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

Abstract

To provide a route generation method, a route generation system, and a route generation program that can improve the workability of work of generating a target route on which a work vehicle travels autonomously in a farm field.SOLUTION: An acquisition processing unit 715 acquires position information of a predetermined position of a work vehicle 10 in a farm field F. A registration processing unit 716 registers the predetermined position as a reference point when the work vehicle 10 has traveled a predetermined distance from the predetermined position, or when a predetermined time has elapsed since the work vehicle 10 started to travel from the predetermined position. A generation processing unit 714 generates a target route R on the basis of the reference point.SELECTED DRAWING: Figure 1

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, when an operator performs a registration operation of registering a teaching start point (reference start point) and a teaching end point (reference end point) while riding on the work vehicle and performing teaching driving in the field, a line segment connecting the reference start point and the reference end point is registered as a reference line, and a straight travel path (target path) parallel to the reference line is generated (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] Here, in the teaching operation for generating the target path, the operator may perform a predetermined operation (such as planting operation, harvesting operation, etc.) while performing teaching driving of the work vehicle. When generating the target path while causing the work vehicle to perform a predetermined operation, the operator is likely to forget the operation of registering the reference start point and the reference end point. In this case, since the reference line and the target path are not generated, the operator has to perform teaching driving again. Thus, in the conventional technique, there is a problem that the workability of the operation for generating the target path is low.

[0005] The object of the present invention is to provide a route generation method, a route generation system, and a route generation program that can improve the work efficiency of generating target routes for automatically driving work vehicles in a field. [Means for solving the problem]

[0006] The route generation method according to the present invention is a route generation method for generating a target route for an automated work vehicle to travel in a field. The route generation method performs the following actions: acquire location information of a predetermined position of the work vehicle in the field; register the predetermined position as a reference point when the work vehicle has traveled a predetermined distance from the predetermined position, or when a predetermined time has elapsed since the work vehicle started traveling at the predetermined position; and generate the target route based on the reference point.

[0007] The route generation system according to the present invention is a route generation system that generates a target route for an automated work vehicle to travel in a field. The route generation system comprises an acquisition processing unit, a registration processing unit, and a generation processing unit. The acquisition processing unit acquires location information of a predetermined position of the work vehicle within the field. The registration processing unit registers the predetermined position as a reference point when the work vehicle has traveled a predetermined distance from the predetermined position, or when a predetermined time has elapsed since the work vehicle started traveling at the predetermined position. The generation processing unit generates the target route based on the reference point.

[0008] The route generation program according to the present invention is a program that generates a target route for an automated work vehicle to travel in a field. The route generation program is a program that causes one or more processors to perform the following actions: acquire location information of a predetermined position of the work vehicle in the field; register the predetermined position as a reference point when the work vehicle has traveled a predetermined distance from the predetermined position, or when a predetermined time has elapsed since the work vehicle started traveling at the predetermined position; and generate the target route based on the reference point. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a route generation method, a route generation system, and a route generation program that can improve the work efficiency of generating target routes for automatically driving work vehicles in a field. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a block diagram showing the configuration of a work vehicle according to an embodiment of the present invention. [Figure 2A] Figure 2A is a side view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 2B] Figure 2B is a top view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] Figure 3 is an external view showing an example of an operating device according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 5A] Figure 5A shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 5B] Figure 5B shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 6A] Figure 6A shows an example of a work screen displayed on an operating device according to an embodiment of the present invention. [Figure 6B] Figure 6B shows an example of a work screen displayed on an operating device according to an embodiment of the present invention. [Figure 7A] Figure 7A is a diagram illustrating a route generation method in the first route generation mode according to an embodiment of the present invention. [Figure 7B] Figure 7B is a diagram illustrating the route generation method in the first route generation mode according to an embodiment of the present invention. [Figure 8A] Figure 8A is a diagram illustrating a route generation method in a route generation mode according to an embodiment of the present invention. [Figure 8B]FIG. 8B is a diagram for explaining a route generation method in a route generation mode according to an embodiment of the present invention. [Figure 9A] FIG. 9A is a diagram showing an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 9B] FIG. 9B is a diagram showing an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart showing an example of a procedure of a route generation process corresponding to a first route generation mode executed by an operating device according to an embodiment of the present invention. [Figure 11] FIG. 11 is a flowchart showing an example of a procedure of a route generation process corresponding to a first route generation mode executed by an operating device according to an embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a work screen displayed on an operating device according to another embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a traveling route of a work vehicle according to another embodiment of the present invention. [Figure 14] FIG. 14 is a diagram showing an example of a work screen displayed on an operating device according to another embodiment of the present invention.

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] An automated driving system according to an embodiment of the present invention includes a work vehicle 10, a satellite (not shown), and a base station (not shown). In this embodiment, the case where the work vehicle 10 is a rice transplanter will be used as an example for explanation. In other embodiments, the work vehicle 10 may be a tractor, combine harvester, construction machinery, or snowplow. The work vehicle 10 travels within a field F (see Figure 4) according to a target path R in response to the operator's (user's) input, performing predetermined tasks (e.g., planting). Specifically, the work vehicle 10 travels in a straight line along the target path R in response to automatic steering, and turns in response to manual steering (driving operation) by the operator. The work vehicle 10 travels within the field F and performs tasks while switching between automatic driving on the straight path and manual driving on the turning path. The target path R may be generated in advance based on the operator's input and stored as path data.

[0013] The work vehicle 10 travels through field F, for example as shown in Figure 4, alternating between straight-line travel and turning until the work is completed. Each of the multiple straight-line paths is approximately parallel to the others. The target path R shown in Figure 4 is just one example, and the target path R is determined appropriately according to the size of the work vehicle 10, the size of the implement 14, the work content, the shape of field F, etc.

[0014] The automated driving system may also include an operator-operated control terminal (such as a tablet or smartphone). This control terminal can communicate with the work vehicle 10 via a communication network such as a mobile phone network, packet network, or wireless LAN. For example, the operator can register various information (such as work vehicle information, field information, and work information) on the control terminal. Furthermore, the operator can monitor the driving status and work status of the work vehicle 10 from a location away from the work vehicle 10 by viewing the driving trajectory displayed on the control terminal.

[0015] [Work Vehicle 10] As shown in Figures 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a running device 13, a work machine 14, a communication unit 15, a positioning device 16, an operating device 17, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the running device 13, the work machine 14, the positioning device 16, the operating device 17, and the like. The vehicle control device 11 and the positioning device 16 may be capable of wireless communication. Furthermore, the vehicle control device 11 and the operating device 17 may be capable of wireless communication.

[0016] First, an example of a work vehicle 10, a rice transplanter, will be described with reference to Figures 2A and 2B. Figure 2A is a side view of the work vehicle 10 (rice transplanter), and Figure 2B is a top view of the work vehicle 10. The work vehicle 10 includes a body 30, a pair of front wheels 132, a pair of rear wheels 133, a work implement 14 (planting unit), and the like.

[0017] An engine (drive unit) 131 is located inside a bonnet 134 positioned at the front of the vehicle body 30. The power generated by the engine 131 is transmitted to the front wheels 132 and rear wheels 133 via a transmission case 135. The power transmitted via the transmission case 135 is also transmitted to the work implement 14 via a PTO shaft 37 located at the rear of the vehicle body 30. Power is transmitted to the PTO shaft 37 via a planting clutch (work clutch) (not shown). An operator's seat 138 is provided between the front wheels 132 and the rear wheels 133 in the longitudinal direction of the vehicle body 30.

[0018] In front of the driver's seat 138 are controls such as a steering wheel 137, a main gear lever 13L (see Figure 3), and a planting clutch lever 14L (see Figure 2B). The steering wheel 137 is a control device for changing the steering angle of the work vehicle 10. The main gear lever 13L is configured to allow selection of at least the following positions: "forward," "reverse," "neutral," and "seedling splice." When the main gear lever 13L is operated to the "forward" position, power is transmitted so that the front wheels 132 and rear wheels 133 rotate in the direction of moving the work vehicle 10 forward. When the main gear lever 13L is operated to the "reverse" position, power is driven so that the front wheels 132 and rear wheels 133 rotate in the direction of moving the work vehicle 10 backward. When the main gear lever 13L is operated to the "neutral" position, the transmission of power to the front wheels 132 and rear wheels 133 is cut off. When the main gear lever 13L is operated to the "seedling splice" position, the transmission of power to the front wheel 132, rear wheel 133, and PTO shaft 37 is cut off. In addition, by operating the planting clutch lever 14L, it is possible to switch between a state in which the planting clutch transmits power to the PTO shaft 37 (i.e., the implement 14) and a state in which the planting clutch does not transmit power to the PTO shaft 37 (i.e., the implement 14).

