the first screen of the present invention) that accepts a selection operation of the path generation mode by the operator. The plurality of path generation modes include "point A + point B" (setting item K13) corresponding to the first path generation mode, "point A + vehicle azimuth angle" (setting item K14) corresponding to the second path generation mode, and "point A + set azimuth angle" (setting item K15) corresponding to the third path generation mode. The operator can select any one of the first path generation mode, the second path generation mode, and the third path generation mode on the setting screen P11 shown in FIG. 5B.

[0052] The setting processing unit 713 identifies the route generation mode selected by the operator from among the plurality of route generation modes. Further, when the route generation mode is identified, the display processing unit 711 displays a work screen D1 (an example of the second screen of the present invention) for receiving from the operator a setting operation of setting a reference line L1 passing through a reference point (point A). Then, the generation processing unit 714 generates a target route R according to the route generation mode identified by the setting processing unit 713. Specifically, the generation processing unit 714 generates a target route R including the reference line L1 set according to the setting operation of the operator. The generation processing unit 714 is an example of the generation processing unit of the present invention.

[0053] Note that the operation control unit 71 may perform voice output (voice guidance) of the description information corresponding to the setting item where a pointer such as a cursor or a mouse is located on each setting screen. For example, when the cursor is aligned with the setting item K11 of "reference line creation" on the setting screen P1 (see FIG. 5A), the operation control unit 71 outputs a voice message such as "The reference line creation is set to point A + point B". Also, for example, when the cursor is aligned with the setting item K15 of "point A + set azimuth angle" on the setting screen P11 (see FIG. 9A), the operation control unit 71 outputs a voice message such as "This is a method of creating a reference line from the setting of point A and the set azimuth angle". Note that the operation control unit 71 may be able to switch the ON / OFF of the voice output function.

[0054] [Specific example of route generation method] Next, specific examples of the method for generating the target route R in each of the first route generation mode, the second route generation mode, and the third route generation mode will be described.

[0055] [First route generation mode] When the operator selects "Point A + Point B" (setting item K13) and presses the determination button K2 on the setting screen P11, the reception processing unit 712 receives the selection operation of the operator, and the setting processing unit 713 identifies the first route generation mode. When the setting processing unit 713 identifies the first route generation mode, the display processing unit 711 causes the operation display unit 73 to display a work screen D1 (see FIG. 5C) for receiving a setting operation for setting the reference line L1 from the operator. The operator moves the work vehicle 10 to an arbitrary position within the farm field F and presses the point A registration button Ka. For example, the operator moves the work vehicle 10 to the outer peripheral end of the farm field F and presses the point A registration button Ka. When the operator presses the point A registration button Ka, the setting processing unit 713 registers the current position of the work vehicle 10 as the first reference point (point A). When the setting processing unit 713 registers point A, the display processing unit 711 causes the operation display unit 73 to display a work screen D1 (see FIG. 5D) for receiving a registration operation for the second reference point (point B). The operator manually drives the work vehicle 10 in the direction in which the work vehicle 10 is to travel and work (target direction) (see FIG. 6A). Specifically, the operator drives the work vehicle 10 straight in a direction parallel to the work direction (for example, the tilling direction) when the work vehicle 10 works in the work area. Then, the operator presses the point B registration button Kb (see FIG. 5D) at an arbitrary position (for example, the outer peripheral end of the farm field F). When the operator presses the point B registration button Kb, the setting processing unit 713 registers the current position of the work vehicle 10 as the second reference point (point B).

[0056] When the setting processing unit 713 acquires the position information of point A and point B, it sets a straight line passing through point A and point B as the reference line L1 (see Fig. 6A). Note that the setting processing unit 713 may be able to adjust the orientation of the created reference line L1. For example, when the setting processing unit 713 displays the created reference line L1 on the work screen D1 and receives a registration operation from the operator, it sets (registers) the reference line L1. On the other hand, when the setting processing unit 713 receives an operation (such as a touch operation on the screen) from the operator to change the orientation of the reference line L1, it adjusts the orientation of the reference line L1 according to the operation. When the setting processing unit 713 receives an operation to register point B, it may display a selection screen for selecting whether to register or adjust the reference line L1. The generation processing unit 714 generates a travel route (target route R) including the reference line L1 and a plurality of straight lines parallel to the reference line L1. For example, the generation processing unit 714 generates a plurality of parallel straight lines at equal intervals to the left and right around the reference line L1 based on a preset working width (the lateral width of the working machine 14) and a lap width (the width overlapping with the adjacent worked area) (see Fig. 6B). The generation processing unit 714 registers the generated target route R in the storage unit 72 and displays it on the operation display unit 73.

[0057] According to the first route generation mode, since the target route R can be generated by the reference line L1 passing through two points (point A and point B) at both ends of the field F, the working accuracy of the work vehicle 10 can be improved. Note that the setting processing unit 713 may be able to register point B when the work vehicle 10 has traveled a predetermined distance (for example, 5 m) after registering point A. Thereby, a more accurate reference line L1 can be set.

