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

Abstract

To provide a route generating method, a route generating system and a route generating program that can improve workability of generation work of a target route for making a work vehicle automatically travel in a field.SOLUTION: A set processing unit 713 sets a reference point (A point) in a predetermined position in a field F, and sets a set azimuth angle d1 as an angle relative to a reference azimuth based on a registered set angle registered in the past for the field F. A generation processing unit 714 generates a target route R corresponding to the field F based on a reference line L1 passing the reference point (A point) and extending in a direction of the set azimuth angle d1.SELECTED DRAWING: Figure 10B

Description

Technical Field

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

Background Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

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

Means for Solving the Problems

[0006] The 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, and is a route generation method that performs the following steps: setting a reference point at a predetermined position in the field; setting a set angle, which is an angle with respect to a reference direction, based on a registered set angle previously registered for the field; and generating the target route corresponding to the field based on a reference line that passes through the reference point and extends in the direction of the set angle.

[0007] The route generation system according to the present invention is a route generation system for generating a target route for an automated work vehicle to travel in a field, and comprises a first setting processing unit, a second setting processing unit, and a generation processing unit. The first setting processing unit sets a reference point at a predetermined position in the field. The second setting processing unit sets a setting angle, which is an angle with respect to a reference direction, based on a registered setting angle previously registered for the field. The generation processing unit generates the target route corresponding to the field based on a reference line that passes through the reference point and extends in the direction of the setting angle.

[0008] The route generation program according to the present invention is a route generation program that generates a target route for an automated work vehicle to travel in a field, and causes one or more processors to perform the following actions: setting a reference point at a predetermined location within the field; setting a set angle, which is an angle with respect to a reference direction, based on a previously registered set angle for the field; and generating the target route corresponding to the field based on a reference line that passes through the reference point and extends in the direction of the set angle. [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 2] Figure 2 is an external 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 5C] Figure 5C shows an example of a work screen displayed on an operating device according to an embodiment of the present invention. [Figure 5D] Figure 5D shows an example of a work screen displayed on an operating device according to an embodiment of the present invention. [Figure 6A] Figure 6A is a diagram illustrating a route generation method in the first route generation mode according to an embodiment of the present invention. [Figure 6B] Figure 6B is a diagram illustrating the route generation method in the first route generation mode according to an embodiment of the present invention. [Figure 6C] Figure 6C is a diagram illustrating the route generation method in the first route generation mode according to an embodiment of the present invention. [Figure 7] Figure 7 shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 8A] Figure 8A is a diagram illustrating a route generation method in a second route generation mode according to an embodiment of the present invention. [Figure 8B] Figure 8B is a diagram illustrating the route generation method in the second route generation mode according to an embodiment of the present invention. [Figure 9A] Figure 9A shows 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 the operating device according to an embodiment of the present invention. [Figure 9C] FIG. 9C is a diagram showing an example of a setting screen displayed on the operating device according to an embodiment of the present invention. [Figure 10A] FIG. 10A is a diagram for explaining a path generation method in the third path generation mode according to an embodiment of the present invention. [Figure 10B] FIG. 10B is a diagram for explaining a path generation method in the third path generation mode according to an embodiment of the present invention. [Figure 11A] FIG. 11A is a diagram showing an example of a work screen displayed on the operating device according to an embodiment of the present invention. [Figure 11B] FIG. 11B is a diagram showing an example of a work screen displayed on the operating device according to an embodiment of the present invention. [Figure 12A] FIG. 12A is a diagram showing an example of a work screen displayed on the operating device according to an embodiment of the present invention. [Figure 12B] FIG. 12B is a diagram showing an example of a work screen displayed on the operating device according to an embodiment of the present invention. [Figure 13A] FIG. 13A is a diagram showing an example of a setting screen displayed on the operating device according to an embodiment of the present invention. [Figure 13B] FIG. 13B is a diagram showing an example of a setting screen displayed on the operating device according to an embodiment of the present invention. [Figure 14] FIG. 14 is a flowchart showing an example of the procedure of path generation processing executed by the operating device according to an embodiment of the present invention. [Figure 15] FIG. 15 is a flowchart showing an example of the procedure of path generation processing executed by the operating device according to an embodiment of the present invention. [Figure 16] FIG. 16 is a diagram showing an example of a setting screen displayed on the operating device according to an embodiment of the present invention. [Figure 17] FIG. 17 is a diagram showing an example of a setting screen displayed on the operating device according to an embodiment of the present invention. [Figure 18] Figure 18 shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 19] Figure 19 shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 20] Figure 20 shows an example of set azimuth angle information stored in a work vehicle according to an embodiment of the present invention. [Figure 21A] Figure 21A shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 21B] Figure 21B shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 21C] Figure 21C shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Figure 21D] Figure 21D shows an example of a setting screen displayed on an operating device according to an embodiment of the present invention. [Modes for carrying out the invention]

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

[0012] As shown in Figures 1 and 2, the automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10, a satellite 20, and a base station (not shown). In this embodiment, the case where the work vehicle 10 is a tractor will be used as an example for explanation. In other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, construction machinery, or a snowplow. The work vehicle 10 travels within a field F (see Figure 4) according to the operator's commands, following a target path R, and performs predetermined work (e.g., tilling). 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 work while switching between automatic driving on the straight line and manual driving on the turning line. The target path R may be generated in advance based on the operator's commands and stored as path data. The work vehicle 10 may also be equipped with a function to automatically increase or decrease the vehicle speed (vehicle speed control function). For example, the work vehicle 10 may automatically change its speed according to the route it is traveling.