[0019] The work implement 14 is connected to the rear of the vehicle body 30 via a lifting link mechanism 31. The lifting link mechanism 31 is composed of a parallel link structure including a top link 39 and a lower link 38. A lifting cylinder (lifting device) 32 is connected to the lower link 38. By extending and retracting the lifting cylinder 32, the entire work implement 14 can be raised and lowered. This allows the height of the work implement 14 to be changed between a lowered position for planting work and an elevated position where planting work is not performed. The lifting cylinder 32 is a hydraulic cylinder, but an electric cylinder may also be used. Alternatively, the work implement 14 may be raised and lowered using an actuator other than a cylinder.

[0020] The work machine 14 (planting unit) is equipped with a planting input case 33, multiple planting units 34, a seedling tray 35, multiple floats 36, and the like.

[0021] Each planting unit 34 is equipped with a planting transmission case 41 and a rotating case 42. Power is transmitted to the planting transmission case 41 via a PTO shaft 37 and a planting input case 33. Rotating cases 42 are attached to both sides of each planting transmission case 41 in the vehicle width direction. Two planting claws 43 are attached to each rotating case 42, aligned in the direction of travel of the work vehicle 10. These two planting claws 43 are used to plant one row.

[0022] As shown in Figure 2A, the seedling tray 35 is positioned in front of and above the planting unit 34 and is configured to hold seedling mats. The seedling tray 35 is configured to move laterally in a reciprocating motion (slide in the lateral direction). In addition, the seedling tray 35 is configured to intermittently transport the seedling mats vertically downwards at the end of its reciprocating motion. This configuration allows the seedling tray 35 to supply seedlings from the seedling mats to each planting unit 34. In this way, the work vehicle 10 can sequentially supply seedlings to each planting unit 34 and continuously plant seedlings.

[0023] The float 36 shown in Figure 2A is installed at the bottom of the implement 14 and is positioned so that its underside can make contact with the ground. When the float 36 makes contact with the ground, the field surface is leveled before planting seedlings. The float 36 is also equipped with a float sensor (not shown) that detects the oscillation angle of the float 36. The oscillation angle of the float 36 corresponds to the distance between the field surface and the implement 14. The work vehicle 10 can maintain a constant height of the implement 14 from the ground by operating the lifting cylinder 32 based on the oscillation angle of the float 36 to raise and lower the implement 14.

[0024] The spare seedling tray 19 is located on the outside of the bonnet 134 in the vehicle width direction and can accommodate seedling trays containing spare mat seedlings. The upper parts of the pair of spare seedling trays 19 are connected to each other by a connecting frame 18 that extends in the vertical and vehicle width directions. A positioning device 16 is located in the center of the connecting frame 18 in the vehicle width direction.

[0025] As shown in Figure 1, the positioning device 16 includes a positioning control unit 161, a storage unit 162, a communication unit 163, and a positioning antenna 164, among other things.

[0026] The positioning control unit 161 is a computer system comprising one or more processors and storage memory such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores a positioning control program for causing the positioning control unit 161 to perform 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 DVD, read by a predetermined reading device (not shown), and stored in the storage unit 162. Alternatively, 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.

[0027] The communication unit 163 is a communication interface for connecting the positioning device 16 to a communication network by wire or wireless connection and for performing data communication with external devices such as base station servers via the communication network in accordance with a predetermined communication protocol.

[0028] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0029] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 is automatically driving in field F, the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) transmitted from each of several satellites. The positioning control unit 161 then calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. Alternatively, the positioning control unit 161 may perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)) which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 automatically drives using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or it may be a position shifted from the positioning position.

[0030] The communication unit 15 is a communication interface for connecting the work vehicle 10 to a communication network by wire or wireless means, and for performing data communication with external devices (such as an operating terminal) via the communication network in accordance with a predetermined communication protocol.

[0031] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program that causes 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 DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12. Alternatively, 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. The storage unit 12 may also store data of the target route R generated by the operating device 17.

[0032] The control device 17 is operated by an operator riding in the work vehicle 10, and displays various information and accepts operator input. Specifically, the control device 17 displays various setting screens to accept various setting operations from the operator, and displays information related to the work vehicle 10 while it is in motion. The specific configuration of the control device 17 will be described later.

[0033] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to allow the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various operations performed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing various control programs stored in advance in the ROM or memory unit 12 using the CPU. The vehicle control device 11 also uses the CPU to perform various operations according to the automatic driving program.

[0034] Specifically, the vehicle control device 11 controls the movement of the work vehicle 10. For example, when the work vehicle 10 is in manual driving mode, the vehicle control device 11 manually drives the work vehicle 10 based on the operator's operation (manual steering). For example, the vehicle control device 11 acquires operation information corresponding to driving operations by the operator, such as steering, shifting, accelerating, and braking, and causes the driving device 13 to execute a driving operation based on this operation information.

[0035] Furthermore, when the work vehicle 10 is in automatic driving mode, the vehicle control device 11 automatically drives the work vehicle 10 based on position information (positioning information) indicating the current position of the work vehicle 10, which is determined by the positioning control unit 161. For example, when the work vehicle 10 meets the conditions for starting automatic driving and the vehicle control device 11 receives a driving start instruction from the operator, it starts the automatic driving of the work vehicle 10 based on the positioning information. The vehicle control device 11 also automatically drives the work vehicle 10 according to a pre-generated target route R (straight route).

[0036] Furthermore, the vehicle control device 11 can automatically drive the work vehicle 10 according to a target route R (straight route) generated according to a route generation mode set to one of several route generation modes (details described later). For example, if the operator selects the first route generation mode ("Point A + Point B" mode), the vehicle control device 11 will automatically drive the work vehicle 10 according to the target route R generated by the first route generation mode. Also, if the operator selects the second route generation mode ("Point A + Vehicle Azimuth" mode), the vehicle control device 11 will automatically drive the work vehicle 10 according to the target route R generated by the second route generation mode. Also, if the operator selects the third route generation mode ("Point A + Set Azimuth" mode), the vehicle control device 11 will automatically drive the work vehicle 10 according to the target route R generated by the third route generation mode. Note that the route generation mode setting process is performed by the operating device 17.

[0037] The automated driving system according to this embodiment includes three route generation modes (first route generation mode, second route generation mode, and third route generation mode), but the present invention is not limited thereto. Details of the route generation modes will be described later.

[0038] Furthermore, the vehicle control device 11 switches the driving mode to manual driving when the work vehicle 10 reaches the end of the straight path. 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 it may switch the driving mode to manual driving in response to the operator's operation. When the driving mode is switched to manual driving, for example, the operator makes the work vehicle 10 turn (manual driving) by manually steering.

[0039] As described above, the vehicle control device 11 switches the driving mode according to the operator's operation on the control device 17, causing the work vehicle 10 to automatically travel along a straight path (target path R) by automatic steering and to manually travel along a turning path by manual steering.

[0040] Here, the target route R (straight route) for the work vehicle 10 to travel automatically is generated based on the operator's work (route generation work). In the route generation work, in conventional technology, if the operator forgets to register the reference starting point (point A) and reference ending point (point B) while teaching the work vehicle 10, the target route R will not be generated, and the operator will have to teach the vehicle again. Thus, conventional technology has the problem of low work efficiency in the work of generating the target route R. In contrast, with the configuration of this embodiment, it is possible to improve the work efficiency of the target route R generation work as shown below. The specific configuration of the operating device 17 will be described below.

[0041] [Operation device 17] As shown in Figure 1, the operating device 17 includes an operation control unit 71, a storage unit 72, an operation display unit 73, and the like. The operating device 17 may be a device that can be attached to and detached from the work vehicle 10. Alternatively, the operating device 17 may be a portable terminal (tablet terminal, smartphone, etc.) that can be carried by the operator. The operating device 17 is also connected to the vehicle control device 11 via wired or wireless communication.

[0042] The operation display unit 73 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display for displaying various information, and an operation unit such as operation buttons or a touch panel for receiving operations. The operation display unit 73 displays various setting screens, work screens, etc., in accordance with instructions from the operation control unit 71. The operation display unit 73 also receives operator input on the setting screens and work screens.