[0058] [Second Route Generation Mode] In the setting screen P11 (see Fig. 7), when the operator selects "Point A + vehicle azimuth angle" (setting item K14) and presses the determination button K2, the reception processing unit 712 receives the selection operation of the operator, and the setting processing unit 713 identifies the second route generation mode. When the setting processing unit 713 identifies the second route generation mode, the display processing unit 711 causes the operation display unit 73 to display a work screen D1 (see Fig. 5C) for receiving from the operator a setting operation for setting the reference line L1. The operator moves the work vehicle 10 to an arbitrary position within the farm field F and presses the point A registration button Ka (see Fig. 5C). For example, the operator moves the work vehicle 10 to the work start position of the farm field F and presses the point A registration button Ka. When the operator presses the point A registration button Ka, the setting processing unit 713 registers the position (current position) of the work vehicle 10 as the reference point (point A) (see Fig. 8A). When the setting processing unit 713 registers point A, it sets as the reference line L1 a straight line passing through point A and extending in the direction of the current azimuth (vehicle azimuth) of the work vehicle 10 (see Fig. 8A). Further, the setting processing unit 713 sets the vehicle azimuth angle (the setting angle of the present invention), which is the angle with respect to the reference azimuth (for example, north). Note that the setting processing unit 713 may be able to adjust the azimuth of the created reference line L1. For example, when the setting processing unit 713 causes the created reference line L1 to be displayed on the work screen D1 and receives a registration operation from the operator, it sets (registers) the reference line L1. On the other hand, when the setting processing unit 713 receives an operation (for example, a touch operation on the screen, etc.) from the operator to change the azimuth of the reference line L1, it adjusts the azimuth of the reference line L1 according to the operation. When the setting processing unit 713 receives an operation for registering point A, it may display a selection screen for selecting whether to register or adjust the reference line L1.

[0059] The generation processing unit 714 generates a travel route (target route R) including the reference line L1 and a plurality of straight lines parallel to the reference line L1 (see Fig. 8B). The generation processing unit 714 registers the generated target route R in the storage unit 72 and causes it to be displayed on the operation display unit 73.

[0060] As described above, in the second path generation mode, the operation control unit 71 sets the vehicle azimuth angle, which is the azimuth of the vehicle with respect to the reference azimuth (north), sets a reference point (point A) at a predetermined position within the farm field F, and generates a target path R (straight path) based on the vehicle azimuth angle and the reference line L1 passing through point A. Further, the operation control unit 71 generates a target path R including the reference line L1 passing through point A and extending at the vehicle azimuth angle with respect to the reference azimuth. According to the second path generation mode, the operator can generate a target path R corresponding to the azimuth of the work vehicle 10 by registering point A, so that the workability of the path generation work can be improved.

[0061] [Third path generation mode] When the operator selects "Point A + set azimuth angle" (setting item K15) and presses the determination button K2 on the setting screen P11 (see FIG. 9A), the reception processing unit 712 receives the selection operation of the operator, and the setting processing unit 713 identifies the third path generation mode. Further, the display processing unit 711 displays the setting item K12 ("set azimuth angle") as selectable on the setting screen P1 (see FIG. 9B). When the operator selects "Point A + Point B" (setting item K13) or "Point A + vehicle azimuth angle" (setting item K14), the display processing unit 711 may display the setting item K12 as non-selectable (for example, grayed out display) or make it non-displayed. When the operator selects "set azimuth angle" (setting item K12) and presses the determination button K2 on the setting screen P1 (see FIG. 9B), the reception processing unit 712 receives the selection operation of the operator, and the display processing unit 711 displays the setting screen P12 (see FIG. 9C).

[0062] The setting processing unit 713 sets a set azimuth angle d1 (the setting angle of the present invention), which is an angle with respect to the reference azimuth (for example, north). For example, the display processing unit 711 displays an input field K16 for inputting an angle on the setting screen P12, and the reception processing unit 712 receives an angle input operation from the operator. The operator inputs a desired angle by operating, for example, the operation button K1. The setting processing unit 713 sets the angle input by the operator as the set azimuth angle d1.

[0063] Here, when the set azimuth angle d0 (registered set azimuth angle) (an example of the registered set angle of the present invention) set in the past is stored in the storage unit 72 in advance, the setting processing unit 713 may set the set azimuth angle d0 to the set azimuth angle d1. Further, the display processing unit 711 may display the set azimuth angle d0 in the input field K16 with the initial angle, and the reception processing unit 712 may receive a change operation of the initial angle from the operator. When the reception processing unit 712 receives the change operation, the setting processing unit 713 sets the changed angle to the set azimuth angle d1. When the setting processing unit 713 sets the set azimuth angle d1, the display processing unit 711 displays the set azimuth angle d1 (here, "72.0093 degrees") in the explanation column of the setting item K12 on the setting screen P1 (see FIG. 9B). According to the configuration in which the set azimuth angle d0 (registered set azimuth angle) is displayed as the initial angle, the operator can use it as a guide when setting the set azimuth angle d1.

[0064] Also, when the setting processing unit 713 sets the setting azimuth angle d1, the display processing unit 711 causes the operation display unit 73 to display a work screen D1 (see FIG. 5C) for receiving from the operator a setting operation for setting the reference line L1. The operator moves the work vehicle 10 to an arbitrary position within the farm field F and presses the A-point registration button Ka. For example, the operator moves the work vehicle 10 to the work start position of the farm field F and presses the A-point registration button Ka (see FIG. 5C). When the operator presses the A-point registration button Ka, the setting processing unit 713 registers the current position of the work vehicle 10 as the reference point (A-point). When the setting processing unit 713 registers the A-point, it sets as the reference line L1 a straight line passing through the A-point and extending in the direction of the setting azimuth angle d1 (see FIG. 10A). Note that the setting processing unit 713 may be able to adjust the azimuth of the created reference line L1. For example, the setting processing unit 713 displays the created reference line L1 on the work screen D1 and sets (registers) the reference line L1 when receiving a registration operation from the operator. On the other hand, when the setting processing unit 713 receives an operation (such as a touch operation on the screen) from the operator to change the azimuth of the reference line L1, it adjusts the azimuth of the reference line L1 according to the operation. The setting processing unit 713 may display a selection screen for selecting whether to register or adjust the reference line L1 when receiving an operation for registering the A-point. The generation processing unit 714 generates a travel route (target route R) including the reference line L1 and a plurality of straight lines parallel to the reference line L1 (see FIG. 10B). The generation processing unit 714 registers the generated target route R in the storage unit 72 and also causes it to be displayed on the operation display unit 73.

