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

Abstract

[Project] To provide a path generation method, a path generation program, and a path generation system that can easily generate a target path for automatically driving a work vehicle in a non-rectangular work area. [Solution] In an automatic driving system (1), the generation processing unit (213) sets one of a first path generation mode that generates a target path based on a first reference line that serves as a reference when generating a target path, and a second path generation mode that generates a target path based on a second reference line that has a shape or orientation different from the first reference line.

Description

Technology Field

[0001] The present invention relates to a technology for generating a target path for automatically driving a work vehicle. Background Technology

[0002] Conventionally, in the case of pavement, a work vehicle that automatically drives along a preset target path is known. For example, the work vehicle automatically drives along a target path set in each of the inner circumference area of ​​the central part of the pavement and the outer circumference area (headland area) of the outer circumference part of the pavement (see, for example, Patent Document 1). Prior art literature

[0003] Japanese Patent Publication No. 7049033 The problem to be solved

[0004] However, the packaging of the work target is not limited to rectangular packaging, and there is non-rectangular packaging such as packaging with a slanted shape (corner part, etc.) or packaging with a curved shape. In the case of such non-rectangular packaging, it becomes difficult to generate a target path for automatically driving the work vehicle.

[0005] The object of the present invention is to provide a path generation method, a path generation program, and a path generation system that can easily generate a target path for automatically driving a work vehicle in a non-rectangular work area. means of solving the problem

[0006] The path generation method according to the present invention is a path generation method for generating a target path for automatically driving a work vehicle in a work area. The path generation method sets one of a first path generation mode for generating the target path based on a first reference line that serves as a reference when generating the target path, and a second path generation mode for generating the target path based on a second reference line that has a shape or orientation different from the first reference line.

[0007] The path generation program according to the present invention is a path generation program that generates a target path for automatically driving a work vehicle in a work area. The path generation program sets one or more processors one of a first path generation mode that generates the target path based on a first reference line that serves as a reference when generating the target path, and a second path generation mode that generates the target path based on a second reference line that has a shape or orientation different from the first reference line.

[0008] The path generation system according to the present invention is a path generation system that generates a target path for automatically driving a work vehicle in a work area. The path generation system sets one of a first path generation mode that generates the target path based on a first reference line that serves as a reference when generating the target path, and a second path generation mode that generates the target path based on a second reference line that has a shape or orientation different from the first reference line. Effects of the invention

[0009] According to the present invention, a path generation method, a path generation program, and a path generation system can be provided that enable easy generation of a target path for automatically driving a work vehicle in a non-rectangular work area. Brief explanation of the drawing