[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 1 may also include an operating terminal (tablet, smartphone, etc.) operated by an operator. The operating 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 (work vehicle information, field information, work information, etc.) on the operating terminal. Furthermore, the operator can understand the driving status and work status of the work vehicle 10 from a location away from the work vehicle 10 by looking at the driving trajectory displayed on the operating 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] 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 operating terminals) via the communication network in accordance with a predetermined communication protocol.

[0017] 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.

[0018] The running gear 13 is the drive unit that moves the work vehicle 10. As shown in Figure 2, the running gear 13 includes an engine 131, front wheels 132, rear wheels 133, transmission 134, front axle 135, rear axle 136, steering wheel 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. Furthermore, the running gear 13 is not limited to a wheel type with front wheels 132 and rear wheels 133, but may also be a crawler type with crawlers provided on the left and right sides of the work vehicle 10.

[0019] The engine 131 is a power source such as a diesel engine or gasoline engine that is driven using fuel supplied to a fuel tank (not shown). The running gear 13 may be equipped with an electric motor as a power source together with the engine 131, or in place of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery installed on the work vehicle 10. The battery is charged by the power supplied from the generator. Electrical components such as the vehicle control device 11, positioning device 16, and operating device 17 installed on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0020] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and front axle 135, and to the rear wheels 133 via the transmission 134 and rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via the PTO shaft (not shown). The running gear 13 performs driving operations according to the commands of the vehicle control device 11.

[0021] The implement 14 is, for example, a tiller, seeder, mower, plow, or fertilizer spreader, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the implements 14. Figure 2 shows the case where the implement 14 is a tiller. The implement 14 may be supported on the work vehicle 10 so as to be able to move up and down by a lifting mechanism (not shown). The vehicle control device 11 can control the lifting mechanism to raise and lower the implement 14.

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

[0023] In addition to the steering wheel 137, the running gear 13 is equipped with a shift lever (not shown), accelerator, brakes, etc., which are operated by the vehicle control device 11. In the running gear 13, the gears of the transmission 134 are switched to forward gear or reverse gear, etc., in response to the operation of the shift lever by the vehicle control device 11, and the driving mode of the work vehicle 10 is switched to forward or reverse, etc. The vehicle control device 11 also controls the rotational speed of the engine 131 by operating the accelerator. The vehicle control device 11 also controls the rotation of the front wheels 132 and rear wheels 133 using electromagnetic brakes by operating the brakes.

[0024] The positioning device 16 is a communication device comprising a positioning control unit 161, a storage unit 162, a communication unit 163, and a positioning antenna 164. For example, as shown in Figure 2, the positioning device 16 is installed on top of the cabin 18 where the operator sits. However, the installation location of the positioning device 16 is not limited to the cabin 18. Furthermore, the positioning control unit 161, storage unit 162, communication unit 163, and positioning antenna 164 of the positioning device 16 may be distributed and arranged at different locations on the work vehicle 10. As mentioned above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. In addition, the positioning device 16 may be replaced with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0025] 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.

[0026] 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.

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

[0028] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from the satellites 20. For example, when the work vehicle 10 is automatically driving in field F, the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) transmitted from each of the multiple satellites 20. The positioning control unit 161 then calculates the distance between the positioning antenna 164 and each satellite 20, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. Alternatively, the positioning control unit 161 may perform positioning using a real-time kinematic method (RTK-GPS 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 using 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 that is shifted from the positioning position.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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).

[0033] Furthermore, the vehicle control device 11 can automatically drive the work vehicle 10 according to a target route R (straight route) generated according to the route generation mode set to one of the multiple route generation modes (details described later). For example, if the operator selects the first route generation 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, 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, 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 in the operating device 17.

[0034] The automated driving system 1 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.

[0035] 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.

[0036] 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.

[0037] 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 aforementioned route generation work, conventional technology requires the operator to manually drive the work vehicle 10 in order to acquire a reference starting point (point A) and a reference ending point (point B). For example, the operator moves the work vehicle 10 to an arbitrary position and registers point A, and then manually drives the work vehicle 10 again to register point B at an arbitrary position. This results in the problem of the route generation work being time-consuming. In contrast, the configuration of this embodiment makes it possible to improve the workability of the route generation work as shown below. The specific configuration of the operating device 17 will be described below.

[0038] [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.

[0039] 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.

[0040] 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).

[0041] The operating device 17 is installed near the handle 137 inside the cabin 18, for example, as shown in Figures 2 and 3.

[0042] 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 14 and 15). 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.

[0043] 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.

[0044] 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, and a generation processing unit 714. 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 also be a program that causes multiple processors to function as processing units.

[0045] The display processing unit 711 displays various information on the operation display unit 73. For example, the display processing unit 711 displays setting screens for various settings (Figures 5, 7, 9, 13, etc.), work screen D1 including driving information such as the driving status of the work vehicle 10 and work status (Figures 11, 12, etc.) on the operation display unit 73.

[0046] 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 for generating the target route R, that is, operations related to the route generation work.

[0047] The setting processing unit 713 identifies one of several route generation modes. These 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. The setting processing unit 713 is an example of the first setting processing unit and the second setting processing unit of the present invention.