[0043] Furthermore, the control unit includes an automatic driving button for the operator to give a driving start command when starting automatic driving of the work vehicle 10, an offset button for performing an offset operation (correction operation) to correct the positional deviation between the work vehicle 10 and the target path R, and a plurality of selection buttons for performing selection operations on the setting screen and the work screen (none of which are shown).

[0044] The operating device 17 is installed near the steering wheel 137 inside the driver's seat, for example, as shown in Figure 3. The operator can operate the operating device 17 while riding in the work vehicle 10.

[0045] The storage unit 72 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 72 stores control programs such as a route generation program that causes the operating device 17 to execute the route generation process described later (see Figures 10 and 11). For example, the route generation program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 72. Alternatively, 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. The route generation program may also be stored in the storage unit 12 of the work vehicle 10. The storage unit 72 may also store data of the target route R generated by the operating device 17.

[0046] The operation control unit 71 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The operation control unit 71 controls the operation device 17 by executing various control programs that are pre-stored in the ROM or memory unit 72 using the CPU.

[0047] Specifically, as shown in Figure 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, a generation processing unit 714, an acquisition processing unit 715, and a registration processing unit 716. The operation device 17 functions as one of these processing units by executing various processes according to the route generation program using the CPU. Some or all of the processing units may be composed of electronic circuits. The route generation program may be a program that causes multiple processors to function as processing units.

[0048] The display processing unit 711 displays various information on the operation display unit 73. For example, the display processing unit 711 displays setting screens and work screens (Figures 5, 6, 9, 12, 14, etc.) on the operation display unit 73.

[0049] The reception processing unit 712 accepts various operations from the operator. For example, the reception processing unit 712 accepts various operations from the operator on the setting screen and the work screen for generating the target route R, that is, operations related to the route generation operation.

[0050] The setting processing unit 713 identifies one of the multiple route generation modes. The multiple route generation modes are route generation modes that generate a target route R based on a reference point (for example, point A) set at a predetermined location within the field F.

[0051] The plurality of path generation modes according to this embodiment include, for example, a first path generation mode ("Point A + Point B" mode) that generates a target path R based on a reference line L1 passing through two reference points (points A and B) set at each of two positions of the work vehicle 10 in the field F; a second path generation mode ("Point A + Vehicle Azimuth" mode) that generates a target path R based on a reference line L1 that passes through a reference point (point A) set at one position of the work vehicle 10 in the field F and extends in the direction of the orientation (vehicle orientation) of the work vehicle 10; and a third path generation mode ("Point A + Set Azimuth" mode) that generates a target path R based on a reference line L1 that passes through a reference point (point A) set at one position of the work vehicle 10 in the field F and extends in the direction of a set azimuth angle (set angle) set according to the operator's setting operation (angle input operation).

[0052] The operator can select one of the multiple route generation modes. Figure 5A shows an example of the setting screen P1. For example, when the operator selects the work setting (not shown) on the menu screen when performing a route generation operation, the display processing unit 711 displays the setting screen P1 on the operation display unit 73, which accepts the operator's operation to select a route generation mode.

[0053] On the settings screen P1, the following options are available for selection: "Point A + Point B" (setting item K1) corresponding to the first route generation mode, "Point A + Vehicle Azimuth" (setting item K2) corresponding to the second route generation mode, and "Point A + Set Azimuth" (setting item K3) corresponding to the third route generation mode. The operator selects one of the three route generation modes on the settings screen P1.

[0054] The setting processing unit 713 identifies the route generation mode selected by the operator from among the multiple route generation modes. The generation processing unit 714 then generates the target route R using the route generation mode identified by the setting processing unit 713. Specifically, the generation processing unit 714 generates the target route R which includes a reference line L1 passing through a reference point (point A).

[0055] [Specific examples of route generation methods] Next, specific examples of methods for generating the target path R in each of the first, second, and third path generation modes will be described.

[0056] [First path generation mode] When the operator selects "Point A + Point B" (setting item K1) on the setting screen P1 (see Figure 5A) and presses the OK button K0, the display processing unit 711 displays the setting screen P2 (see Figure 5B) on the operation display unit 73, which accepts the operator's selection operation for manual / automatic mode ("manual registration", "automatic registration"). On the setting screen P2, when the operator selects "manual registration" (setting item K11) and presses the OK button K0, the reception processing unit 712 accepts the operator's selection operation, and the setting processing unit 713 identifies the first route generation mode (manual registration). Also, on the setting screen P2, when the operator selects "automatic registration" (setting item K12) and presses the OK button K0, the reception processing unit 712 accepts the operator's selection operation, and the setting processing unit 713 identifies the first route generation mode (automatic registration).

[0057] When the setting processing unit 713 identifies the first route generation mode (manual registration), the display processing unit 711 displays a work screen D1 (see Figure 6A) on the operation display unit 73, which accepts setting operations from the operator to set the reference line L1.

[0058] In the first route generation mode using manual registration, the operator moves the work vehicle 10 to an arbitrary position within field F and presses the A-point registration button Ka (see Figure 6A). For example, the operator moves the work vehicle 10 to the outer edge of field F and presses the A-point registration button Ka. 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 first reference point (point A). Once the setting processing unit 713 has registered point A, the display processing unit 711 displays the operation screen D1 (see Figure 6B) on the operation display unit 73, which accepts the operation of registering the second reference point (point B). The operator manually drives the work vehicle 10 in the direction in which they want the work vehicle 10 to travel and work (target direction) (see Figure 7A). Specifically, the operator drives the work vehicle 10 in a straight line in a direction parallel to the work direction (for example, planting direction) when the work vehicle 10 is working in the work area. When manually operating the work vehicle 10, the operator may lower the implement 14 and have the work vehicle 10 perform the planting work. After that, the operator presses the B-point registration button Kb (see Figure 6B) at any position (for example, the outer edge of field F). When the operator presses the B-point registration button Kb, the setting processing unit 713 registers the current position of the work vehicle 10 as the second reference point (point B).

[0059] When the setting processing unit 713 acquires the position information of points A and B, it sets a straight line passing through points A and B as the reference line L1 (see Figure 7A). The setting processing unit 713 may also be able to adjust at least one of the position and orientation 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 it receives a registration operation from the operator. On the other hand, when the setting processing unit 713 receives an operation from the operator to change at least one of the position and orientation of the reference line L1 (for example, a touch operation on the screen), it adjusts at least one of the position and 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 to choose whether to register or adjust the reference line L1. The generation processing unit 714 generates a travel path (target path R) that includes the reference line L1 and a plurality of straight lines parallel to the reference line L1. For example, the generation processing unit 714 generates multiple parallel straight lines at equal intervals on either the left or right side of the reference line L1, or on either the left or right side, based on the operator's instructions or set conditions, using a preset work width (the width of the work machine 14) and overlap width (the width overlapping with the adjacent completed work area) (see Figure 7B). The generation processing unit 714 registers the generated target path R in the storage unit 72 and displays it on the operation display unit 73.

[0060] In response, when the setting processing unit 713 identifies the first route generation mode (automatic registration) (see Figure 5B), the operation control unit 71 automatically registers the first reference point (point A) and the second reference point (point B) to generate the target route R.

[0061] Specifically, the acquisition processing unit 715 acquires position information of the work vehicle 10 at a predetermined position. For example, the acquisition processing unit 715 acquires position information of the position where a predetermined operation of the work vehicle 10 is performed. The predetermined operation is, for example, the raising and lowering of the implement 14 or the turning operation of the work vehicle 10. For example, when an operator moves the work vehicle 10 to the starting position of the planting work in the field F and lowers the implement 14 (first predetermined operation), the acquisition processing unit 715 acquires position information of the current position (first position) of the work vehicle 10 at the time the operation is received. The acquisition processing unit 715 may also acquire position information of the current position (first position) of the work vehicle 10 at the time it is detected that the float 36 has touched the ground.

[0062] Furthermore, for example, if the operator manually drives the work vehicle 10 along the initial path of the planting work and then performs an operation to rotate the work vehicle 10 or raise the work implement 14 (second predetermined operation), the acquisition processing unit 715 acquires position information of the work vehicle 10 at the time the operation is received (second position). The acquisition processing unit 715 may also acquire position information of the work vehicle 10's current position (second position) at the time the steering angle of the handle 137 exceeds a predetermined angle or when it is detected that the float 36 has left the ground.

