Path generation device for self-propelled work machines

Abstract

To provide a route generation device of a self-traveling work machine which can generate and modify a reciprocating straight route with a sensory operation, and can easily find and select an optimal reciprocating straight route.SOLUTION: A route generation device of a self-traveling work machine with a touch panel includes: map output means which displays a map of a work area and a peripheral area on the touch panel; lattice point output means which displays lattice points arranged at predetermined intervals on the map; route generation output means which generates a reciprocating straight route by connecting the lattice points arranged in the work area by a line with a prescribed algorithm and displays it on the map; and lattice point movement means which slides or rotates the entire lattice points or expands / contracts the interval between each lattice point when there is an input with a touch panel operation in such a state that the reciprocating straight route is displayed.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a path generation device for a self-propelled work machine that performs automatic driving or automatic navigation.

Background Art

[0002] In recent years, self-propelled (automatic driving / navigation type) work machines that can be remotely operated using terminals such as tablets have been developed for agricultural machines (tractors, combines, pesticide spraying drones, etc.), lawn mowers, cleaning robots, etc. In these self-propelled work machines, it is known that path data is received from a remote operation terminal and the machine can travel / navigate within a work area along a predetermined path based on the path data (see, for example, Patent Documents 1 to 6).

[0003] However, in the remote operation terminals of the above conventional self-propelled work machines, although it is possible to generate a reciprocating straight path (a path that repeats straight movement and reciprocation at a predetermined interval) based on coordinate data such as GPS, it is necessary to set the starting point and ending point of the path, the interval between straight paths, etc. by numerical input or the like. Therefore, it is difficult for the user to generate a path by intuitive operation, and it takes time and effort for an inexperienced user to input path information.

[0004] Also, in the remote operation terminals of the above conventional self-propelled work machines, when it is desired to modify the path after generating a reciprocating straight path, it is necessary to re-enter numerical values on the setting screen, so it also takes time and effort to modify the path. Furthermore, since it is necessary to repeat the path modification operation to discover / select the optimal reciprocating straight path (optimal starting point and ending point, direction, interval between straight paths, etc.) within the work area, the path selection cannot be completed smoothly.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

[0006] The present invention aims to solve the problems of the above-mentioned prior art, and in summary, it provides a path generation device for a self-propelled work machine that can not only generate paths for the self-propelled work machine, but also generate and correct round-trip straight paths with intuitive operation, and furthermore, can easily find and select the optimal round-trip straight path. [Means for solving the problem]

[0007] The present inventor has adopted a configuration for a path generation device for a self-propelled work machine equipped with a touch panel as a display means and input means, comprising: a map output means for displaying a map of the work area and surrounding area on the touch panel; a grid point output means for displaying grid points arranged at predetermined intervals on the map; a path generation output means for generating a round-trip straight path by connecting the grid points arranged in the work area with lines using a predetermined algorithm and displaying it on the map; and a grid point moving means for sliding or rotating the entire grid point or expanding or contracting the spacing between each grid point when input is received via touch panel operation while the round-trip straight path is displayed (the effects will be described later).

[0008] Furthermore, in this invention, when a grid point moves at least from inside to outside or outside to inside the work area by the grid point movement means, a path regeneration means is provided that regenerates a round-trip straight path based on the predetermined algorithm, making it easier to find and select the optimal path.

[0009] Furthermore, in the present invention, by providing a path addition means in the grid point output means and path generation output means with a path addition means that adds and displays new grid points and paths on top of the grid points and paths that are fixedly displayed on the map, it is also possible to generate a network of paths or a three-dimensional multi-layered path.

[0010] Furthermore, in this invention, by making the predetermined algorithm described above a process that connects each grid point with lines in ascending or descending order based on the column and row information assigned to each grid point, path generation and path regeneration can be easily performed.