[0048] The plurality of path generation modes according to this embodiment include: a first path generation mode that generates a target path R based on a reference line L1 passing through two reference points (point A and point B) set at each of two locations in the field F according to the operator's setting operation; a second path generation mode that generates a target path R based on a reference line L1 that passes through a reference point (point A) set at the location of the work vehicle 10 in the field F (e.g., current position) and extends in the direction of the orientation (vehicle orientation) of the work vehicle 10; and a third path generation mode that generates a target path R based on a reference line L1 that passes through a reference point (point A) set at the location of the work vehicle 10 in the field F (e.g., current position) and extends in the direction of a set azimuth angle d1 (set angle) set according to the operator's setting operation.

[0049] 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.

[0050] The settings screen P1 includes setting item K11 ("Create Reference Line") for setting the route generation mode, setting item K12 ("Setting Azimuth Angle") for setting the setting azimuth angle, and so on. The operator can move the selection position of the setting item and the display page by pressing the operation button K1, select a setting item by pressing the OK button K2, and move to the previous display page by pressing the back button K3. Each of the buttons K1 to K3 is an example of the operation unit in the operation display unit 73.

[0051] When the operator selects setting item K11, the display processing unit 711 displays the setting screen P11 shown in Figure 5B. On the setting screen P11, the display processing unit 711 displays selection fields for multiple route generation modes and explanatory information corresponding to each selection field. In other words, the display processing unit 711 displays the setting screen P11 that accepts the operator's operation to select a route generation mode. The multiple route generation modes include "Point A + Point B" (setting item K13) corresponding to the first route generation mode, "Point A + Vehicle Azimuth" (setting item K14) corresponding to the second route generation mode, and "Point A + Set Azimuth" (setting item K15) corresponding to the third route generation mode. On the setting screen P11 shown in Figure 5B, the operator can select any of the first route generation mode, the second route generation mode, and the third route generation mode.

[0052] The setting processing unit 713 identifies the route generation mode selected by the operator from among the multiple route generation modes. The display processing unit 711, once the route generation mode has been identified, displays a work screen D1 that accepts a setting operation from the operator to set a reference line L1 passing through a reference point (point A). The generation processing unit 714 then generates the target route R based on the route generation mode identified by the setting processing unit 713. Specifically, the generation processing unit 714 generates the target route R including the reference line L1 set according to the operator's setting operation. The generation processing unit 714 is an example of the generation processing unit of the present invention.

[0053] The operation control unit 71 may also output the explanatory information corresponding to the setting item where the cursor, mouse, or other pointer is located on each setting screen as voice output (voice guidance). For example, when the cursor is moved to the setting item K11 for "Create Reference Line" on setting screen P1 (see Figure 5A), the operation control unit 71 outputs a voice message such as "The reference line is set to point A + point B." Also, for example, when the cursor is moved to the setting item K15 for "Point A + Set Azimuth Angle" on setting screen P11 (see Figure 9A), the operation control unit 71 outputs a voice message such as "This is how to create a reference line from the settings of point A and the set azimuth angle." The operation control unit 71 may also allow switching the voice output function ON / OFF.

[0054] [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.

[0055] [First path generation mode] On the setting screen P11, when the operator selects "Point A + Point B" (setting item K13) and presses the OK button K2, the reception processing unit 712 accepts the operator's selection operation, and the setting processing unit 713 identifies the first route generation mode. Once the setting processing unit 713 identifies the first route generation mode, the display processing unit 711 displays a work screen D1 (see Figure 5C) on the operation display unit 73, which 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. For example, the operator moves the work vehicle 10 to the outer edge of 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 current position of the work vehicle 10 as the first reference point (Point A). When the setting processing unit 713 registers point A, the display processing unit 711 displays a work screen D1 (see Figure 5D) on the operation display unit 73 that 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 vehicle to travel and work (target direction) (see Figure 6A). Specifically, the operator drives the work vehicle 10 in a straight line in a direction parallel to the work direction when the work vehicle 10 is working in the work area (for example, the tilling direction). Then, the operator presses the point B registration button Kb (see Figure 5D) at an arbitrary position (for example, the outer edge of field F). When the operator presses the point B registration button Kb, the setting processing unit 713 registers the current position of the work vehicle 10 as the second reference point (point B).

[0056] When the setting processing unit 713 acquires the position information of points A and B, it sets a straight line passing through points A and B as the reference line L1 (see Figure 6A). 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 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 lines at equal intervals to the left and right of the reference line L1 based on a preset work width (the width of the work machine 14) and overlap width (the width that overlaps with the adjacent completed work area) (see Figure 6B). 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.

[0057] According to the first route generation mode, a target route R can be generated using a reference line L1 that passes through two points (points A and B) at both ends of the field F, thereby improving the work accuracy of the work vehicle 10. The setting processing unit 713 may also allow point B to be registered after point A has been registered and the work vehicle 10 has traveled a predetermined distance (e.g., 5 m). This allows for the setting of a more accurate reference line L1.