[0010] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. FIG. 2 is an external view showing the configuration of a work vehicle according to an embodiment of the present invention. FIG. 3 is a drawing showing an example of a method for registering a package according to an embodiment of the present invention. FIG. 4 is a drawing showing an example of a method for registering a package according to an embodiment of the present invention. FIG. 5 is a drawing showing an example of a menu screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 6 is a drawing showing an example of a method for setting a first reference line and a second reference line according to an embodiment of the present invention. FIG. 7a is a drawing showing an example of a method for converting a curve included in a second reference line into a straight line according to an embodiment of the present invention. FIG. 7b is a drawing showing an example of a method for converting a curve included in a second reference line into a straight line according to an embodiment of the present invention. FIG. 7c is a drawing showing an example of a method for converting a curve included in a second reference line into a straight line according to an embodiment of the present invention. Figure 8 is a diagram showing the problems that occur when the entire first baseline is duplicated to generate the target path. FIG. 9 is a diagram showing an example of a method for generating a target path according to an embodiment of the present invention. FIG. 10a is a drawing for explaining a method for generating a target path according to an embodiment of the present invention. FIG. 10b is a diagram illustrating a method for generating a target path according to an embodiment of the present invention. FIG. 10c is a drawing for explaining a method for generating a target path according to an embodiment of the present invention. FIG. 11 is a drawing showing an example of a target path generated by a generation method (first path generation mode) according to an embodiment of the present invention. FIG. 12 is a diagram showing an example of a method for generating a target path according to an embodiment of the present invention. FIG. 13 is a diagram showing an example of a method for generating a target path according to an embodiment of the present invention. FIG. 14 is a drawing showing an example of a target path generated by a generation method (second path generation mode (non-redundant mode)) according to an embodiment of the present invention. FIG. 15 is a diagram showing an example of a target path generated by a generation method (second path generation mode (redundancy mode)) according to an embodiment of the present invention. FIG. 16 is a drawing showing an example of a baseline selection screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 17 is a drawing showing an example of a work device selection screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 18 is a drawing showing an example of a path creation selection screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 19 is a drawing showing an example of a path creation selection screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 20a is a drawing showing an example of a path creation selection screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 20b is a drawing showing an example of a path creation selection screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 21 is a flowchart showing an example of the sequence of path generation processing executed by an automatic driving system according to an embodiment of the present invention. FIG. 22 is a diagram showing an example of a method for generating a target path according to another embodiment of the present invention. FIG. 23 is a drawing showing another example of a method for setting a first reference line according to an embodiment of the present invention. FIG. 24a is a drawing showing an example of a method for generating a target path according to another embodiment of the present invention. FIG. 24b is a drawing illustrating an example of a method for generating a target path according to another embodiment of the present invention. FIG. 25a is a drawing showing an example of a method for generating a target path according to another embodiment of the present invention. FIG. 25b is a drawing illustrating an example of a method for generating a target path according to another embodiment of the present invention. FIG. 26a is a drawing showing an example of a method for generating a target path according to another embodiment of the present invention. FIG. 26b is a drawing illustrating an example of a method for generating a target path according to another embodiment of the present invention. FIG. 26c is a drawing illustrating an example of a method for generating a target path according to another embodiment of the present invention. FIG. 27a is a drawing showing an example of a work area registration screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 27b is a drawing showing an example of a work area registration screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 28a is a drawing showing an example of a method for determining the measurement point of the endpoint of a reference curve according to an embodiment of the present invention. FIG. 28b is a drawing showing an example of a method for determining the measurement point of the endpoint of a reference curve according to an embodiment of the present invention. FIG. 28c is a drawing showing an example of a method for determining the measurement point of the endpoint of a reference curve according to an embodiment of the present invention. FIG. 28d is a drawing showing an example of a method for determining the measurement point of the endpoint of a reference curve according to an embodiment of the present invention. FIG. 29 is a drawing showing an example of a method for determining the measurement point of the endpoint of a reference curve according to an embodiment of the present invention. FIG. 30 is a drawing showing an example of a work area registration screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 31a is a drawing showing another example of a method for generating a first reference line according to an embodiment of the present invention. FIG. 31b is a drawing showing another example of a method for generating a first reference line according to an embodiment of the present invention. FIG. 32 is a drawing showing an example of a method for extending a first reference line according to an embodiment of the present invention. FIG. 33 is a diagram showing another example of a method for generating a work path according to an embodiment of the present invention. FIG. 34a is a drawing showing an extended working path according to an embodiment of the present invention. FIG. 34b is a drawing showing an example of a method for indicating a work path according to an embodiment of the present invention. FIG. 34c is a drawing showing an example of a method for indicating a work path according to an embodiment of the present invention. FIG. 35a is a drawing showing an example of a method for indicating a work path in a headland area according to an embodiment of the present invention. FIG. 35b is a drawing showing an example of a method for indicating a work path in a headland area according to an embodiment of the present invention. FIG. 35c is a drawing showing an example of a method for indicating a work path in a headland area according to an embodiment of the present invention. Specific details for implementing the invention

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

[0012] As shown in FIG. 1, an automatic driving system (1) according to an embodiment of the present invention includes a work vehicle (10) and an operating terminal (20). The work vehicle (10) and the operating terminal (20) can communicate through a communication network (N1). For example, the work vehicle (10) and the operating terminal (20) can communicate through a mobile phone network, a packet network, or a wireless LAN. The automatic driving system (1) is an example of a path generation system of the present invention.

[0013] In this embodiment, the case where the work vehicle (10) is a tractor is described as an example. In addition, as another embodiment, the work vehicle (10) may be a combine harvester, a rice transplanter, a construction machine, or a snowplow. The work vehicle (10) is configured to automatically drive along a preset target path within the pavement (F) (see FIG. 4).