[0011] Furthermore, in this invention, by providing a work area designation means that allows users to specify a work area by performing touch panel operations on the map displayed on the touch panel, the designation and adjustment of the work area can be easily performed on the same touch panel.

[0012] Furthermore, in this invention, by providing a transmitting unit that wirelessly transmits the coordinate data of the round-trip straight path displayed on the touch panel to the self-propelled work machine, the self-propelled work machine can be remotely operated from a distance. [Effects of the Invention]

[0013] The path generation device for the self-propelled work machine of the present invention can automatically generate a round-trip straight path by connecting grid points placed within the work area on the map display screen with lines. Furthermore, while the round-trip straight path is displayed, the user can intuitively modify the path by operating the touch panel to slide or rotate the entire grid of points, or expand or contract the spacing between each grid point. Therefore, even users unfamiliar with the operation can easily use it.

[0014] Furthermore, since the route generation device of the present invention allows for easy modification of the route using the touch panel operation described above, the optimal route can be easily found and selected in a short amount of time. Moreover, since the route generation device of the present invention can be used as a remote control terminal for various self-propelled work machines, it can be used in a wide range of fields, such as unmanned agricultural machinery, agricultural drones, and cleaning robots.

Brief Description of the Drawings

[0015] [Figure 1] It is a functional block diagram showing the configuration of a path generation device for a self-propelled work machine in the first embodiment of the present invention. [Figure 2] It is a flowchart showing the processing flow of a path generation device for a self-propelled work machine in the first embodiment of the present invention. [Figure 3] It is an explanatory diagram showing the map display screen of a touch panel in the first embodiment of the present invention. [Figure 4] It is an explanatory diagram showing the path display screen of a touch panel in the first embodiment of the present invention. [Figure 5] It is an explanatory diagram showing the path display screen of a touch panel in the first embodiment of the present invention. [Figure 6] It is an explanatory diagram showing the path display screen of a touch panel in a modified example of the present invention.

Modes for Carrying Out the Invention

[0016] Embodiments of the present invention will be described based on FIGS. 1 to 6. In the figures, what is indicated by reference numeral 1 is a path generation device, what is indicated by reference numeral P is a touch panel. Also, what is indicated by reference numeral A is a self-propelled work machine, what is indicated by reference numeral W is a GPS map server. Also, what is indicated by reference numeral G is a map generation device.

[0017] "Hardware Configuration of the Path Generation Device" The hardware configuration of the route generation device 1 according to this embodiment will be described. In this embodiment, as shown in the functional block diagram of FIG. 1, the route generation device 1 includes a main storage unit 11 (such as a memory), an arithmetic unit 12 (such as a CPU), a control unit 13 (such as a CPU), and an auxiliary storage unit 14 (such as a hard disk or SSD). Further, a tablet terminal with a communication function having a touch panel P in which a display unit 15 (output means) and a panel input unit 16 (input means) are integrated is used. Regarding this tablet terminal, as long as it is a computer with a communication function having a touch panel P, a smartphone, a PDA (personal digital assistant), a desktop PC, a notebook PC, etc. can also be used. And these hardware are linked by software to serve as the storage means, input means, and output means of the device.

[0018] The input operations on the panel input unit 16 of the touch panel P include taps, double taps, long presses, scrolls, drags, swipes, pinches, rotations, etc., and functions corresponding to various input operations are linked. Also, in this embodiment, the route generation device 1 has a configuration of a single computer. However, when adopting a distributed system such as a server-client or a cloud system and realizing functions through cooperation of multiple computers, external hardware (such as a web server or a DB server) can be used as part of the route generation device 1.

[0019] The external hardware that cooperates with the route generation device 1 includes first a self-propelled work machine A having a communication function (for example, an agricultural drone for spraying pesticides or fertilizers, an agricultural combine, a tractor, a lawn mower, a cleaning robot, a snow remover, a decontamination robot, a fishing robot, a fishery robot, etc.). In addition, a GPS map server W (such as when obtaining GPS map data from position information) and a map generation device G (such as when obtaining map data within a floor generated by various sensors) can be used as needed. Also, these external devices and the route generation device 1 are connected via a network (such as the Internet or a wireless LAN) and are in a state where they can communicate with each other.