[0063] The registration processing unit 716 registers the first position where the first predetermined operation of the work vehicle 10 (such as the lowering operation of the work implement 14) is performed as the first reference point (point A), and registers the second position where the second predetermined operation of the work vehicle 10 (such as the turning operation of the work vehicle 10 or the raising operation of the work implement 14) is performed as the second reference point (point B).

[0064] Furthermore, the registration processing unit 716 may register the predetermined position as a reference point when the work vehicle 10 has traveled a predetermined distance from the predetermined position, or when a predetermined time has elapsed since the work vehicle 10 started traveling at the predetermined position. Specifically, the registration processing unit 716 registers the first position corresponding to the first predetermined operation as the first reference point (point A) when the work vehicle 10 has traveled a first predetermined distance from the first position, or when a first predetermined time has elapsed since the work vehicle 10 started traveling at the first position. For example, as shown in Figure 8A, when the travel distance L0 of the work vehicle 10 reaches the first predetermined distance from the position p1 (first position) of the work vehicle 10 at the time when the work implement 14 has descended and planting work is possible, the registration processing unit 716 registers position p1 as the first reference point (point A).

[0065] In another embodiment, the registration processing unit 716 may register position p1 as the first reference point (point A) when a first predetermined time has elapsed since the working machine 14 has lowered and planting work has become possible. Alternatively, the registration processing unit 716 may register position p1 as the first reference point (point A) when the travel distance L0 of the working vehicle 10 reaches a first predetermined distance from position p1 (first position) of the working vehicle 10 at the time the working machine 14 has lowered and planting work has become possible, and when a first predetermined time has elapsed since the working machine 14 has lowered and planting work has become possible.

[0066] Furthermore, the registration processing unit 716 may register the second position corresponding to the second predetermined operation as the second reference point (point B) when the work vehicle 10 has traveled a second predetermined distance from the first position or when a second predetermined time has elapsed since the work vehicle 10 was at the first position. For example, as shown in Figure 8B, when the travel distance L0 of the work vehicle 10 reaches a second predetermined distance (provided that the second predetermined distance > the first predetermined distance) from the position p1 (first position) of the work vehicle 10 at the time when the work implement 14 has descended and planting work is possible, the registration processing unit 716 registers position p2 as the second reference point (point B).

[0067] In another embodiment, the registration processing unit 716 may register position p2 as the second reference point (point B) when a second predetermined time (provided that the second predetermined time > the first predetermined time) has elapsed since the time the work implement 14 has descended and planting work has become possible. Alternatively, the registration processing unit 716 may register position p2 as the second reference point (point B) when the travel distance L0 of the work vehicle 10 reaches the second predetermined distance from the position p1 (first position) of the work vehicle 10 at the time the work implement 14 has descended and planting work has become possible, and when the second predetermined time has elapsed since the time the work implement 14 has descended and planting work has become possible.

[0068] The generation processing unit 714 generates the target path R based on the reference points registered by the registration processing unit 716. Specifically, the generation processing unit 714 generates the target path R based on a reference line L1 that passes through a first reference point (point A) and a second reference point (point B) corresponding to the positions where a predetermined operation of the work vehicle 10 is performed.

[0069] The first predetermined distance is set to, for example, 1 to 3 m, and the second predetermined distance is set to, for example, 7 to 10 m. The first and second predetermined distances may also be set according to the width La of the field F. For example, the first predetermined distance may be set to "La × 0.2" (m), and the second predetermined distance may be set to "La × 0.8" (m). The first predetermined time may also be set to, for example, 2 to 3 seconds, and the second predetermined time may be set to, for example, 5 seconds or more. The first and second predetermined times may also be set according to the width La of the field F and the speed of the work vehicle 10.

[0070] Furthermore, the predetermined operation includes at least one of the following: raising and lowering the implement 14, switching the direction of travel of the work vehicle 10, changing the vehicle speed of the work vehicle 10, switching the work clutch, switching the rear wheel side clutch (on / off operation), turning the seat switch ON / OFF, and working with a marker to generate a reference line L1 of the target path R for the next step, or storing the marker in the storage position. Also, the first predetermined operation and the second predetermined operation may be the same type of operation (for example, raising and lowering the implement 14) or different types of operations (for example, raising and lowering the implement 14 and switching the direction of travel). Note that the work with the marker is, for example, the operation of drawing a mark for the travel path of the next step in the field F using the marker (making a mark or groove in the field F) (marker operation), and the operation of storing the marker in the storage position is the operation of storing the marker in the storage position after the marker operation is completed. In another embodiment, the work performed using the marker may be the process of setting the marked position as the travel path (reference line L1) for the next step.

[0071] According to the first path generation mode, a target path R can be generated using a reference line L1 that passes through two points (point A and point B) at both ends of the field F, thereby improving the work accuracy of the work vehicle 10.

[0072] [Second path generation mode] On the setting screen P1 (see Figure 9A), when the operator selects "Point A + Vehicle Azimuth" (setting item K2) and presses the OK button K0, the display processing unit 711 displays a setting screen P3 (see Figure 9B) on the operation display unit 73, which accepts the operator's selection operation to set the reference line L1 based on point A or based on the driving trajectory. On the setting screen P3, when the operator selects "Point A reference" (setting item K31) and presses the OK button K0, the reception processing unit 712 accepts the operator's selection operation, and the setting processing unit 713 identifies the second route generation mode (Point A reference). Also, on the setting screen P3, when the operator selects "Driving trajectory reference" (setting item K32) and presses the OK button K0, the reception processing unit 712 accepts the operator's selection operation, and the setting processing unit 713 identifies the second route generation mode (Driving trajectory reference).

[0073] When the setting processing unit 713 identifies the second route generation mode (point A reference), the display processing unit 711 displays a work screen D1 (see Figure 6A) on the operation display unit 73 that accepts a setting operation from the operator to set the reference line L1. The operator moves the work vehicle 10 to an arbitrary position within the field F and presses the point A registration button Ka (see Figure 6A). 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. When the operator presses the point A registration button Ka, the setting processing unit 713 registers the position of the work vehicle 10 (current position) as the reference point (point A). After registering point A, the setting processing unit 713 sets a straight line that passes through point A and extends in the direction of the work vehicle 10's current bearing (vehicle azimuth angle) as the reference line L1. The setting processing unit 713 also sets the vehicle azimuth angle, which is the angle with respect to the reference bearing (for example, north). The setting processing unit 713 may also be able to adjust the orientation 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 it receives a registration operation from the operator. On the other hand, when the setting processing unit 713 receives an operation from the operator to change the orientation of the reference line L1 (for example, a touch operation on the screen), 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 A, it may display a selection screen asking whether to register or adjust the reference line L1.

[0074] The generation processing unit 714 generates a travel path (target path R) that includes a reference line L1 and multiple straight lines parallel to the reference line L1 (see Figure 7B). The generation processing unit 714 registers the generated target path R in the storage unit 72 and displays it on the operation display unit 73.

[0075] In response, when the setting processing unit 713 identifies the second route generation mode (travel trajectory reference), the operation control unit 71 generates a target route R based on the reference line (point A) and the travel trajectory of the work vehicle 10 traveling from the reference point (point A).

[0076] Specifically, the acquisition processing unit 715 acquires location information of a predetermined position of the work vehicle 10. The acquisition processing unit 715 acquires the predetermined position of the work vehicle 10 in the same manner as in the [first route generation mode]. For example, the acquisition processing unit 715 acquires location information of the position where a predetermined operation of the work vehicle 10 (such as raising or lowering the work implement 14) is performed. For example, when an operator moves the work vehicle 10 to the starting position of the planting work within the field F and lowers the work implement 14 (first predetermined operation), the acquisition processing unit 715 acquires location information of the current position (first position) of the work vehicle 10 at the time the operation is received.

[0077] Furthermore, for example, if the operator manually drives the work vehicle 10 along the initial path of the planting work and then performs an operation to rotate the work vehicle 10 or raise the work implement 14 (second predetermined operation), the acquisition processing unit 715 acquires the vehicle azimuth angle based on the travel trajectory of the work vehicle 10 from the first position. For example, the acquisition processing unit 715 acquires the vehicle azimuth angle when the work vehicle 10 has traveled a second predetermined distance from the first position, or when a second predetermined time has elapsed since the work vehicle 10 started traveling at the first position. Also, for example, the acquisition processing unit 715 acquires the average value of the vehicle azimuth angle corresponding to the travel trajectory from the first position until the work vehicle 10 has traveled a second predetermined distance or until a second predetermined time has elapsed, as the vehicle azimuth angle.