[0065] Thus, in the third route generation mode, the operation control unit 71 sets the setting azimuth angle d1, which is the angle with respect to the reference azimuth (north), sets the reference point (A-point) at a predetermined position within the farm field F, and generates the target route R (straight travel route) based on the setting azimuth angle d1 and the reference line L1 passing through the A-point. Also, the operation control unit 71 generates the target route R including the reference line L1 extending at the setting azimuth angle d1 with respect to the reference azimuth and passing through the A-point.

[0066] In addition, the operation control unit 71 displays a setting screen P12 (see FIG. 9C) for receiving an input operation of the angle with respect to the reference orientation from the operator, and sets the angle input by the operator as the set orientation angle d1. Further, the operation control unit 71 displays a work screen D1 (see FIG. 5C) for receiving a setting operation of point A from the operator, and when receiving a setting operation of point A from the operator on the work screen D1, generates a target path R (see FIG. 10B) and displays the target path R on the work screen D1.

[0067] According to the third path generation mode, since the operator can generate the target path R by setting the set orientation angle d1 and registering point A, the workability of the path generation work can be improved while maintaining the work accuracy of the work vehicle 10.

[0068] In the third path generation mode, when changing (regenerating) the once-generated target path R, the operator re-enters the set orientation angle d1, deletes the registered point A, and re-registers point A. Further, the operation control unit 71 may omit the operation of deleting point A. For example, when the operator changes the set orientation angle d1 and performs an operation of registering point A, the operation control unit 71 may update (overwrite) the registered point A with the newly registered point A.

[0069] As another embodiment of the third path generation mode, after setting a reference point (point A) (see FIG. 5C), the operation control unit 71 may receive an input operation of the set orientation angle d1 from the operator (see FIG. 9C). In this case, when the operator inputs an angle (set orientation angle d1) on the setting screen P12 and presses the determination button K2, the operation control unit 71 sets the set orientation angle d1 and generates and displays the reference line L1 and the target path R (see FIGS. 10A and 10B).

[0070] Also, as another embodiment of the third path generation mode, the operation control unit 71 may set the current orientation of the work vehicle 10 to the set azimuth angle d1. Further, the operation control unit 71 may display the current orientation of the work vehicle 10 in the input field K16 as the initial angle and accept an angle change operation from the operator. Further, when the operator sets the reference point (point A) before setting the set azimuth angle d1, the operation control unit 71 may be configured to set the current orientation of the work vehicle 10 to the set azimuth angle d1, or to display the orientation in the input field K16.

[0071] The operation control unit 71 generates the target path R according to the path generation mode selected by the operator among the plurality of path generation modes (the first path generation mode, the second path generation mode, and the third path generation mode) as described above. As another embodiment, when the set azimuth angle d0 set in the past is stored in the storage unit 72 in advance, the setting processing unit 713 may specify the third path generation mode among the plurality of path generation modes regardless of the operator's selection operation. That is, when the set azimuth angle d0 is stored in the storage unit 72 in advance, the operation control unit 71 may generate the target path R according to the third path generation mode.

[0072] After the target path R is generated, the operator gives an instruction (travel start instruction) to start the automatic travel of the work vehicle 10 in the field F. For example, when the work vehicle 10 satisfies the automatic travel start condition and becomes in a state where it can automatically travel, the operator can give a travel start instruction. When the vehicle control device 11 acquires the travel start instruction from the operator, it executes an automatic travel process according to the set path generation mode.

[0073] FIG. 11A shows an operation screen (work screen) indicating that the work vehicle 10 has satisfied the automatic driving start condition and has become capable of automatic driving. When the work vehicle 10 satisfies the automatic driving start condition, the vehicle control device 11 causes the operation screen shown in FIG. 11A to be displayed on the operation display unit 73. When the work vehicle 10 becomes capable of automatic driving, the operator presses an automatic driving button (not shown) on the operation display unit 73 to give a travel start instruction. When the vehicle control device 11 receives the travel start instruction, the vehicle control device 11 starts automatic steering of the work vehicle 10 along the target path R generated by the set path generation mode. Thereby, the vehicle control device 11 automatically drives the work vehicle 10 along the straight path by automatic steering.

[0074] FIG. 11B shows a display screen (work screen) of the work vehicle 10 during automatic driving. When the work vehicle 10 starts automatic driving, the vehicle control device 11 causes the work screen shown in FIG. 11B to be displayed on the operation device 17. For example, based on the information (travel information, etc.) acquired from the vehicle control device 11, the operation device 17 displays the position of the work vehicle 10, the straight path, the worked area (work status), guidance information (operation guidance information), etc. on the work screen of the operation display unit 73.