[0014] For example, a worker (operator) registers a work target pavement (F) and sets a target path for automatically driving a work vehicle (10) over the pavement (F). Based on the position information of the current location of the work vehicle (10) obtained by the positioning unit (16), the work vehicle (10) automatically drives along the pre-set target path over the pavement (F). Additionally, the work vehicle (10) performs a predetermined task while driving automatically within the pavement (F).

[0015] The control terminal (20) is a portable terminal capable of remotely controlling the work vehicle (10), and is composed of, for example, a tablet terminal, a notebook-type personal computer, a smartphone, etc. The operator can perform setting operations on various setting items on the control terminal (20). For example, the operator can operate the control terminal (20) to register a package (F) or set a target route for the registered package (F). In addition, the control terminal (20) displays information such as the work status and driving status of the work vehicle (10) that is driving automatically. The operator can understand the work status and driving status on the control terminal (20).

[0016] However, the packaging of the work target is not limited to rectangular packaging, and there are non-rectangular packagings such as packaging with a slanted shape (corner part, etc.) or packaging with a curved shape. In the case of such non-rectangular packaging, it becomes difficult to generate a target path for automatically driving the work vehicle (10). In this regard, the automatic driving system (1) according to the present embodiment is equipped with a configuration that makes it possible to easily generate a target path for automatically driving the work vehicle in a non-rectangular work area, as shown below.

[0017] [Work vehicle (10)]

[0018] As shown in FIGS. 1 and 2, a work vehicle (10) is equipped with a vehicle control device (11), a memory unit (12), a driving device (13), a work device (14), a communication unit (15), a positioning unit (16), etc. The vehicle control device (11) is electrically connected to the memory unit (12), the driving device (13), the work device (14), and the positioning unit (16), etc. Additionally, the vehicle control device (11) and the positioning unit (16) may be capable of wireless communication.

[0019] The communication unit (15) is a communication interface for connecting the work vehicle (10) to the communication network (N1) via wired or wireless connection and for performing data communication according to a predetermined communication protocol between the work vehicle (10) and an external device (operation terminal (20), etc.) through the communication network (N1).

[0020] The memory unit (12) is a non-volatile memory unit, such as an HDD (Hard Disk Drive) or SSD (Solid State Drive), that stores various information. A control program for executing various processes on a vehicle control device (11) is stored in the memory unit (12). For example, the 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 memory unit (12). Additionally, the control program may be downloaded from a server (not shown) to the work vehicle (10) via a communication network (N1) and stored in the memory unit (12). Furthermore, data such as the target path generated at the operation terminal (20) is stored in the memory unit (12).

[0021] The driving device (13) is a driving unit that drives the work vehicle (10). As shown in FIG. 2, the driving device (13) is equipped with an engine (131), a front wheel (132), a rear wheel (133), a transmission (134), a front axle (135), a rear axle (136), a steering wheel (137), etc. Additionally, the front wheel (132) and the rear wheel (133) are installed on the left and right sides of the work vehicle (10), respectively. Furthermore, the driving device (13) is not limited to a wheel type equipped with a front wheel (132) and a rear wheel (133), but may also be a crawler type equipped with crawlers installed on the left and right sides of the work vehicle (10).

[0022] The engine (131) is a driving source, such as a diesel engine or a gasoline engine, that is driven by fuel supplied to a fuel tank (not shown). The driving device (13) may be equipped with an electric motor as a driving source, either together with the engine (131) or instead of the engine (131). Additionally, a generator (not shown) is connected to the engine (131), and power is supplied from the generator to electrical components such as a vehicle control unit (11) and a positioning unit (16) installed in the work vehicle (10), as well as to a battery. Additionally, the battery is charged by the power supplied from the generator. Furthermore, electrical components such as the vehicle control unit (11) and the positioning unit (16) installed in the work vehicle (10) can be driven by the power supplied from the battery even after the engine (131) is stopped.

[0023] The driving force of the engine (131) is transmitted to the front wheels (132) through the transmission (134) and front axle (135), and to the rear wheels (133) through the transmission (134) and rear axle (136). Additionally, the driving force of the engine (131) is also transmitted to the work machine (14) through the PTO shaft (not shown). When the work vehicle (10) performs automatic driving, the driving device (13) performs driving operations according to the command of the vehicle control device (11). Additionally, the driving device (13) decelerates the work vehicle (10) or stops it according to the command of the vehicle control device (11).