[0078] Furthermore, when the work vehicle 10 has traveled a first predetermined distance from the first position, or when a first predetermined time has elapsed since the work vehicle 10 started traveling at the first position, and a second predetermined operation of the work vehicle 10 (such as a turning operation of the work vehicle 10 or an raising operation of the work machine 14) is performed thereafter, the acquisition processing unit 715 acquires the average value of the vehicle azimuth angle corresponding to the travel trajectory from the first position to the second position where the second predetermined operation was performed, using the first position as the reference point, as the vehicle azimuth angle. In another embodiment, the acquisition processing unit 715 may acquire the average value of the vehicle azimuth angle corresponding to the travel trajectory from the first position to the position after traveling a predetermined distance or after a predetermined time has elapsed, as the vehicle azimuth angle.

[0079] The registration processing unit 716, similar to the [first route generation mode], registers the first position where the first predetermined operation of the work vehicle 10 (such as the lowering operation of the work implement 14) is performed as the first reference point (point A). For example, as shown in Figure 8A, when the travel distance L0 of the work vehicle 10 reaches the first predetermined distance from the position p1 (first position) of the work vehicle 10 at the time when the work implement 14 has lowered and planting work is possible, the registration processing unit 716 registers position p1 as the first reference point (point A).

[0080] In another embodiment, the registration processing unit 716 may register position p1 as the first reference point (point A) when a first predetermined time has elapsed since the working machine 14 has lowered and planting work has become possible. Alternatively, the registration processing unit 716 may register position p1 as the first reference point (point A) when the travel distance L0 of the working vehicle 10 reaches a first predetermined distance from position p1 (first position) of the working vehicle 10 at the time the working machine 14 has lowered and planting work has become possible, and when a first predetermined time has elapsed since the working machine 14 has lowered and planting work has become possible.

[0081] The generation processing unit 714 generates a target path R based on a first reference point (point A) registered by the registration processing unit 716 and a vehicle azimuth angle corresponding to the travel trajectory acquired by the acquisition processing unit 715. Specifically, the setting processing unit 713 sets a straight line as the reference line L1 that passes through the first reference point (point A) corresponding to the position where a predetermined operation of the work vehicle 10 is performed and extends in the direction of the vehicle azimuth angle (average vehicle azimuth angle) of the travel trajectory. The generation processing unit 714 generates a travel path (target path R) that includes the reference line L1 and a plurality of straight lines parallel to the reference line L1.

[0082] In the second route generation mode based on the travel trajectory, the operation control unit 71 may receive an operation from the operator to press the A-point registration button Ka, register the current position of the work vehicle 10 as the first reference point (point A), and generate a reference line L1 and a target route R based on the first reference point (point A) and the vehicle azimuth angle (average vehicle azimuth angle) of the travel trajectory.

[0083] [Third path generation mode] When the operator selects "Point A + Set Azimuth Angle" (setting item K3) on the setting screen P1 (see Figure 5A) and presses the OK button K0, the reception processing unit 712 accepts the operator's selection, and the setting processing unit 713 identifies the third route generation mode.

[0084] In the third route generation mode, the setting processing unit 713 sets a set azimuth angle, which is an angle with respect to a reference bearing (e.g., north). For example, the display processing unit 711 displays an input field for entering an angle on the setting screen (not shown), and the reception processing unit 712 accepts the angle input operation from the operator. The operator enters the desired angle. The setting processing unit 713 sets the angle entered by the operator as the set azimuth angle.

[0085] When the setting processing unit 713 sets the azimuth angle, the display processing unit 711 displays a work screen D1 (see Figure 6A) on the operation display unit 73 that accepts a setting operation from the operator to set the reference line L1. The operator moves the work vehicle 10 to an arbitrary position within the field F and presses the A-point registration button Ka. For example, the operator moves the work vehicle 10 to the work start position in the field F and presses the A-point registration button Ka (see Figure 6A). 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 (point A). Once point A is registered, the setting processing unit 713 sets a straight line passing through point A and extending in the direction of the set azimuth angle as the reference line L1. The setting processing unit 713 may also 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 it receives a registration operation from the operator. On the other hand, when the setting processing unit 713 receives an operation from the operator to change the orientation of the reference line L1 (for example, a touch operation on the screen), 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 A, it may display a selection screen to choose whether to register or adjust the reference line L1. The generation processing unit 714 generates a travel path (target path R) that includes the reference line L1 and a plurality of straight lines parallel to the reference line L1. The generation processing unit 714 registers the generated target path R in the storage unit 72 and displays it on the operation display unit 73.

[0086] Thus, in the third path generation mode, the operation control unit 71 receives an input operation from the operator for an angle relative to the reference bearing, and generates a target path R based on the angle (set bearing angle) input by the operator.

[0087] The operation control unit 71 generates the target route R using the route generation mode selected by the operator from among the multiple route generation modes (first route generation mode, second route generation mode, and third route generation mode) as described above.

[0088] After the target route R is generated, the operator gives an instruction (start driving instruction) to the work vehicle 10 to start automatic driving within the field F. For example, when the work vehicle 10 meets the conditions for starting automatic driving and becomes capable of automatic driving, the operator can give the start driving instruction. When the vehicle control device 11 receives the operator's start driving instruction, it executes the automatic driving process according to the target route R corresponding to the set route generation mode.

[0089] Specifically, when the work vehicle 10 meets the conditions for starting automatic driving, the operator presses the automatic driving button (not shown) on the operation display unit 73 to give a driving start command. Upon receiving the driving start command, the vehicle control device 11 starts automatically steering the work vehicle 10 so that it follows the target path R generated by the set path generation mode. As a result, the vehicle control device 11 automatically drives the work vehicle 10 along the straight path by automatic steering.

[0090] When the work vehicle 10 starts to move automatically, the vehicle control device 11 displays a work screen on the operation device 17. For example, based on information (such as driving information) obtained from the vehicle control device 11, the operation device 17 displays the position of the work vehicle 10, the straight-line route, the completed work area (work status), and guidance information (operation guidance information) on the work screen of the operation display unit 73.

[0091] Furthermore, the vehicle control device 11 terminates automatic steering at the end of the straight-ahead path. For example, when the work vehicle 10 is traveling in a straight line using automatic steering and approaches the end of the work path (straight-ahead path), the vehicle control device 11 notifies the operator of guidance information and terminates automatic steering according to the operator's operation. The end of each work path is located a predetermined distance inward from the edge of field F, at a position designated in advance by the operator, at a position aligned with the position where the operator switched from automatic to manual driving in the immediately preceding completed work path (the position where the work path intersects with a line perpendicular to the completed work path passing through the position where manual driving was switched, or the position where the work path intersects with a line parallel to the edge of field F passing through the position where manual driving was switched), or at a position where the work path intersects with a line perpendicular to the reference line L1 passing through point B of the reference line L1.

[0092] [Route generation process] An example of the route generation process performed by the operation control unit 71 of the operation device 17 will be described below. The present invention may be considered as an invention of a route generation method in which the operation device 17 performs part or all of the route generation process, or as an invention of a route generation program that causes the operation device 17 to perform part or all of the route generation method. Alternatively, one or more processors may perform the route generation process.

[0093] Figure 10 is a flowchart showing an example of the route generation process corresponding to the first route generation mode ("Point A + Point B" mode).

[0094] In step S1, the operation control unit 71 determines whether or not it has received a selection operation from the operator for the "automatic registration" mode among the "point A + point B" modes. For example, on the setting screen P1 (see Figure 5B), the operator selects "manual registration" (setting item K11) if they wish to generate the target route R by registering the first reference point (point A) and the second reference point (point B) themselves through their own registration operation (manual), and selects "automatic registration" (setting item K12) if they wish to generate the target route R by automatically registering the first reference point (point A) and the second reference point (point B) according to the predetermined operation of the work vehicle 10. If the operation control unit 71 receives a selection operation from the operator for the "automatic registration" mode (S1: Yes), it moves the process to step S2. On the other hand, if the operation control unit 71 receives a selection operation from the operator for the "manual registration" mode (S1: No), it moves the process to step S11.