[0020] "Software configuration of the route generation device" [1] Map output means [1-1] Means for acquiring map data Next, the software configuration of this embodiment will be explained in accordance with the flowchart shown in Figure 2. First, as a preliminary step, map data including the work area is acquired. If map data is not available, it is acquired from the GPS map server W or the map generation device G. Specifically, map data is transmitted and received between the map data transmission unit of the GPS map server W or map generation device G shown in Figure 1 and the map data receiving unit 17 of the route generation device 1, and the map data received by the route generation device 1 is stored in the map data storage unit 14a of the auxiliary storage unit 14. This map data can also be stored in an external device (DB server or external storage device). Note that map data can also be acquired from an external storage medium (for example, a CD or USB). Furthermore, the route generation device 1 itself can also be equipped with a map generation function.

[0021] [1-2] Map data reading and output methods Next, the map data stored in the auxiliary storage unit 14 or external device is read (step S1), and output as a map screen on the touch panel P as shown in Figure 3(a) (step S2). At this time, the map screen can be zoomed in / out as appropriate by operating the panel input unit 16, such as the zoom in / out icon B1, or other input unit 18 (for example, a push button on a tablet) displayed on the touch panel P. The map display format (for example, illustration display or photographic display) is not particularly limited, but it is preferable to use a simple illustration display so that the grid points and routes described later can be easily identified.

[0022] [1-3] Work area specification means Next, the user performs touch panel operations on the map screen displayed on the touch panel P to identify and specify the work area F within the map, as shown in Figure 3(a) (step S3). Specifically, the user taps the outline of the area to be designated as the work area F to generate multiple anchor points D1 (points for manipulating the path), and automatically generates a path L (line) connecting these anchor points D1, thereby designating the area inside path L as the work area F. If the outline of the work area F is curved rather than straight, the user can create a curved path L by generating multiple anchor points D1 in close proximity, as shown in Figure 3(b). In this case, the work area F and the surrounding area M are color-coded and displayed on the touch panel P for easy identification by the user. This allows for easy and intuitive specification of the work area F on the map. The specified work area F can also be reused by saving it as a file and storing it in the work area storage unit 14b of the auxiliary storage unit 14.

[0023] [2] Means of indicating the route [2-1] Grid point output means After specifying the work area F on the map above, the user proceeds to the route display screen by operating the panel input unit 16, such as the route generation icon B2 in Figure 3(b), or other input unit 18 (for example, a push button on a tablet) (step S4). On the route display screen, grid points D2 (black dots in the figure) arranged at predetermined intervals, as shown in Figure 4(a), are output onto the map on the touch panel P based on pre-set grid point information (column and row information for each grid point, initial interval information) (step S5), and displayed across the entire map (step S6). The column and row spacings of the grid points D2 are equal.

[0024] [2-2] Route generation output means Furthermore, on the route display screen, a round-trip straight route R (a route that travels back and forth in a straight line at equal intervals) is automatically generated by connecting the grid points D2 located within the work area F using a predetermined algorithm (step S5), and displayed on the map together with the grid points D2 (step S6). This round-trip straight route R consists of straight lines or grid points arranged at equal intervals and lines connecting them in a zigzag pattern. In this embodiment, the round-trip straight route R is generated by connecting each grid point D2 with lines in ascending or descending order based on the column and row information assigned to each grid point D2. Specifically, among the grid points D2 located within the work area F, groups of grid points D2 with the same column information are connected in ascending order from the smallest to the largest row information (or descending order from the largest to the smallest row information), and groups of grid points D2 with the next lowest column information are connected in a zigzag pattern with the largest or smallest row information to generate the round-trip straight route R.