[0075] Further, the vehicle control device 11 ends automatic steering at the end of the straight path. For example, in the first path generation mode, when the work vehicle 10 travels straight by automatic steering and approaches the end point Pe (the intersection of the perpendicular line passing through the B point on the reference line L1 and the straight path (straight line) corresponding to the B point on the reference line L1) (see FIG. 6C), the vehicle control device 11 notifies the operator of guidance information (travel information G4 (see FIG. 12A)), and ends automatic steering according to the operator's operation. Also, for example, in the second path generation mode and the third path generation mode, the vehicle control device 11 ends automatic steering according to the operator's operation.

[0076] In addition, on the working screen D1 (see Fig. 12A) during automatic driving in the first route generation mode, driving information G0 including the position of the work vehicle 10, the target route R, point B, and the worked area, driving information G1 representing the position deviation of the work vehicle 10 with respect to the target route R, driving information G2 and G3 representing the driving status of the work vehicle 10, driving information G4 indicating that the work vehicle 10 is approaching the end point, etc. are displayed.

[0077] Also, on the working screen D1 (see Fig. 12B) during automatic driving in the second route generation mode and the third route generation mode, driving information G0 including the position of the work vehicle 10, the target route R, and the worked area, driving information G1 representing the position deviation of the work vehicle 10 with respect to the target route R, driving information G2 representing the driving status of the work vehicle 10, etc. are displayed.

[0078] Here, the display contents of the driving information G2 and G3 can be set by the operator. When the operator presses the operation button K1 on the setting screen P1 (see Fig. 5A) to scroll the page, the display processing unit 711 displays the setting screen P2 shown in Fig. 13A. The setting screen P2 includes a setting item K21 ("Information Display 1") for selecting whether to display the driving information G2 on the working screen D1 and the display target, a setting item K22 ("Information Display 2") for selecting whether to display the driving information G3 and the display target, etc. After the operator selects the setting item K21 ("Information Display 1"), the operator selects the display target to be displayed in the driving information G2 on the setting screen P21 (see Fig. 13B). Similarly, after the operator selects the setting item K22 ("Information Display 2"), the operator selects the display target to be displayed in the driving information G3 on the setting screen P21.

[0079] Fig. 13B shows a state where "route azimuth angle" is selected in the third route generation mode. When the operator selects "route azimuth angle" and presses the determination button K2, the display processing unit 711 displays "route azimuth angle" in the driving information G1 of the working screen D1 (see Fig. 12B). In addition, when the operator sets a set azimuth angle (see Fig. 9C), the display processing unit 711 displays the set azimuth angle in the driving information G2 as the route azimuth angle.

[0080] [Route Generation Process] Hereinafter, with reference to FIG. 14, an example of the route generation process executed by the operation control unit 71 of the operation device 17 will be described. Note that the present invention may be regarded as an invention of a route generation method in which the operation device 17 executes part or all of the route generation process, or an invention of a route generation program for causing the operation device 17 to execute part or all of the route generation method. Further, one or more processors may execute the route generation process.

[0081] In step S1, the operation control unit 71 determines whether or not it has received an instruction to start the generation process of the target route R from the operator. For example, when starting an operation (route generation operation) to generate the target route R, the operator selects a work setting (not shown) on the menu screen. When the operation control unit 71 receives the selection operation (route generation start instruction) of the work setting from the operator (S1: Yes), the process proceeds to step S2. The operation control unit 71 waits until it receives the route generation start instruction from the operator (S1: No).

[0082] In step S2, the operation control unit 71 displays a setting screen P11 (route generation mode selection screen) for selecting a route generation mode. For example, when the operator selects the work setting on the menu screen, the operation control unit 71 causes the operation display unit 73 to display the setting screen P1 shown in FIG. 5A. Further, when the operator selects the setting item K11 of "reference line creation" on the setting screen P1, the operation control unit 71 displays the setting screen P11 (see FIG. 5B). On the setting screen P11, the operation control unit 71 displays "point A + point B" (setting item K13) corresponding to the first route generation mode, "point A + vehicle azimuth angle" (setting item K14) corresponding to the second route generation mode, and "point A + set azimuth angle" (setting item K15) corresponding to the third route generation mode so that they can be selected.

[0083] In step S3, the operation control unit 71 determines whether it has received a selection operation for the path generation mode. The operator selects any one of the setting items K13, K14, and K15 on the setting screen P11 (see FIG. 5B). When the operation control unit 71 receives a selection operation for the path generation mode from the operator (S3: Yes), it identifies the path generation mode and transfers the process to step S4. The operation control unit 71 waits until it receives a selection operation for the path generation mode from the operator (S3: No).

[0084] In step S4, the operation control unit 71 executes a process of generating a target path R for automatically driving the work vehicle 10 (path generation process). For example, when the operator selects the setting item K13 (“Point A + Point B”) (see FIG. 5B), the operation control unit 71 identifies the first path generation mode and generates the target path R according to the first path generation mode (see FIG. 6). Also, for example, when the operator selects the setting item K14 (“Point A + Vehicle Azimuth Angle”) (see FIG. 7), the operation control unit 71 identifies the second path generation mode and generates the target path R according to the second path generation mode (see FIG. 8). Also, for example, when the operator selects the setting item K15 (“Point A + Set Azimuth Angle”) (see FIG. 9), the operation control unit 71 identifies the third path generation mode and generates the target path R according to the third path generation mode (see FIG. 10).