[0024] The work implement (14) is, for example, a tiller, a brush cutter, a plow, a fertilizer applicator, a sprayer (chemical sprayer), a harrow, or a seeder, and is detachable from the work vehicle (10). By doing so, the work vehicle (10) can perform various tasks using each of the work implements (14). FIG. 2 shows the case where the work implement (14) is a tiller. For example, the work implement (14) is mounted on the rear of the work vehicle (10). The work vehicle (10) performs tillage work by driving within the field (F) with the work implement (14) mounted on the rear.

[0025] The work device (14) may be supported so as to be raised by a lifting mechanism not shown in the work vehicle (10). The vehicle control device (11) can control the lifting mechanism to raise the work device (14). For example, the vehicle control device (11) lowers the work device (14) when the work vehicle (10) travels straight forward on the pavement (F), and raises the work device (14) when the work vehicle (10) travels straight backward on the pavement (F) and when it travels in a turning direction. Additionally, when the work vehicle (10) performs work on a turning path, the vehicle control device (11) lowers the work device (14) when the work vehicle (10) travels in a turning path. Furthermore, when the vehicle control device (11) obtains a command to stop the work, it outputs a command to stop the work to the work device (14). For example, the vehicle control device (11) obtains the stop instruction from the operation terminal (20) when the operator performs the stop instruction operation at the operation terminal (20). When the vehicle control device (11) obtains the stop instruction for the operation, it stops the drive of the PTO shaft and stops the operation of the work machine (14).

[0026] The handle (137) is a control unit operated by a worker or a vehicle control device (11). For example, in the driving device (13), the angle of the front wheel (132) is changed by a hydraulic power steering mechanism not shown, etc., according to the operation of the handle (137) by the vehicle control device (11), and the direction of travel of the work vehicle (10) is changed.

[0027] In addition, the driving device (13) is equipped with a shift lever, accelerator, brake, etc., not shown, which are operated by the vehicle control device (11), in addition to the steering wheel (137). In the driving device (13), the gear of the transmission (134) is switched to a forward gear or a back gear, etc., according 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. In addition, the vehicle control device (11) controls the rotational speed of the engine (131) by operating the accelerator. In addition, the vehicle control device (11) brakes the rotation of the front wheel (132) and the rear wheel (133) using an electronic brake by operating the brake.

[0028] The positioning unit (16) is a communication device equipped with a positioning control unit (161), a memory unit (162), a communication unit (163), and a positioning antenna (164) (see FIG. 1). For example, as shown in FIG. 2, the positioning unit (16) is installed on the upper part of the cabin (138) where the worker is seated. Furthermore, the installation location of the positioning unit (16) is not limited to the cabin (138). Additionally, the positioning control unit (161), memory unit (162), communication unit (163), and positioning antenna (164) of the positioning unit (16) may be distributed and arranged at different locations within the work vehicle (10). Furthermore, as described above, the battery is connected to the positioning unit (16), and the positioning unit (16) can operate even while the engine (131) is stopped. In addition, as a positioning unit (16), for example, a mobile phone terminal, a smartphone, a tablet terminal, a quantum compass, etc. may be used as a substitute.

[0029] The positioning control unit (161) is a computer system equipped with one or more processors and memory such as non-volatile memory and RAM. The memory unit (162) is a non-volatile memory that stores data such as a program for executing positioning processing in the positioning control unit (161), positioning information, and movement information. For example, the program may be 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 memory unit (162). Additionally, the program may be downloaded from a server (not shown) to the positioning unit (16) via a communication network (N1) and stored in the memory unit (162).

[0030] The communication unit (163) is a communication interface for connecting the positioning unit (16) to the communication network (N1) via wired or wireless connection and for executing data communication according to a predetermined communication protocol between an external device, such as a base station server, and the communication network (N1).

[0031] The positioning antenna (164) is an antenna that receives radio waves (GNSS signals) transmitted from a satellite.