[0095] In step S2, the operation control unit 71 determines whether the implement 14 has made contact with the ground. Specifically, when the operator moves the work vehicle 10 to the starting position of the planting work within the field F and lowers the implement 14 (first predetermined operation), the implement 14 lowers and the float 36 makes contact with the ground. Also, when the operator lowers the implement 14, they operate the main gear lever 13L or the like to start manual driving of the work vehicle 10. When the operation control unit 71 obtains a detection signal from the implement 14 or the float sensor indicating that the float 36 has made contact with the ground (S2:Yes), it moves the process to step S3. The operation control unit 71 waits until it obtains a detection signal indicating that the float 36 has made contact with the ground (S2:No). The operation of lowering the implement 14 is an example of a predetermined operation of the present invention.

[0096] In step S3, the operation control unit 71 determines whether the work vehicle 10 has reached a first predetermined distance. Specifically, the operation control unit 71 determines whether the travel distance L0 (see Figure 8A) of the work vehicle 10 from the position p1 (first position) where the work vehicle 10 lowered the work implement 14 and started traveling has reached a first predetermined distance. If the operation control unit 71 determines that the work vehicle 10 has reached a first predetermined distance (S3: Yes), it proceeds to step S4. The operation control unit 71 waits until the work vehicle 10 reaches a first predetermined distance (S3: No), and the work vehicle 10 continues to be driven manually by the operator.

[0097] In step S4, the operation control unit 71 registers position p1 (first position) as the first reference point (point A) (see Figure 8A). That is, the operation control unit 71 registers the position p1 where the first predetermined operation was performed as the first reference point (point A) when the work vehicle 10 has traveled a first predetermined distance. In another embodiment, the operation control unit 71 may register the position p1 where the first predetermined operation was performed as the first reference point (point A) when a first predetermined time has elapsed since the work vehicle 10 started traveling at position p1.

[0098] In step S5, the operation control unit 71 determines whether the work vehicle 10 has reached the second predetermined distance. Specifically, the operation control unit 71 determines whether the travel distance L0 (see Figure 8B) of the work vehicle 10 from the position p1 (first position) where the work machine 14 was lowered and travel began has reached the second predetermined distance (provided that the second predetermined distance > the first predetermined distance). If the operation control unit 71 determines that the work vehicle 10 has reached the second predetermined distance (S5: Yes), it proceeds to step S6. The operation control unit 71 waits until the work vehicle 10 reaches the second predetermined distance (S5: No), and the work vehicle 10 continues to be driven manually by the operator.

[0099] In step S6, the operation control unit 71 determines whether the work vehicle 10 has performed a turning operation. Specifically, the operator drives the work vehicle 10 from a first position p1 within the field F and performs a turning operation at the edge of the field F. When the operation control unit 71 receives a detection signal from the travel device 13 indicating that the steering angle of the steering wheel 137 of the work vehicle 10 has exceeded a predetermined angle, it determines that the work vehicle 10 has performed a turning operation (S6: Yes) and proceeds to step S7. It waits until the work vehicle 10 performs a turning operation (S6: No). The turning operation is an example of a predetermined operation of the present invention.

[0100] In step S7, the operation control unit 71 registers position p2 (second position) as the second reference point (point B) (see Figure 8A). For example, the operation control unit 71 registers the position p2 of the work vehicle 10 at the time when the steering angle of the steering wheel 137 becomes greater than or equal to a predetermined angle as the second reference point (point B). That is, the operation control unit 71 registers the position p2 at which the second predetermined operation was performed as the second reference point (point B) when the work vehicle 10 has traveled a second predetermined distance. In another embodiment, the operation control unit 71 may register the position p2 at which the second predetermined operation was performed as the second reference point (point B) when a second predetermined time has elapsed since the work vehicle 10 started traveling from position p1.

[0101] In step S8, the operation control unit 71 generates a reference line L1 that passes through the first reference point (point A) and the second reference point (point B), and also generates a target path R that includes a plurality of straight lines parallel to the reference line L1 (see Figure 7B).

[0102] In step S1, when the operation control unit 71 receives a selection operation from the operator for the "manual registration" mode (see Figure 5B) (S1: No), in step S11, it determines whether or not it has received an operation from the operator to register the first reference point (point A). For example, the operator moves the work vehicle 10 to an arbitrary position within field F and presses the point A registration button Ka (see Figure 6A). When the operator presses the point A registration button Ka, the operation control unit 71 receives an operation to register the first reference point (point A) (S11: Yes) and proceeds to step S12. The operation control unit 71 waits until it receives an operation to register the first reference point (point A) (S11: No).

[0103] In step S12, the operation control unit 71 registers position p1 (first position) as the first reference point (point A) (see Figure 8A).

[0104] In step S13, the operation control unit 71 determines whether or not it has received an operation from the operator to register a second reference point (point B). For example, the operator drives the work vehicle 10 in a straight line in a direction parallel to the work direction (e.g., planting direction) in which the operator wants the work vehicle 10 to travel and work (see Figure 7A). The operator presses the point B registration button Kb (see Figure 6B) at an arbitrary position (e.g., the outer edge of field F). When the operator presses the point B registration button Kb, the operation control unit 71 receives an operation to register a second reference point (point B) (S13: Yes) and proceeds to step S14. The operation control unit 71 waits until it receives an operation to register a second reference point (point B) (S13: No).

[0105] In step S14, the operation control unit 71 registers position p2 (second position) as the second reference point (point B) (see Figure 7A). After step S14, the operation control unit 71 moves the process to step S8. In step S8, the operation control unit 71 generates a reference line L1 that passes through the first reference point (point A) and the second reference point (point B), and also generates a target path R that includes multiple straight lines parallel to the reference line L1 (see Figure 7B).

[0106] As described above, the operation control unit 71 executes the route generation process corresponding to the first route generation mode ("point A + point B" mode).

[0107] Figure 11 is a flowchart showing an example of the route generation process corresponding to the second route generation mode ("Point A + Vehicle Azimuth" mode).

[0108] In step S21, the operation control unit 71 determines whether it has received a selection operation from the operator for the "Trajectory Reference" mode from the "Point A + Vehicle Azimuth" modes. For example, on the setting screen P3 (see Figure 9B), the operator selects "Point A Reference" (setting item K31) if they wish to generate the target route R based on the vehicle azimuth of the work vehicle 10 at the first reference point (Point A), and selects "Trajectory Reference" (setting item K32) if they wish to generate the target route R based on the vehicle azimuth corresponding to the travel trajectory of the work vehicle 10 from the first reference point (Point A). If the operation control unit 71 receives a selection operation from the operator for the "Trajectory Reference" mode (S21: Yes), it proceeds to step S22. On the other hand, if the operation control unit 71 receives a selection operation from the operator for the "Point A Reference" mode (S21: No), it proceeds to step S31.

[0109] In step S22, the operation control unit 71 determines whether the implement 14 has made contact with the ground. Specifically, when the operator moves the work vehicle 10 to the starting position of the planting work within the field F and lowers the implement 14 (first predetermined operation), the implement 14 lowers and the float 36 makes contact with the ground. Also, when the operator lowers the implement 14, they operate the main gear lever 13L or the like to manually drive the work vehicle 10. When the operation control unit 71 receives a detection signal from the implement 14 or the float sensor indicating that the float 36 has made contact with the ground (S22: Yes), it proceeds to step S23. The operation control unit 71 waits until it receives a detection signal indicating that the float 36 has made contact with the ground (S22: No).

[0110] In step S23, the operation control unit 71 determines whether the work vehicle 10 has reached a first predetermined distance. Specifically, the operation control unit 71 determines whether the travel distance L0 (see Figure 8A) of the work vehicle 10 from the position p1 (first position) where the work vehicle 10 lowered the work implement 14 and started traveling has reached a first predetermined distance. If the operation control unit 71 determines that the work vehicle 10 has reached a first predetermined distance (S23: Yes), it proceeds to step S24. The operation control unit 71 waits until the work vehicle 10 reaches a first predetermined distance (S23: No), and the work vehicle 10 continues to be driven manually by the operator.

[0111] In step S24, the operation control unit 71 registers position p1 (first position) as the first reference point (point A) (see Figure 8A). That is, the operation control unit 71 registers the position p1 where the first predetermined operation was performed as the first reference point (point A) when the work vehicle 10 has traveled a first predetermined distance. In another embodiment, the operation control unit 71 may register the position p1 where the first predetermined operation was performed as the first reference point (point A) when a first predetermined time has elapsed since the work vehicle 10 started traveling at position p1.