[0085] In step S5, the operation control unit 71 registers the generated target path R in the storage unit 72. Specifically, when the operation control unit 71 displays the generated target path R on the operation display unit 73 and receives a registration operation from the operator, it registers the target path R in the storage unit 72. Also, the operation control unit 71 stores the target path R in the storage unit 12 of the work vehicle 10.

[0086] [Path Generation Process of the Third Path Generation Mode] Here, an example of the path generation process corresponding to the third path generation mode in the path generation process in step S4 will be described with reference to FIG. 15. The operator selects the setting item K15 ("Point A + set azimuth angle") (see FIG. 9A), and further selects the setting item K12 ("set azimuth angle") on the setting screen P1 (see FIG. 9B).

[0087] In step S41, the operation control unit 71 determines whether the set azimuth angle d0 (registered set azimuth angle) set in the past is stored in the storage unit 72. When the set azimuth angle d0 is stored in the storage unit 72 (S41: Yes), the operation control unit 71 causes the process to proceed to step S42. On the other hand, when the set azimuth angle d0 is not stored in the storage unit 72 (S41: No), the operation control unit 71 causes the process to proceed to step S411.

[0088] In step S42, the operation control unit 71 causes the set azimuth angle d0 to be displayed in the input field K16 of the setting screen P12 (see FIG. 9C) as the initial angle.

[0089] In step S43, the operation control unit 71 determines whether it has received a change operation of the initial angle from the operator. When the operator wants to change the registered set azimuth angle d0, the operator operates the operation button K1 on the setting screen P12 (see FIG. 9C) to change it to a desired angle. When the operation control unit 71 receives the change operation (S43: Yes), the operation control unit 71 causes the process to proceed to step S44. On the other hand, when the operation control unit 71 does not receive the change operation (S43: No), the operation control unit 71 causes the process to proceed to step S45.

[0090] In step S44, the operation control unit 71 changes the set azimuth angle d0 (initial angle) displayed on the setting screen P12 according to the change operation of the operator.

[0091] In step S45, the operation control unit 71 determines whether it has received a determination operation for the set azimuth angle d1. When the operator wants to determine the angle displayed in the input field K16 of the setting screen P12 (see FIG. 9C), the operator presses the determination button K2. When the operator presses the determination button K2, the operation control unit 71 receives the determination operation. When the operation control unit 71 receives the setting operation (S45: Yes), the process proceeds to step S46. On the other hand, when the operation control unit 71 does not receive the setting operation (S45: No), the process proceeds to step S43.

[0092] On the contrary, when it is determined in step S41 that the set azimuth angle d0 is not stored in the storage unit 72 (S41: No), in step S411, the operation control unit 71 displays the input field K16 of the setting screen P12 (see FIG. 9C). The operation control unit 71 receives an angle input operation from the operator.

[0093] In step S412, the operation control unit 71 determines whether it has received the input operation from the operator. When the operation control unit 71 receives the input operation (S412: Yes), the process proceeds to step S413. The operation control unit 71 waits until it receives the input operation (S412: No).

[0094] In step S413, the operation control unit 71 determines whether it has received a determination operation for the set azimuth angle d1. When the operator wants to determine the angle displayed in the input field K16 of the setting screen P12 (see FIG. 9C), the operator presses the determination button K2. When the operator presses the determination button K2, the operation control unit 71 receives the determination operation. When the operation control unit 71 receives the setting operation (S413: Yes), the process proceeds to step S46. On the other hand, when the operation control unit 71 does not receive the setting operation (S413: No), the process proceeds to step S412. The operation control unit 71 can receive an angle change operation from the operator until it receives the determination operation.

[0095] In step S46, the operation control unit 71 causes a work screen D1 (see FIG. 5C) for receiving a setting operation of a reference point (point A) from the operator to be displayed.

[0096] In step S47, the operation control unit 71 determines whether or not it has received a registration operation for registering point A from the operator. For example, the operator moves the work vehicle 10 to the work start position in the field F and presses the point A registration button Ka (see FIG. 5C). When the operator presses the point A registration button Ka, the operation control unit 71 receives the registration operation. When the operation control unit 71 receives the registration operation from the operator (S47: Yes), the process proceeds to step S48. The operation control unit 71 waits until it receives the registration operation from the operator (S47: No).

[0097] In step S48, the operation control unit 71 generates a target path R. Specifically, when the operation control unit 71 registers the current position of the work vehicle 10 as point A, it sets a straight line extending in the direction of the set azimuth angle d1 passing through point A as a reference line L1 (see FIG. 10A). The operation control unit 71 generates a travel path (target path R) including the reference line L1 and a plurality of straight lines parallel to the reference line L1 (see FIG. 10B). After step S48, in step S5 (see FIG. 14), the operation control unit 71 registers the generated target path R in the storage unit 72.

[0098] As described above, the operation control unit 71 executes the path generation process to generate the target path R. The vehicle control device 11 automatically drives the work vehicle 10 according to the target path R generated by the operation control unit 71.

[0099] As described above, the operating device 17 according to the present embodiment generates a target path R for automatically driving the work vehicle 10 in the farm field F. Further, the operating device 17 specifies any one of a plurality of path generation modes for generating the target path R based on a reference point (point A) set at a predetermined position in the farm field F, and generates the target path R according to the specified path generation mode. For example, the operating device 17 causes a plurality of path generation modes to be displayed so as to be selectable (see FIG. 5B), and generates the target path R according to the path generation mode selected by the operator.