[0025] [3] Means for correcting the route [3-1] Rotation operation of the touch panel Next, the means for correcting the round-trip straight path R described above will be explained. When a rotation operation is input to the touch panel P on the path display screen in Figure 4(a) (step S7), as shown in Figure 4(b), all of the grid points D2 arranged throughout the map rotate, and the round-trip straight path R rotates along with them. This grid point movement means allows the user to intuitively correct which direction they are moving in within the work area F. For example, by rotating the round-trip straight path R to match the longitudinal direction of the work area F, the number of round trips can be minimized, and it is also possible to rotate the round-trip straight path R to follow one side of the contour of the work area F.

[0026] [3-2] Pinch gesture on a touch panel Furthermore, when a pinch-in operation is input to the touch panel P on the route display screen shown in Figure 4(b) (step S7), the spacing of all grid points D2 arranged throughout the map is reduced, as shown in Figure 5(a), and the spacing of adjacent straight paths in the round-trip straight-line route R is also reduced accordingly. On the other hand, when a pinch-out operation is input (not shown), the spacing of all grid points D2 is increased, and the spacing of adjacent straight paths in the round-trip straight-line route R is also increased accordingly. This grid point movement means allows for intuitive operation to correct the number of round trips and the position of round trips within the work area F. For example, the spacing of straight paths can be adjusted by pinch-in and pinch-out operations to match the working width when the self-propelled work machine A is moving in a straight line.

[0027] [3-3] Slide operation on the touch panel Furthermore, when input is received via a slide operation on the touch panel P on the route display screen shown in Figure 5(a) (step S7), as shown in Figure 5(b), the entire grid points D2 arranged across the map slide in the input direction, and the round-trip straight path R also slides accordingly. This grid point movement means allows for intuitive operation to correct the start and end positions of the round-trip straight path R and the position of the straight path within the work area F. For example, the position of the straight path can be moved towards the center, or the start and end positions of the round-trip straight path R and the position of the straight path can be moved closer to the contour line (path) of the work area F if they are far away.

[0028] [3-4] Route regeneration output means Furthermore, when a grid point movement is input to the touch panel P (step S7), if a grid point movement occurs, the path regeneration output means automatically reconnects the grid points D2 within the work area F and regenerates the round-trip straight path R (step S8). This path regeneration output can also be executed only when there is movement inside or outside the work area F. Specifically, the connection between the grid point D2 that has moved outside the work area F and the round-trip straight path R is severed, and a new connection is made with the new grid point D2 that has entered inside the work area F to regenerate the path (see Figures 4 and 5). This makes it easier to select and find the optimal round-trip straight path R while performing rotation, pinch-in, pinch-out, and slide operations on the touch panel P during the above path correction. The algorithm for regenerating the round-trip straight path R is the same as the initial path generation, and the path (re)generation program can be stored in the path (re)generation program storage unit 14d of the auxiliary storage unit 14.

[0029] [4] Regarding the means of route transmission When the round-trip straight path R within the work area F is determined, the coordinate data (path data) of the round-trip straight path R displayed on the touch panel P can be wirelessly transmitted to the self-propelled work machine A by operating the panel input unit 16, such as the transmission icon B3 in Figure 3(b), or other input unit 18 (for example, a push button on a tablet) (step S9) (step S 10 Specifically, by tapping the transmission icon B3 on the route display screen shown in Figure 5(b), the route data can be transmitted from the route data transmission unit 19 of the route generation device 1 to the route data receiving unit of the work machine A. This allows the work machine A to be remotely operated from a location far from the self-propelled work machine A. Furthermore, when transmitting route data, the coordinate data can also be processed and edited into data corresponding to the control program of the work machine A before transmission.