[0058] [Second path generation mode] On the setting screen P11 (see Figure 7), when the operator selects "Point A + Vehicle Azimuth" (setting item K14) and presses the OK button K2, the reception processing unit 712 accepts the operator's selection, and the setting processing unit 713 identifies the second route generation mode. Once the setting processing unit 713 identifies the second route generation mode, the display processing unit 711 displays a work screen D1 (see Figure 5C) on the operation display unit 73, which accepts the operator's setting operation to set the reference line L1. The operator moves the work vehicle 10 to an arbitrary position within field F and presses the Point A registration button Ka (see Figure 5C). For example, the operator moves the work vehicle 10 to the work start position in 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) (see Figure 8A). When point A is registered, the setting processing unit 713 sets a straight line extending from point A in the direction of the current bearing (vehicle bearing) of the work vehicle 10 as the reference line L1 (see Figure 8A). The setting processing unit 713 also sets the vehicle bearing angle (the setting angle of the present invention), 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 bearing 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 bearing of the reference line L1 (for example, a touch operation on the screen), it adjusts the bearing 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.

[0059] 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 8B). 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] Thus, in the second route generation mode, the operation control unit 71 sets the vehicle azimuth angle, which is the direction of the vehicle relative to the reference direction (north), sets a reference point (point A) at a predetermined position within the field F, and generates a target route R (straight route) based on the vehicle azimuth angle and a reference line L1 passing through point A. The operation control unit 71 also generates a target route R that includes a reference line L1 that passes through point A and extends with respect to the reference direction at the vehicle azimuth angle. According to the second route generation mode, the operator can generate a target route R corresponding to the direction of the work vehicle 10 by registering point A, thereby improving the work efficiency of the route generation operation.

[0061] [Third path generation mode] On the settings screen P11 (see Figure 9A), when the operator selects "Point A + Set Azimuth" (setting item K15) and presses the OK button K2, the reception processing unit 712 accepts the operator's selection, and the setting processing unit 713 identifies the third route generation mode. The display processing unit 711 also makes setting item K12 ("Set Azimuth") selectable on the settings screen P1 (see Figure 9B). If the operator selects "Point A + Point B" (setting item K13) or "Point A + Vehicle Azimuth" (setting item K14), the display processing unit 711 may make setting item K12 unselectable (e.g., grayed out) or hide it. On the settings screen P1 (see Figure 9B), when the operator selects "Set Azimuth" (setting item K12) and presses the OK button K2, the reception processing unit 712 accepts the operator's selection, and the display processing unit 711 displays the settings screen P12 (see Figure 9C).

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

[0063] Here, if a previously set azimuth angle d0 (registered azimuth angle) (an example of a registered setting angle in the present invention) is already stored in the memory unit 72, the setting processing unit 713 may set the azimuth angle d0 to the azimuth angle d1. Alternatively, the display processing unit 711 may display the azimuth angle d0 as the initial angle in the input field K16, and the reception processing unit 712 may accept an operation from the operator to change the initial angle. When the reception processing unit 712 accepts the change operation, the setting processing unit 713 sets the changed angle to the azimuth angle d1. Once the setting processing unit 713 sets the azimuth angle d1, the display processing unit 711 displays the azimuth angle d1 (here, "72.0093 degrees") in the description field of setting item K12 on the setting screen P1 (see Figure 9B). With the configuration that displays the azimuth angle d0 (registered azimuth angle) as the initial angle, the operator can use it as a guide when setting the azimuth angle d1.

[0064] Furthermore, once the setting processing unit 713 sets the azimuth angle d1, the display processing unit 711 displays a work screen D1 (see Figure 5C) on the operation display unit 73, which 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 field F and presses the A-point registration button Ka (see Figure 5C). When the operator presses the A-point registration button Ka, the setting processing unit 713 registers the current position of the work vehicle 10 as the reference point (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 d1 as the reference line L1 (see Figure 10A). 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 (see Figure 10B). 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.

[0065] Thus, in the third path generation mode, the operation control unit 71 sets a set azimuth angle d1, which is an angle with respect to the reference direction (north), sets a reference point (point A) at a predetermined position within the field F, and generates a target path R (straight path) based on the set azimuth angle d1 and a reference line L1 passing through point A. The operation control unit 71 also generates a target path R that includes a reference line L1 that passes through point A and extends with respect to the reference direction at the set azimuth angle d1.

[0066] Furthermore, the operation control unit 71 displays a setting screen P12 (see Figure 9C) (an example of the first screen of the present invention) that accepts an input operation of an angle relative to the reference bearing from the operator, and sets the angle input by the operator to the set bearing angle d1. In addition, the operation control unit 71 displays a work screen D1 (see Figure 5C) (an example of the second screen of the present invention) that accepts an operation to set point A from the operator, and when the operation screen D1 accepts an operation to set point A from the operator, it generates a target path R (see Figure 10B) and displays the target path R on the work screen D1.

[0067] According to the third route generation mode, the operator can generate a target route R by setting a set azimuth angle d1 and registering point A, thereby improving the workability of the route generation operation while maintaining the work accuracy of the work vehicle 10.

[0068] In the third route generation mode, if the target route R that has already been generated is to be changed (regenerated), the operator re-enters the set azimuth angle d1, deletes the registered point A, and re-registers point A. Alternatively, the operation control unit 71 may omit the operation to delete point A. For example, if the operator changes the set azimuth angle d1 and registers point A, the operation control unit 71 may update (overwrite) the registered point A with the newly registered point A.