[0100] Further, when the operating device 17 specifies (sets) the third path generation mode, it sets a set azimuth angle d1 with respect to a reference azimuth (for example, north), sets a reference point (point A) at a predetermined position in the farm field F, and generates the target path R based on the set azimuth angle d1 and a reference line L1 passing through the point A. Further, when the operating device 17 specifies (sets) the second path generation mode, it sets a vehicle azimuth angle with respect to a reference azimuth (for example, north), sets a reference point (point A) at a predetermined position in the farm field F, and generates the target path R based on the vehicle azimuth angle and a reference line L1 passing through the point A. Each of the set azimuth angle d1 and the vehicle azimuth angle is an example of the set angle of the present invention. The operating device 17 may set the set azimuth angle d1 as a set angle for creating the reference line L1, or may set the vehicle azimuth angle as a set angle for creating the reference line L1.

[0101] According to the above configuration, among the plurality of route generation modes, an operator can select a desired route generation mode. For example, the operator can select a route generation mode with a light burden for the route generation operation for generating the target route R (for example, the second route generation mode or the third route generation mode) to generate the target route R. Further, for example, when the operator selects the third route generation mode, the target route R can be generated only by setting the set azimuth angle d1 and registering only one reference point (point A). Further, for example, when the operator selects the second route generation mode, the target route R can be generated only by setting the current azimuth (vehicle azimuth angle) of the vehicle and registering only one reference point (point A). Therefore, compared with the first route generation mode in which two reference points (point A and point B) are registered, the workability of the route generation operation can be improved.

[0102] [Other Embodiments] The present invention is not limited to the above-described embodiments. Other embodiments of the present invention will be described below.

[0103] In the above-described embodiment, the display processing unit 711 displays, on the setting screen P12 shown in FIG. 9C, an image representing the set azimuth angle d1 with respect to the reference azimuth (for example, north) and the reference line L1 as a fixed image (explanation image) regardless of the angle input to the input field K16. As another embodiment, as shown in FIG. 16, the display processing unit 711 may display the set azimuth angle and the reference line in the image according to the angle input to the input field K16. In FIG. 16, the angle in the image corresponds to "72.0093 degrees". Thereby, the operator can easily grasp the set azimuth angle d1 and the reference line L1.

[0104] Furthermore, for example, when the operator performs an operation to change the angle with respect to the initial angle (set azimuth angle d0, registered set azimuth angle), the display processing unit 711 may display the initial angle and the changed angle in a distinguishable manner as shown in FIG. 17. Thereby, the operator can easily grasp the reference line L1 before and after the angle change. Also, as shown in FIG. 18, when the operator touches the reference line after the angle change within the image, the display processing unit 711 may return the angle of the reference line to the initial angle.

[0105] Also, the display processing unit 711 may display an image of the work vehicle 10 as shown in FIG. 19. Further, the display processing unit 711 may rotate the image according to the angle input to the input field K16.

[0106] As another embodiment of the present invention, the storage unit 72 may store one or more set azimuth angles d0 (registered set azimuth angles) associated with at least any one of information on the field, the work vehicle 10, and the work type. In this case, the operation control unit 71 may set the angle associated with the target information for generating the target path R as the set azimuth angle d0 (initial angle). For example, a set azimuth angle information DB (see FIG. 20) may be stored in the storage unit 72. The set azimuth angle information DB includes information on "registration date", "field", "work vehicle", "work type", and "set azimuth angle".

[0107] For example, when the field of the target for which the target path R is to be generated is "field Fa", the work vehicle is "work vehicle A", and the work type is "work Wa", the operation control unit 71 sets the "angle Da" associated with these pieces of information as the set azimuth angle d0 (initial angle).

[0108] According to the above configuration, it is possible to generate the target path R using an appropriate set azimuth angle that matches the conditions among the set azimuth angles registered in the past. Therefore, it is possible to improve the work accuracy of the work vehicle 10 and the workability of the path generation work.

[0109] As another embodiment of the present invention, the setting processing unit 713 may set the working mode of the work vehicle 10 and specify (set) the route generation mode based on the working mode.

[0110] Specifically, the setting processing unit 713 sets the working mode of the work vehicle 10 to either work accuracy priority (an example of the first working mode of the present invention) that stops the automatic driving of the work vehicle 10 when the positioning state in the positioning control unit 161 drops from a predetermined state, or work continuation priority (an example of the second working mode of the present invention) that continues the automatic driving of the work vehicle 10 when the positioning state in the positioning control unit 161 drops from the predetermined state. The predetermined state refers to, for example, a high-precision state in which RTK positioning is possible.

[0111] For example, the setting processing unit 713 sets the working mode based on a selection operation by the operator to select either the work accuracy priority or the work continuation priority. Specifically, the operator selects "work accuracy" (setting item K31) on the setting screen P3 shown in FIG. 21A and selects the working mode on the setting screen P31 (see FIG. 21B). The setting screen P31 includes "DGNSS" (setting item K32), "RTK work accuracy priority" (setting item K33), and "RTK work continuation priority" (setting item K34). Note that DGNSS is a positioning method for positioning the work vehicle 10 based on positioning information (such as GNSS signals) received by one receiver (positioning antenna 164). When the operator selects the RTK method, the operator selects either "work accuracy priority" or "work continuation priority". For example, the operator selects "work accuracy priority" when wanting to temporarily stop the automatic driving to prevent a decrease in work accuracy (prioritize work accuracy) when the positioning state drops. In contrast, for example, the operator selects "work continuation priority" when wanting to continue the automatic driving to prevent a decrease in work efficiency (prioritize work efficiency) when the positioning state drops.