[0030] [5] Other examples of changes [5-1] Route generation application In this embodiment, the above software is described as part of a route generation device 1 installed on a tablet terminal, but the software can also be configured to be downloadable to different users' terminals via the internet as a route generation application. Furthermore, in the case of a cloud system, route generation processing can be performed on the server side, and the generated route data can be downloaded to the user terminal or transmitted directly from the server to the self-propelled work machine A.

[0031] [5-2] 3D path generation In this embodiment, a path generation device 1 capable of generating two-dimensional paths is described. However, in the case of drones or the like that which fly through the air, it is also possible to generate three-dimensional path data by adding coordinate data that specifies the position in the height direction in addition to two-dimensional coordinate data (for example, outputting an input screen for height adjustment after determining the round-trip straight path R and before transmitting the data).

[0032] [5-3] Integration with self-propelled work machines In this embodiment, the configuration of an independent route generation device 1 that can remotely control a self-propelled work machine A is described, but it is also possible to adopt a configuration in which the self-propelled work machine A and the route generation device 1 are integrated. For example, the route generation device 1 can be built into the self-propelled work machine A, and a touch panel P-type operation panel can be attached to the self-propelled work machine A to perform route generation processing.

[0033] [5-4] Means for adding routes In this embodiment, the grid point output means and path generation output means generate a single round-trip straight path. However, as shown in Figure 6, a path addition means can also be provided to add and display new grid points D2 and paths R on a separate layer on top of the grid points D2 and paths R that are fixedly displayed on the map. This makes it possible to generate a network of paths that run vertically and horizontally within the work area F, or three-dimensional paths with different heights.

[0034] In the example shown in Figure 6, clicking the "Add Route" icon in the upper right corner of the screen generates and displays new grid points and routes. Additionally, clicking the checkboxes to the left or right of the route name allows you to specify the layer of the route and modify or delete it. Furthermore, clicking the "Add Route" icon again from the state shown in Figure 6 allows you to generate three or more routes. [Explanation of Symbols]

[0035] 1. Route generation device 11 Main memory 12 Arithmetic section 13 Control Unit 14 Auxiliary storage 14a Map data storage unit 14b Work area storage 14c Grid point information storage section 14d Path generation program storage unit 15 Display 16 Panel Input Section 17 Map data receiving unit 18 Other Input Sections 19 Route data transmission unit P Touch Panel A work machine W GPS Map Server G-Map Generator B1 Zoom in / out icon B2 Route Generation Icon B3 Send Icon D1 Anchor Point D2 grid point L Pass R path F work area M surrounding area

Claims

1. In a path generation device for a self-propelled work machine equipped with a touch panel as a display means and input means, A map output means that displays a map of the work area and surrounding area on the touch panel, A grid point output means for displaying grid points arranged at predetermined intervals on the map, A path generation output means that connects grid points placed within the aforementioned work area with lines using a predetermined algorithm to generate a round-trip straight path and displays it on a map, When input is received via touch panel operation while the aforementioned round-trip straight path is displayed, the grid point moving means slides or rotates the entire grid point, or expands or contracts the spacing between each grid point, A path generation device for a self-propelled work machine, comprising: a path regeneration means that regenerates a round-trip straight path based on a predetermined algorithm when a grid point moves at least from inside to outside or outside to inside the work area by the grid point moving means.

2. The path generation device for a self-propelled work machine according to claim 1, further comprising a path addition means for displaying new grid points and paths on grid points and paths fixedly displayed on a map, in the grid point output means and path generation output means.

3. The path generation device for a self-propelled work machine according to claim 1, wherein the predetermined algorithm is a process of connecting each grid point with lines in ascending or descending order based on the column and row information assigned to each grid point.

4. A path generation device for a self-propelled work machine according to claim 1, further comprising a work area designation means for specifying a work area by performing touch panel operations on a map displayed on the touch panel.

5. The path generation device for a self-propelled work machine according to claim 1, further comprising a transmitting unit that wirelessly transmits coordinate data of a round-trip straight path displayed on the touch panel to a self-propelled work machine.

Images