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

[0070] Furthermore, in another embodiment of the third route generation mode, the operation control unit 71 may set the current bearing of the work vehicle 10 as the set bearing angle d1. Alternatively, the operation control unit 71 may display the current bearing of the work vehicle 10 as the initial angle in the input field K16 and accept angle change operations from the operator. Alternatively, the operation control unit 71 may be configured to set the current bearing of the work vehicle 10 as the set bearing angle d1 if the operator sets a reference point (point A) before setting the set bearing angle d1, or to display the bearing in the input field K16.

[0071] 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. In another embodiment, if a previously set setting azimuth angle d0 is stored in the storage unit 72, the setting processing unit 713 may identify the third route generation mode from among the multiple route generation modes, regardless of the operator's selection operation. That is, if the setting azimuth angle d0 is stored in the storage unit 72, the operation control unit 71 may generate the target route R using the third route generation mode.

[0072] 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 start driving instruction from the operator, it executes an automatic driving process according to the set route generation mode.

[0073] Figure 11A shows an operation screen (operation screen) indicating that the work vehicle 10 has met the conditions for starting automatic driving and is ready for automatic driving. When the work vehicle 10 meets the conditions for starting automatic driving, the vehicle control device 11 displays the operation screen shown in Figure 11A on the operation display unit 73. When the work vehicle 10 is ready for 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 automatic steering of 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 makes the work vehicle 10 automatically drive along the straight path by automatic steering.

[0074] Figure 11B shows the display screen (work screen) when the work vehicle 10 is automatically driving. When the work vehicle 10 starts automatically driving, the vehicle control device 11 displays the work screen shown in Figure 11B on the operation device 17. For example, based on information acquired from the vehicle control device 11 (such as driving information), the operation device 17 displays the position of the work vehicle 10, the straight-line route, the completed work area (work status), guidance information (operation guidance information), etc. on the work screen of the operation display unit 73.

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

[0076] In addition, the work screen D1 (see Figure 12A) during automatic driving in the first route generation mode displays driving information G0 including the position of the work vehicle 10, the target route R, point B, and the completed work area, driving information G1 representing the position deviation of the work vehicle 10 relative to the target route R, driving information G2 and G3 representing the driving status of the work vehicle 10, and driving information G4 indicating that the work vehicle 10 is approaching the end point.

[0077] Furthermore, the work screen D1 (see Figure 12B) during automatic driving in the second and third route generation modes displays driving information G0 including the position of the work vehicle 10, the target route R, and the completed work area, driving information G1 representing the position deviation of the work vehicle 10 relative to the target route R, and driving information G2 representing the driving status of the work vehicle 10.

[0078] Here, the content displayed for driving information G2 and G3 can be set by the operator. When the operator presses the operation button K1 on the setting screen P1 (see Figure 5A) and scrolls the page, the display processing unit 711 displays the setting screen P2 shown in Figure 13A. The setting screen P2 includes setting item K21 ("Information Display 1") for selecting whether or not to display driving information G2 on the work screen D1 and the display target, and setting item K22 ("Information Display 2") for selecting whether or not to display driving information G3 and the display target. After the operator selects setting item K21 ("Information Display 1"), they select the display target to be displayed for driving information G2 on the setting screen P21 (see Figure 13B). Similarly, after the operator selects setting item K22 ("Information Display 2"), they select the display target to be displayed for driving information G3 on the setting screen P21.

[0079] Figure 13B shows the state in the third route generation mode when "route azimuth angle" is selected. When the operator selects "route azimuth angle" and presses the OK button K2, the display processing unit 711 displays the "route azimuth angle" in the driving information G2 on the work screen D1 (see Figure 12B). If the operator sets a set azimuth angle (see Figure 9C), the display processing unit 711 displays that set azimuth angle as the route azimuth angle in the driving information G2.

[0080] [Route generation process] Hereinafter, an example of the route generation process performed by the operation control unit 71 of the operation device 17 will be described with reference to Figure 14. The present invention may also 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. Furthermore, one or more processors may perform the route generation process.

[0081] In step S1, the operation control unit 71 determines whether or not it has received an instruction from the operator to start the process of generating the target route R. For example, when the operator starts the task of generating the target route R (route generation task), they select the task setting (not shown) on the menu screen. When the operation control unit 71 receives the operation of selecting the task setting (route generation start instruction) from the operator (S1: Yes), it moves the process to step S2. The operation control unit 71 waits until it receives the route generation start instruction from the operator (S1: No).

[0082] In step S2, the operation control unit 71 displays a setting screen P11 (route generation mode selection screen) for selecting a route generation mode. For example, when the operator selects a work setting on the menu screen, the operation control unit 71 displays the setting screen P1 shown in Figure 5A on the operation display unit 73. Also, when the operator selects the setting item K11 for "Create reference line" on the setting screen P1, the operation control unit 71 displays the setting screen P11 (see Figure 5B). On the setting screen P11, the operation control unit 71 displays the following options for selection: "Point A + Point B" (setting item K13) corresponding to the first route generation mode, "Point A + Vehicle azimuth angle" (setting item K14) corresponding to the second route generation mode, and "Point A + Set azimuth angle" (setting item K15) corresponding to the third route generation mode.

[0083] In step S3, the operation control unit 71 determines whether or not it has received a request to select a route generation mode. The operator selects one of the setting items K13, K14, or K15 on the setting screen P11 (see Figure 5B). If the operation control unit 71 receives a request to select a route generation mode from the operator (S3: Yes), it identifies the route generation mode and proceeds to step S4. The operation control unit 71 waits until it receives a request to select a route generation mode from the operator (S3: No).