[0112] When the working mode is set to prioritize working accuracy, if the positioning state is in a high-accuracy state, the vehicle control device 11 automatically drives the work vehicle 10 based on the position information obtained by the RTK method. When the positioning state deteriorates from the high-accuracy state, the vehicle control device 11 stops (temporarily halts) the automatic driving of the work vehicle 10. For example, if the positioning state deteriorates due to the influence of an obstacle while the work vehicle 10 is automatically driving, the positioning accuracy will decrease, so the vehicle control device 11 temporarily halts the work vehicle 10. After the work vehicle 10 has been temporarily halted, when the positioning state recovers to a high-accuracy state (high-accuracy positioning is completed), the vehicle control device 11 resumes the automatic driving of the work vehicle 10. This can prevent the deterioration of the working accuracy of the work vehicle 10.

[0113] On the other hand, when the working mode is set to prioritize continuous work, if the positioning state is in a high-accuracy state, the vehicle control device 11 automatically drives the work vehicle 10 based on the position information obtained by the RTK method. When the positioning state deteriorates from the high-accuracy state, the vehicle control device 11 automatically drives the work vehicle 10 based on the position information obtained by the DGNSS method or the DGPS method. For example, if the positioning state deteriorates due to the influence of an obstacle while the work vehicle 10 is automatically driving, the vehicle control device 11 switches the positioning method from the RTK method to the DGNSS method. In this way, when the positioning state is in a high-accuracy state, the vehicle control device 11 automatically drives the work vehicle 10 by positioning using the RTK method, and when the positioning state deteriorates, the vehicle control device 11 continues the automatic driving of the work vehicle 10 by positioning using the DGNSS method. This can prevent the deterioration of the working efficiency of the work vehicle 10.

[0114] In the above configuration, the setting processing unit 713 may specify any one of a plurality of path generation modes based on the operation mode. For example, when the operation accuracy priority is selected (see FIG. 21C), the setting processing unit 713 specifies the first path generation mode. Also, for example, when the operation continuation priority is selected (see FIG. 21D), the setting processing unit 713 specifies the second path generation mode or the third path generation mode. Further, when the operation continuation priority is selected and the set azimuth angle d0 (registered set azimuth angle) set in the past is stored in the storage unit 72 in advance, the setting processing unit 713 may specify the third path generation mode.

[0115] Also, when the setting processing unit 713 specifies the path generation mode, it presents (proposes) the path generation mode to the operator as a recommended mode. For example, when the operation continuation priority is selected, the setting processing unit 713 presents the third path generation mode to the operator as a recommended mode. Also, the setting processing unit 713 may display the recommended mode in a distinguishable manner on the setting screen P11 (see FIG. 5B). In this way, the operation control unit 71 may present to the operator a path generation mode corresponding to the set operation mode among a plurality of path generation modes.

[0116] As another embodiment of the present invention, the setting processing unit 713 may specify the route generation mode based on information on at least any one of the farmland, the work vehicle, and the work type among a plurality of route generation modes. For example, when the area of the farmland F is equal to or greater than a predetermined area, the setting processing unit 713 specifies the third route generation mode, and when the area of the farmland F is less than the predetermined area, the setting processing unit 713 specifies the first route generation mode or the second route generation mode. Further, for example, when the work vehicle 10 in which the set azimuth angle d1 is registered, the setting processing unit 713 specifies the third route generation mode, and when the work vehicle 10 in which the set azimuth angle d1 is not registered or the work vehicle 10 not equipped with the setting function of the set azimuth angle d1, the setting processing unit 713 specifies the first route generation mode or the second route generation mode. Further, for example, when high-precision work is required, the setting processing unit 713 specifies the first route generation mode, and when high-precision work is not required, the setting processing unit 713 specifies the second route generation mode or the third route generation mode.

[0117] As another embodiment of the present invention, in each of the first route generation mode, the second route generation mode, and the third route generation mode, the operation control unit 71 may execute the registration process of the reference points (point A, point B) only by an input operation on the operation device 17 by the operator. For example, the operation control unit 71 causes the operation device 17 to display the map information of the farmland F, and the operator designates an arbitrary position on the map. The operation control unit 71 sets a reference point at the position designated by the operator. According to this configuration, the operator can register the reference point and generate the target route R without operating the work vehicle 10.

[0118] Note that the work vehicle 10 of the present invention may be capable of automatic driving even during turning. In this case, the target route R includes a straight-ahead route and a turning route. Further, in the work vehicle 10, the operator may be able to switch between automatic driving and manual driving during turning. Further, the work vehicle 10 may automatically travel along the target route R without a driver. In this case, the operator may remotely operate the operation terminal to give an instruction to start traveling or the like. Further, the operation terminal used for remote operation may be the operation device 17 according to the present embodiment, or may include each processing unit of the operation device 17.

[0119] The path generation system of the present invention may be composed of only the operating device 17, or may be composed of a server provided with each processing unit included in the operating device 17. Further, the path generation system may be composed of the work vehicle 10 provided with the operating device 17.