[0112] In step S25, the operation control unit 71 determines whether the work vehicle 10 has reached the second predetermined distance. Specifically, the operation control unit 71 determines whether the travel distance L0 (see Figure 8B) of the work vehicle 10 from the position p1 (first position) where the work machine 14 was lowered and travel began has reached the second predetermined distance (provided that the second predetermined distance > the first predetermined distance). If the operation control unit 71 determines that the work vehicle 10 has reached the second predetermined distance (S25: Yes), it proceeds to step S26. The operation control unit 71 waits until the work vehicle 10 reaches the second predetermined distance (S25: No), and the work vehicle 10 continues to be driven manually by the operator.

[0113] In step S26, the operation control unit 71 determines whether the work vehicle 10 has performed a turning operation. Specifically, the operator drives the work vehicle 10 from a first position p1 within the field F and performs a turning operation at the edge of the field F. When the operation control unit 71 receives a detection signal from the travel device 13 indicating that the steering angle of the work vehicle 10's handle 137 has exceeded a predetermined angle, it determines that the work vehicle 10 has performed a turning operation (S26: Yes) and proceeds to step S27. It waits until the work vehicle 10 performs a turning operation (S26: No).

[0114] In step S27, the operation control unit 71 acquires the vehicle azimuth angle. Specifically, the operation control unit 71 acquires the average value of the vehicle azimuth angles (average vehicle azimuth angle) corresponding to the travel trajectory (travel trajectory for travel distance L0 in Figure 8B) from the time the first predetermined operation is executed (from the first position p1) until the work vehicle 10 travels a second predetermined distance or a second predetermined time has elapsed, using position p1 (first position) as the reference, as the vehicle azimuth angle.

[0115] In step S28, the operation control unit 71 generates a reference line L1 based on the first reference point (point A) and the vehicle azimuth angle, and also generates a target path R that includes a plurality of straight lines parallel to the reference line L1. For example, the operation control unit 71 sets a straight line that passes through the first reference point (point A) and extends in the direction of the vehicle azimuth angle as the reference line L1, and generates the target path R from the reference line L1.

[0116] In step S21, if the operation control unit 71 receives a selection operation from the operator for the "Point A reference" mode (S21: No), in step S31, it determines whether or not it has received an operation from the operator to register the first reference point (Point A). For example, the operator moves the work vehicle 10 to an arbitrary position within field F and presses the Point A registration button Ka (see Figure 6A). When the operator presses the Point A registration button Ka, the operation control unit 71 receives an operation to register the first reference point (Point A) (S31: Yes) and proceeds to step S32. The operation control unit 71 waits until it receives an operation to register the first reference point (Point A) (S31: No).

[0117] In step S32, the operation control unit 71 registers position p1 (first position) as the first reference point (point A) (see Figure 8A).

[0118] In step S33, the operation control unit 71 obtains the current bearing (vehicle azimuth angle) of the work vehicle 10 at position p1. After step S33, the operation control unit 71 moves the process to step S28. In step S28, the operation control unit 71 sets a straight line L1 that passes through the first reference point (point A) and extends in the direction of the vehicle azimuth angle of the work vehicle 10 at position p1, and generates a target path R from the reference line L1.

[0119] As described above, the operation control unit 71 executes the route generation process corresponding to the second route generation mode ("point A + vehicle azimuth angle" mode).

[0120] As described above, the operating device 17 according to this embodiment generates a target route R for automatically driving the work vehicle 10 in the field F. Specifically, the operating device 17 acquires positional information of a predetermined position of the work vehicle 10 in the field F, and when the work vehicle 10 has traveled a predetermined distance from the predetermined position, or when a predetermined time has elapsed since the work vehicle 10 started driving at the predetermined position, it registers the predetermined position as a reference point and generates a target route R based on the reference point.

[0121] For example, the operating device 17 registers a first position p1 (see Figure 8A) where a first predetermined operation of the work vehicle 10 (e.g., the lowering operation of the work implement 14) is performed as a first reference point (point A), and a second position p2 (see Figure 8B) where a second predetermined operation of the work vehicle 10 (e.g., the turning operation of the work vehicle 10) is performed as a second reference point (point B), and generates a target path R based on a reference line L1 passing through points A and B (see Figures 7A and 7B).

[0122] For example, the operating device 17 registers a first position p1 (see Figure 8A) where a first predetermined operation of the work vehicle 10 (for example, the lowering operation of the work implement 14) is performed as a first reference point (point A), obtains the vehicle azimuth angle (for example, the average value of the vehicle azimuth angle) based on the trajectory traveled by the work vehicle 10 from the first position p1, and generates a target path R based on point A and the vehicle azimuth angle.

[0123] With the above configuration, for example, the operator does not need to perform operations such as registering points A and B or inputting the vehicle's azimuth angle. Furthermore, since the system is configured to register a predetermined position as a reference point when the work vehicle 10 has traveled a predetermined distance from a predetermined position, or when a predetermined time has elapsed since the work vehicle 10 started traveling at a predetermined position, it is possible to prevent a position corresponding to the unintended behavior of the work vehicle 10 from being registered as a reference point. Thus, it is possible to improve the work efficiency of the target path R generation operation.

[0124] [Other embodiments] The present invention is not limited to the embodiments described above. Other embodiments of the present invention will be described below.

[0125] As described above, the operating device 17 has a function to register a first reference point (point A) and a second reference point (point B) by the operator's registration operation (the "manual registration" mode in Figure 5B). In another embodiment of the present invention, the operation control unit 71 may prompt the operator to perform a registration operation if it determines that the operator has forgotten to perform a registration operation in the manual registration mode. For example, if the operator registers point A (see Figure 6A) and then manually drives the work vehicle 10 (driving straight) and forgets to perform the operation to register point B at the edge of field F (see Figure 6B) and turns the work vehicle 10, the operation control unit 71 determines that the operator has forgotten to register point B and displays a message prompting the operator to perform the registration operation for point B on the work screen D1 (see Figure 12).

[0126] Upon seeing the message, the operator moves the work vehicle 10 to the location to be registered as point B, for example, and presses the point B registration button Kb (see Figure 12).

[0127] Furthermore, the operation control unit 71 may display an automatic registration button Kc that accepts automatic registration of point B, as shown in Figure 12. When the operator presses the automatic registration button Kc, the operation control unit 71 registers the position where the work vehicle 10 began its rotational movement, or the position where the work machine 14 began its upward movement, as point B.

[0128] Furthermore, if the operation control unit 71 determines that the operator has forgotten to register point A, it may similarly display a message prompting the operator to register point A and an automatic registration button Kc on the work screen D1. For example, if the operation control unit 71 has not received a registration operation for point A, and the work vehicle 10 starts manual driving, and travels a predetermined distance or a predetermined time has elapsed, it may display the message and the automatic registration button Kc.

[0129] Incidentally, in the "automatic registration" mode, which automatically registers the first reference point (point A) and the second reference point (point B), it is possible that positions unintended by the operator may be registered as points A and B. For example, as shown in Figure 13, when the operator manually drives the work vehicle 10 into field F from the entrance / exit and to position p3 where work will begin, it is possible that position p1 may be registered as point A in response to actions such as turning the work vehicle 10 or lowering the implement 14 after it has entered field F, and position p2 may be registered as point B in response to actions such as turning the work vehicle 10 or raising the implement 14 after driving straight. If positions p1 and p2 are registered as points A and B, a problem arises in which a target path R unintended by the operator is generated.

[0130] Therefore, in another embodiment of the present invention, the operation control unit 71 may be configured to inquire with the operator whether or not to register a predetermined position corresponding to a predetermined operation as a reference point on the reference line L1, and to register the predetermined position as a reference point when a registration instruction is received from the operator.

[0131] For example, as shown in Figure 14, the operation control unit 71 displays a message on the work screen D1 asking whether to register position p1 as point A when a predetermined operation is performed at position p1. If the operator selects "Yes (Register)", the operation control unit 71 registers position p1 as point A. If the operator selects "No (Cancel)", the operation control unit 71 does not register position p1 as point A and deletes the information for position p1. In the example shown in Figure 14, the operator gives instructions on the work screen D1 not to register positions p1 and p2 as reference points, but to register positions p3 and p4 as reference points (points A and B). This prevents the registration of a position unintended by the operator as a reference point and the generation of the target path R.

[0132] Similarly, in the second route generation mode ("Point A + Vehicle Azimuth" mode), the operation control unit 71 may also ask the operator whether or not to register the vehicle azimuth calculated based on the driving trajectory.