[0084] In step S4, the operation control unit 71 executes a process (route generation process) to generate a target route R for the work vehicle 10 to travel automatically. For example, if the operator selects setting item K13 ("Point A + Point B") (see Figure 5B), the operation control unit 71 identifies the first route generation mode and generates the target route R using the first route generation mode (see Figure 6). Also, for example, if the operator selects setting item K14 ("Point A + Vehicle Azimuth Angle") (see Figure 7), the operation control unit 71 identifies the second route generation mode and generates the target route R using the second route generation mode (see Figure 8). Also, for example, if the operator selects setting item K15 ("Point A + Set Azimuth Angle") (see Figure 9), the operation control unit 71 identifies the third route generation mode and generates the target route R using the third route generation mode (see Figure 10).

[0085] In step S5, the operation control unit 71 registers the generated target route R in the storage unit 72. Specifically, the operation control unit 71 displays the generated target route R on the operation display unit 73 and, upon receiving a registration operation from the operator, registers the target route R in the storage unit 72. The operation control unit 71 also stores the target route R in the storage unit 12 of the work vehicle 10.

[0086] [Route generation process in the third route generation mode] Here, an example of the route generation process corresponding to the third route generation mode in step S4 will be explained with reference to Figure 15. The operator selects setting item K15 ("Point A + set azimuth angle") (see Figure 9A), and then selects setting item K12 ("set azimuth angle") on setting screen P1 (see Figure 9B) (see Figure 9B).

[0087] In step S41, the operation control unit 71 determines whether a previously set azimuth angle d0 (registered set azimuth angle) is stored in the storage unit 72. If the set azimuth angle d0 is stored in the storage unit 72 (S41: Yes), the operation control unit 71 proceeds to step S42. On the other hand, if the set azimuth angle d0 is not stored in the storage unit 72 (S41: No), the operation control unit 71 proceeds to step S411.

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

[0089] In step S43, the operation control unit 71 determines whether or not it has received an operation from the operator to change the initial angle. If the operator wants to change the registered setting azimuth angle d0, they operate the operation button K1 on the setting screen P12 (see Figure 9C) to change it to the desired angle. If the operation control unit 71 receives the change operation (S43: Yes), it proceeds to step S44. On the other hand, if the operation control unit 71 does not receive the change operation (S43: No), it proceeds to step S45.

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

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

[0092] In contrast, if it is determined in step S41 that the set azimuth angle d0 is not stored in the memory unit 72 (S41: No), then in step S411, the operation control unit 71 displays the input field K16 of the setting screen P12 (see Figure 9C). The operation control unit 71 accepts the angle input operation from the operator.

[0093] In step S412, the operation control unit 71 determines whether or not it has received the input operation from the operator. If the operation control unit 71 has received the input operation (S412: Yes), it proceeds to step S413. The operation control unit 71 waits until it receives the input operation (S412: No).

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

[0095] In step S46, the operation control unit 71 displays a work screen D1 (see Figure 5C) that accepts the operator's operation to set a reference point (point A).

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

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

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

[0099] As described above, the operating device 17 according to this embodiment generates a target route R for the work vehicle 10 to travel automatically in the field F. The operating device 17 also identifies one of several route generation modes that generate the target route R based on a reference point (point A) set at a predetermined location in the field F, and generates the target route R using the identified route generation mode. For example, the operating device 17 displays multiple route generation modes for selection (see Figure 5B), and generates the target route R using the route generation mode selected by the operator.

[0100] Furthermore, when the third route generation mode is specified (set), the operating device 17 sets a set azimuth angle d1 with respect to a reference direction (e.g., north), sets a reference point (point A) at a predetermined location within field F, and generates a target route R based on the set azimuth angle d1 and a reference line L1 passing through point A. Furthermore, when the second route generation mode is specified (set), the operating device 17 sets a vehicle azimuth angle with respect to a reference direction (e.g., north), sets a reference point (point A) at a predetermined location within field F, and generates a target route R based on the vehicle azimuth angle and a reference line L1 passing through point A. The set azimuth angle d1 and the vehicle azimuth angle are examples of set angles in the present invention. The operating device 17 may set the set azimuth angle d1 as the set angle for creating the reference line L1, or it may set the vehicle azimuth angle as the set angle for creating the reference line L1.

[0101] According to the above configuration, the operator can select a desired route generation mode from among multiple route generation modes. For example, the operator can generate the target route R by selecting a route generation mode that reduces the burden of route generation work (for example, the second route generation mode or the third route generation mode). Furthermore, if the operator selects the third route generation mode, for example, the target route R can be generated by setting the azimuth angle d1 and registering only one reference point (point A). Furthermore, if the operator selects the second route generation mode, for example, the target route R can be generated by setting the vehicle's current heading (vehicle azimuth angle) and registering only one reference point (point A). Therefore, compared to the first route generation mode, which requires the registration of two reference points (points A and B), the work efficiency of the route generation work can be improved.

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

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

[0104] Furthermore, if, for example, the operator changes the angle relative to the initial angle (set azimuth angle d0, registered set azimuth angle), the display processing unit 711 may display the initial angle and the changed angle in a way that allows them to be distinguished, as shown in Figure 17. This allows the operator to easily understand the reference line L1 before and after the angle change. Also, as shown in Figure 18, if the operator touches the reference line after the angle change in the image, the display processing unit 711 may return the angle of the reference line to the initial angle.