Explanation of Signs

[0120] 1: Automatic driving system 10: Work vehicle 11: Vehicle control device 12: Storage unit 13: Travel device 14: Working machine 15: Communication unit 16: Positioning device 17: Operating device 20: Satellite 71: Operation control unit 72: Storage unit 73: Operation display unit 711: Display processing unit 712: Reception processing unit 713: Setting processing unit 714: Generation processing unit B1: Automatic driving button D1: Work screen (second screen) P11: Setting screen (first screen) F: Field L1: Reference line R: Target path d0: Set azimuth angle (registered set angle) d1: Set azimuth angle (set angle)

Claims

1. A path generation method for generating a target path for automatically driving a work vehicle in a field, comprising: one or more processors perform: identifying any one of a plurality of path generation modes for generating the target path based on a reference point set at a predetermined position within the field; generating the target path according to the identified path generation mode; and the plurality of path generation modes are different path generation modes based on the reference point respectively. The path generation method.

2. The one or more processors identify the path generation mode selected by an operator from the plurality of path generation modes, The path generation method according to claim 1.

3. The one or more processors display a first screen for receiving a selection operation of the path generation mode by the operator, The path generation method according to claim 2.

4. The one or more processors further perform: setting the work mode of the work vehicle to either a first work mode that stops the automatic driving of the work vehicle when the positioning state drops from a predetermined state, or a second work mode that continues the automatic driving of the work vehicle when the positioning state drops from the predetermined state; when the work mode is set to the first work mode, identifying a first path generation mode for generating the target path based on a reference line passing through two reference points respectively set at two positions in the field according to an operator's setting operation; when the work mode is set to the second work mode, identifying a second path generation mode for generating the target path based on a reference line passing through the reference point set at the position of the work vehicle in the field and extending in the direction of the azimuth of the work vehicle, or a third path generation mode for generating the target path based on a reference line passing through the reference point set at the position of the work vehicle in the field and extending in the direction of a set angle set according to an operator's setting operation; The path generation method according to claim 1.

5. The one or more processors present to the operator the path generation mode corresponding to the set work mode among the plurality of path generation modes, The path generation method according to claim 4.

6. The one or more processors perform: When the area of the field is less than a predetermined area, a first path generation mode for generating the target path based on a reference line passing through two reference points respectively set at two positions in the field according to an operator's setting operation, or a reference line passing through the reference point set at the position of the work vehicle in the field and extending in the direction of the orientation of the work vehicle to generate the target path. Identify the second path generation mode, When the area of the field is greater than or equal to the predetermined area, identify a third path generation mode for generating the target path based on a reference line passing through the reference point set at the position of the work vehicle in the field and extending in the direction of a set angle set according to an operator's setting operation. The path generation method according to claim 1.

7. The plurality of path generation modes include at least a third path generation mode for generating the target path based on a reference line passing through the reference point set at the position of the work vehicle in the field and extending in the direction of a set angle set according to an operator's setting operation. The one or more processors are, Identify the third path generation mode in the case of the work vehicle for which the set angle is registered. In the case of a work vehicle for which the set angle is not registered or a work vehicle not equipped with a set angle setting function, a first path generation mode for generating the target path based on a reference line passing through two reference points respectively set at two positions in the field according to an operator's setting operation, or a reference line passing through the reference point set at the position of the work vehicle in the field and extending in the direction of the orientation of the work vehicle to generate the target path. Identify the second path generation mode, The path generation method according to claim 1.

8. The one or more processors are, When the work performed by the work vehicle while automatically traveling in the field is a work that requires a work accuracy of a predetermined accuracy or more, a first path generation mode for generating the target path based on a reference line passing through two reference points respectively set at two positions in the field according to an operator's setting operation is identified. When the operation does not require an operation accuracy equal to or higher than the predetermined accuracy, a second path generation mode for generating the target path based on a reference line that passes through the reference point set at the position of the work vehicle in the field and extends in the direction of the orientation of the work vehicle, or a third path generation mode for generating the target path based on a reference line that passes through the reference point set at the position of the work vehicle in the field and extends in the direction of a set angle set according to the setting operation of the operator is specified. The path generation method according to claim 1.

9. The one or more processors When the path generation mode is specified, display a second screen for receiving from the operator a setting operation for setting a reference line passing through the reference point. Generate the target path including the reference line set according to the setting operation of the operator. The path generation method according to any one of claims 1 to 8.

10. The plurality of path generation modes A first path generation mode for generating the target path based on a reference line passing through two reference points respectively set at two positions in the field according to the setting operation of the operator, A second path generation mode for generating the target path based on a reference line that passes through the reference point set at the position of the work vehicle in the field and extends in the direction of the orientation of the work vehicle, A third path generation mode for generating the target path based on a reference line that passes through the reference point set at the position of the work vehicle in the field and extends in the direction of a set angle set according to the setting operation of the operator, including at least any two of them. The path generation method according to any one of claims 1 to 9.

11. When a set angle for generating the target path is pre-stored in the storage unit, the one or more processors specify the third path generation mode among the plurality of path generation modes. The path generation method according to claim 10.

12. A path generation system for generating a target path for automatically driving a work vehicle in a field, A setting processing unit that specifies any one of a plurality of path generation modes for generating the target path based on a reference point set at a predetermined position in the field, A generation processing unit that generates the target path according to the specified path generation mode, comprising The path generation modes are different path generation modes based on the reference point respectively. The path generation system.

13. A path generation program for generating a target path for automatically driving a work vehicle in a field, identifying any one of a plurality of path generation modes for generating the target path based on a reference point set at a predetermined position within the field; generating the target path according to the identified path generation mode; and causing one or more processors to execute the program, wherein the plurality of path generation modes are different path generation modes based on the reference point, respectively. Path generation program.

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