[0133] The work vehicle 10 of the present invention may be capable of automatic driving even when turning. In this case, the target path R includes a straight path and a turning path. Furthermore, the operator of the work vehicle 10 may be able to switch between automatic driving and manual driving when turning. In addition, the work vehicle 10 may automatically drive along the target path R unmanned. In this case, the operator may remotely control an operation terminal to give instructions to start driving, etc. Furthermore, the operation terminal used for remote control may be the operation device 17 according to this embodiment, or it may be equipped with the processing units of the operation device 17.

[0134] The route generation system of the present invention may consist of a single operating device 17, or it may consist of a server equipped with each processing unit included in the operating device 17. Alternatively, the route generation system may consist of a work vehicle 10 equipped with the operating device 17.

[0135] [Notes on the invention] The following is an overview of the invention extracted from the embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0136] <Note 1> A route generation method for generating a target route for an automated work vehicle in a field, To acquire location information of the predetermined position of the work vehicle within the field, When the work vehicle has traveled a predetermined distance from the predetermined position, or when a predetermined time has elapsed since the work vehicle started traveling at the predetermined position, the predetermined position is registered as a reference point. To generate the target path based on the aforementioned reference point, A method for generating routes that executes this process.

[0137] <Note 2> The predetermined position is the position in which the predetermined operation of the work vehicle is performed. The route generation method described in Appendix 1.

[0138] <Note 3> The first position where the first predetermined operation of the work vehicle is performed is registered as the first reference point, and the second position where the second predetermined operation of the work vehicle is performed is registered as the second reference point. The target path is generated based on a reference line passing through the first reference point and the second reference point, Route generation method as described in Appendix 2.

[0139] <Note 4> When the work vehicle has traveled a first predetermined distance from the first position, or when a first predetermined time has elapsed since the work vehicle started traveling from the first position, the first position is registered as the first reference point. When the work vehicle has traveled a second predetermined distance from the first position, or when a second predetermined time has elapsed since the work vehicle started traveling from the first position, the second position is registered as the second reference point. Route generation method as described in Appendix 3.

[0140] <Note 5> The first position where the first predetermined operation of the aforementioned work vehicle is performed is registered as the first reference point. Based on the trajectory traveled by the work vehicle from the first position, the vehicle azimuth angle is obtained. The target path is generated based on the first reference point and the vehicle azimuth angle. Route generation method as described in Appendix 2.

[0141] <Note 6> When the work vehicle has traveled a first predetermined distance from the first position, or when a first predetermined time has elapsed since the work vehicle started traveling from the first position, the first position is registered as the first reference point. When the work vehicle has traveled a second predetermined distance from the first position, or when a second predetermined time has elapsed since the work vehicle started traveling from the first position, the vehicle azimuth angle is acquired. Route generation method as described in Appendix 5.

[0142] <Note 7> The average value of the vehicle azimuth angle corresponding to the travel trajectory of the work vehicle from the first position until it travels the second predetermined distance, or from the start of travel at the first position until the second predetermined time has elapsed, is obtained as the vehicle azimuth angle. Route generation method as described in Appendix 6.

[0143] <Note 8> When the work vehicle has traveled a first predetermined distance from the first position, or when a first predetermined time has elapsed since the work vehicle started traveling at the first position, and a second predetermined operation of the work vehicle is subsequently performed, the average value of the vehicle azimuth angle corresponding to the travel trajectory from the first position to the second position where the second predetermined operation was performed is obtained as the vehicle azimuth angle. Route generation method as described in any of Appendix 5 to 7.

[0144] <Note 9> The predetermined operation includes at least one of the following: raising or lowering a work implement installed on the work vehicle; switching the direction of travel of the work vehicle; changing the vehicle speed of the work vehicle; and switching the work clutch. Route generation method as described in any of Appendix 2 to 8.

[0145] <Note 10> The user is asked whether or not to register the predetermined position as the reference point. When a registration instruction is received from the user, the predetermined position is registered as the reference point. A route generation method described in any of the appendices 1 to 9. [Explanation of symbols]

[0146] 10: Work vehicles 11: Vehicle control system 12: Storage section 13: Running gear 14: Work Machines 15: Communications Department 16: Positioning device 17: Operating device 71: Operation Control Unit 72: Storage section 73: Operation display section 711: Display Processing Unit 712: Reception Processing Section 713: Configuration Processing Unit 714: Generation Processing Unit 715: Acquisition Processing Unit 716: Registration Processing Unit F: Field L0: Mileage L1: Reference line R: Target path p1: 1st position p2: 2nd position

Claims

1. A route generation method for generating a target route for an automated work vehicle in a field, To acquire location information of the work vehicle's position within the field, where a predetermined operation of the work vehicle is performed in response to user operation, When the work vehicle has traveled a predetermined distance from the predetermined position, or when a predetermined time has elapsed since the work vehicle started traveling at the predetermined position, the predetermined position is registered as a reference point. To generate the target path based on the aforementioned reference point, A method for generating routes that executes this process.

2. The first position where the first predetermined operation of the work vehicle is performed is registered as the first reference point, and the second position where the second predetermined operation of the work vehicle is performed is registered as the second reference point. Based on the reference line passing through the first reference point and the second reference point, the target path is generated. The route generation method according to claim 1.

3. When the work vehicle has traveled a first predetermined distance from the first position, or when a first predetermined time has elapsed since the work vehicle started traveling from the first position, the first position is registered as the first reference point. When the work vehicle travels a second predetermined distance different from the first predetermined distance from the first position, or when a second predetermined time different from the first predetermined time has elapsed since the work vehicle started traveling at the first position, the second position is registered as the second reference point. The route generation method according to claim 2.

4. The first position where the first predetermined operation of the work vehicle is performed is registered as the first reference point. Based on the trajectory traveled by the work vehicle from the first position, the vehicle azimuth angle is obtained. The target path is generated based on the first reference point and the vehicle azimuth angle. The route generation method according to claim 1.

5. When the work vehicle has traveled a first predetermined distance from the first position, or when a first predetermined time has elapsed since the work vehicle started traveling from the first position, the first position is registered as the first reference point. The vehicle azimuth angle is acquired when the work vehicle has traveled a second predetermined distance different from the first predetermined distance from the first position, or when a second predetermined time different from the first predetermined time has elapsed since the work vehicle started traveling at the first position. The route generation method according to claim 4.

6. The average value of the vehicle azimuth angle corresponding to the travel trajectory of the work vehicle from the first position until it travels the second predetermined distance, or from the start of travel at the first position until the second predetermined time has elapsed, is obtained as the vehicle azimuth angle. The route generation method according to claim 5.

7. When the work vehicle has traveled a first predetermined distance from the first position, or when a first predetermined time has elapsed since the work vehicle started traveling at the first position, and a second predetermined operation of the work vehicle is subsequently performed, the average value of the vehicle azimuth angle corresponding to the travel trajectory from the first position to the second position where the second predetermined operation was performed is obtained as the vehicle azimuth angle. The route generation method according to claim 4.

8. The predetermined operation includes at least one of the following: raising or lowering a work implement installed on the work vehicle; switching the direction of travel of the work vehicle; changing the vehicle speed of the work vehicle; switching the work clutch; and working with a marker to generate a reference line for the target path of the next step or storing the marker in the storage position. A route generation method according to any one of claims 1 to 7.

9. The user is asked whether or not to register the predetermined position as the reference point. When a registration instruction is received from the user, the predetermined position is registered as the reference point. The route generation method according to claim 1.

10. A route generation system that generates a target route for automatically driving a work vehicle in a field, An acquisition processing unit that acquires location information of a predetermined position within the field where a predetermined operation of the work vehicle is performed in response to user operation, A registration processing unit that registers the predetermined location as a reference point when the work vehicle has traveled a predetermined distance from the predetermined location, or when a predetermined time has elapsed since the work vehicle started traveling at the predetermined location, A generation processing unit that generates the target path based on the aforementioned reference point, A route generation system equipped with the following features.

11. A route generation program that generates a target route for automatically driving a work vehicle in a field, To acquire location information of the work vehicle's position within the field, where a predetermined operation of the work vehicle is performed in response to user operation, When the work vehicle has traveled a predetermined distance from the predetermined position, or when a predetermined time has elapsed since the work vehicle started traveling at the predetermined position, the predetermined position is registered as a reference point. To generate the target path based on the aforementioned reference point, A route generation program that causes one or more processors to execute.

Images