[0105] Furthermore, the display processing unit 711 may display an image of the work vehicle 10, as shown in Figure 19. The display processing unit 711 may also rotate the image according to the angle entered in the input field K16.

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

[0107] For example, if the target field for which the target path R is to be generated is "Field Fa", the work vehicle is "Work Vehicle A", and the work type is "Work Wa", the operation control unit 71 sets the "Angle Da" associated with this information to the set azimuth angle d0 (initial angle).

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

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

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

[0111] For example, the setting processing unit 713 sets the work mode based on a selection operation by the operator, which involves selecting either work accuracy priority or work continuation priority. Specifically, the operator selects "Work Accuracy" (setting item K31) on the setting screen P3 shown in Figure 21A, and then selects the work mode on the setting screen P31 (see Figure 21B). The setting screen P31 includes "DGNSS" (setting item K32), "RTK Work Accuracy Priority" (setting item K33), and "RTK Work Continuation Priority" (setting item K34). DGNSS is a positioning method that positions the work vehicle 10 based on positioning information (GNSS signals, etc.) received by a single receiver (positioning antenna 164). When the operator selects the RTK method, they select either "Work Accuracy Priority" or "Work Continuation Priority". For example, if the operator wants to temporarily suspend automatic driving to prevent a decrease in work accuracy when the positioning state deteriorates (to prioritize work accuracy), they select "Work Accuracy Priority". In contrast, for example, if the operator wants to continue automatic driving to prevent a decrease in work efficiency (prioritize work efficiency) when the positioning status deteriorates, they can select "Prioritize Continuing Work".

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

[0113] In contrast, when the work mode is set to prioritize work continuation, the vehicle control device 11 automatically drives the work vehicle 10 based on the position information obtained by the RTK method when the positioning state is in a high-precision state, and automatically drives the work vehicle 10 based on the position information obtained by the DGNSS method or DGPS method when the positioning state deteriorates from a high-precision state. For example, if the positioning state deteriorates due to the influence of an obstacle while the work vehicle 10 is automatically driving, the vehicle control device 11 switches the positioning method from the RTK method to the DGNSS method. In this way, the vehicle control device 11 automatically drives the work vehicle 10 by positioning using the RTK method when the positioning state is in a high-precision state, and continues the automatic driving of the work vehicle 10 by positioning using the DGNSS method when the positioning state deteriorates. This prevents a decrease in the work efficiency of the work vehicle 10.

[0114] In the above configuration, the setting processing unit 713 may identify one of the multiple route generation modes based on the work mode. For example, the setting processing unit 713 identifies the first route generation mode when work accuracy priority is selected (see Figure 21C). Alternatively, the setting processing unit 713 identifies the second or third route generation mode when work continuation priority is selected (see Figure 21D). Furthermore, the setting processing unit 713 may identify the third route generation mode when work continuation priority is selected and a previously set setting azimuth angle d0 (registered setting azimuth angle) is already stored in the storage unit 72.

[0115] Furthermore, once the setting processing unit 713 identifies the route generation mode, it presents (suggests) that route generation mode to the operator as the recommended mode. For example, if the priority of continuing the work mode is selected, the setting processing unit 713 presents the third route generation mode to the operator as the recommended mode. The setting processing unit 713 may also display the recommended mode in an identifiable manner on the setting screen P11 (see Figure 5B). In this way, the operation control unit 71 may present the operator with a route generation mode from among the multiple route generation modes that corresponds to the set work mode.

[0116] In another embodiment of the present invention, the setting processing unit 713 may identify a route generation mode from among a plurality of route generation modes based on information of at least one of the following: field, work vehicle, and work type. For example, the setting processing unit 713 may identify the third route generation mode when the area of ​​field F is greater than or equal to a predetermined area, and identify the first route generation mode or the second route generation mode when the area of ​​field F is less than the predetermined area. Alternatively, for example, the setting processing unit 713 may identify the third route generation mode when a work vehicle 10 has a registered setting azimuth angle d1, and identify the first route generation mode or the second route generation mode when a work vehicle 10 does not have a registered setting azimuth angle d1 or does not have a function to set the setting azimuth angle d1. Alternatively, for example, the setting processing unit 713 may identify the first route generation mode when work requires high precision, and identify the second route generation mode or the third route generation mode when work does not require high precision.

[0117] In another embodiment of the present invention, in each of the first route generation mode, the second route generation mode, and the third route generation mode, the operation control unit 71 may perform the registration process of reference points (point A, point B) solely by input operations on the operation device 17 by the operator. For example, the operation control unit 71 causes the operation device 17 to display map information of field F, and the operator specifies an arbitrary location on the map. The operation control unit 71 sets a reference point at the location specified by the operator. With this configuration, the operator can register reference points and generate a target route R without operating the work vehicle 10.

[0118] Furthermore, 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. Also, the operator of the work vehicle 10 may be able to switch between automatic driving and manual driving when turning. Furthermore, the work vehicle 10 may automatically drive along the target path R unmanned. In this case, the operator may remotely control the operation terminal to give instructions to start driving, etc. 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.

[0119] 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.

[0120] [Notes on the invention] The following is an overview of the inventions extracted from each of the embodiments described above. Note that the configurations and processing functions described below can be selected and combined as desired.

[0121] <Note 1> A route generation method for generating a target route for an automated work vehicle in a field, Setting the set angle, which is the angle relative to the reference direction, Setting a reference point at a predetermined location within the field, The target path is generated based on the set angle and the reference line passing through the reference point. A method for generating routes that executes this process.

[0122] <Note 2> The reference point is set at the position of the work vehicle within the field. The route generation method described in Appendix 1.

[0123] <Note 3> The target path is generated, which includes the reference line passing through the reference point and extending at the set angle with respect to the reference direction. Route generation method as described in Appendix 1 or 2.

[0124] <Note 4> If a previously registered set angle is stored in the memory unit, the registered set angle is set to the set angle. The route generation method described in any one of the appendices 1 to 3.

[0125] <Note 5> The memory unit stores one or more of the registered set angles associated with information on at least one of the fields, work vehicles, and work types. The registered setting angle, to which the information of the target for generating the target path is associated, is set to the setting angle. Route generation method as described in Appendix 4.

[0126] <Note 6> The registered set angle stored in the memory unit is displayed on the first screen. When the operator requests a change to the registered setting angle on the first screen, the system sets the changed registered setting angle to the setting angle. Route generation method as described in Appendix 4 or 5.

[0127] <Note 7> The orientation of the work vehicle at its current position within the field is set to the specified angle. The route generation method described in any one of the appendices 1 to 3.

[0128] <Note 8> A first screen is displayed that accepts input from the operator for the angle relative to the reference bearing. The angle input by the operator is set to the specified angle. The route generation method described in any one of the appendices 1 to 3.

[0129] <Note 9> A second screen is displayed that accepts the operator's input for setting the aforementioned reference point. A route generation method described in any one of the appendices 1 to 8.

[0130] <Note 10> When the operator requests the setting of the reference point on the second screen, the target path is generated and displayed on the second screen. The route generation method described in Appendix 9.

[0131] <Note 11> A route generation system that generates a target route for automatically driving a work vehicle in a field, A first setting processing unit sets a set angle, which is the angle relative to the reference bearing, A second setting processing unit sets a reference point at a predetermined location within the field, A generation processing unit that generates the target path based on the set angle and the reference line passing through the reference point, A route generation system equipped with the following features.

[0132] <Note 12> A route generation program that generates a target route for automatically driving a work vehicle in a field, Setting the set angle, which is the angle relative to the reference direction, Setting a reference point at a predetermined location within the field, The target path is generated based on the set angle and the reference line passing through the reference point. A route generation program that causes one or more processors to execute. [Explanation of Symbols]

[0133] 1: Automated driving system 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 20:Satellite 71: Operation Control Unit 72: Storage section 73: Operation display section 711: Display Processing Unit 712: Reception Processing Section 713: Configuration Processing Unit (First Configuration Processing Unit, Second Configuration Processing Unit) 714: Generation Processing Unit B1: Automatic driving button D1: Work screen (second screen) P12: Settings screen (1st screen) F: Field L1: Reference line R: Target path d0: Set azimuth angle (registered set angle) d1: Set azimuth angle (set angle)

Claims

1. A route generation method for generating a target route for an automated work vehicle in a field, When the operator requests registration of a reference point, the current position of the work vehicle within the field is set as the reference point. If a previously registered set angle for the field is pre-stored in the memory of the operating device that accepts the registration operation, the registered set angle will be displayed on the operating device. When the operating device that displays the registered setting angle receives a setting operation from the operator for the registered setting angle, the registered setting angle is set to a setting angle that is an angle with respect to the reference bearing. Based on a reference line that passes through the aforementioned reference point and extends in the direction of the set angle, the target path corresponding to the field is generated. A method for generating routes that executes this process.

2. When the operating device that displays the registered set angle receives an operation from the operator to change the registered set angle, the changed angle is set to the set angle. The route generation method according to claim 1.

3. The operating device stores the changed angle as the registered set angle. The route generation method according to claim 2.

4. A route generation system that generates a target route for automatically driving a work vehicle in a field, A first setting processing unit sets the current position of the work vehicle within the field as the reference point when it receives a registration operation from the operator to register a reference point, A display processing unit that causes the operating device to display the registered setting angle if a previously registered setting angle for the field is stored in the storage unit of the operating device that accepts the registration operation, When the operating device that displays the registered setting angle receives a setting operation from the operator for the registered setting angle, a second setting processing unit sets the registered setting angle to a setting angle that is an angle with respect to the reference bearing, A generation processing unit generates the target path corresponding to the field based on a reference line that passes through the reference point and extends in the direction of the set angle, A route generation system equipped with the following features.

5. A route generation program that generates a target route for automatically driving a work vehicle in a field, When the operator requests registration of a reference point, the current position of the work vehicle within the field is set as the reference point. If a previously registered set angle for the field is pre-stored in the memory of the operating device that accepts the registration operation, the registered set angle will be displayed on the operating device. When the operating device that displays the registered setting angle receives a setting operation from the operator for the registered setting angle, the registered setting angle is set to a setting angle that is an angle with respect to the reference bearing. Based on a reference line that passes through the aforementioned reference point and extends in the direction of the set angle, the target path corresponding to the field is generated. A route generation program that causes one or more processors to execute.

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