[0032] The positioning control unit (161) calculates the current position of the work vehicle (10) based on the GNSS signal received from the satellite by the positioning antenna (164). For example, when the work vehicle (10) is driving automatically within the pavement (F), if the positioning antenna (164) receives radio waves (transmission time, orbit information, etc.) transmitted from each of the multiple satellites, the positioning control unit (161) calculates the distance between the positioning antenna (164) and each satellite, and calculates the current position (latitude and longitude) of the work vehicle (10) based on the calculated distance. Additionally, the positioning control unit (161) may perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)) by calculating the current position of the work vehicle (10) using correction information corresponding to a base station (reference station) close to the work vehicle (10). In this way, the work vehicle (10) performs automatic driving using positioning information based on the RTK method. Additionally, the current position of the work vehicle (10) may be the same as the positioning position (e.g., the position of the positioning antenna (164)), or it may be a position different from the positioning position. Additionally, the positioning control unit (161) may calculate (position) the current position of the work vehicle (10) using a quantum compass.

[0033] The vehicle control unit (11) has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various calculation processes. The ROM is a non-volatile memory unit in which control programs, such as BIOS and OS, for executing various calculation processes on the CPU are stored in advance. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory for various processes executed by the CPU. The vehicle control unit (11) controls the work vehicle (10) by executing various control programs stored in advance in the ROM or memory unit (12) on the CPU.

[0034] Specifically, as shown in FIG. 1, the vehicle control device (11) includes various processing units such as a driving processing unit (111). In addition, the vehicle control device (11) functions as the various processing units by executing various processing according to the control program in the CPU. In addition, some or all of the processing units may be composed of electronic circuits. In addition, the control program may be a program for enabling a plurality of processors to function as processing units.

[0035] The driving processing unit (111) controls the driving of the work vehicle (10). For example, when the driving mode of the work vehicle (10) is automatic driving (automatic driving mode), the driving processing unit (111) drives the work vehicle (10) automatically based on location information (positioning information) indicating the current position of the work vehicle (10) determined by the positioning unit (16). For example, when the work vehicle (10) satisfies the conditions for starting automatic driving and receives a work start instruction from the operator, the driving processing unit (111) starts the automatic driving of the work vehicle (10) based on the positioning information. Additionally, the driving processing unit (111) drives the work vehicle (10) automatically from the driving start position to the driving end position according to a target path that is pre-generated and set in the operation terminal (20). For example, the driving processing unit (111) drives the work vehicle (10) along a plurality of work paths that allow the work vehicle (10) to perform a predetermined task, which are included in the target path, and a plurality of non-work paths that connect the work paths.

[0036] In addition, if the driving mode of the work vehicle (10) is manual driving (manual driving mode), it is possible to drive the work vehicle (10) manually based on the operator's operation (manual steering). For example, the driving processing unit (111) acquires operation information corresponding to driving operations such as steering, gear shifting, driving direction switching, and brake operation by the operator, and executes a driving operation on the driving device (13) based on the operation information. For example, when registering the packaging of the work target, the operator drives the work vehicle (10) manually (teaching driving) the outer part of the work target area within a predetermined area. In addition, while the work vehicle (10) is being taught, the operator may lower the work device (14) to perform a predetermined operation (e.g., tilling).

[0037] [Operation terminal (20)]

[0038] As shown in FIG. 1, the operation terminal (20) is an information processing device equipped with an operation control unit (21), a memory unit (22), an operation display unit (23), and a communication unit (24), etc. The operation terminal (20) may be configured as a portable terminal such as a tablet terminal or a smartphone.

[0039] The communication unit (24) is a communication interface for connecting the operation terminal (20) to the communication network (N1) via wired or wireless connection and for executing data communication according to a predetermined communication protocol between one or more external devices, such as work vehicles (10), through the communication network (N1).

[0040] The operation display unit (23) is a user interface equipped with a display unit, such as a liquid crystal display or an organic EL display, that displays various information, and an operation unit, such as a touch panel, a mouse, or a keyboard, that receives operations. On the operation screen displayed on the display unit, the operator can perform operations to register various information (work vehicle information, packaging information, work information, etc., described later) by operating the operation unit. Additionally, the operator can perform instructions to start work, stop driving, etc., for the work vehicle (10) by operating the operation unit. Furthermore, the operator can determine the driving status of the work vehicle (10) that is automatically driving along the target path within the packaging (F) by means of the driving trajectory displayed on the operation terminal (20) and the captured image of the camera, from a location away from the work vehicle (10).

[0041] The memory unit (22) is a non-volatile memory unit, such as an HDD or SSD, that stores various information. The memory unit (22) stores a path generation program for executing the path generation process (see FIG. 21) described later in the operation control unit (21), and a control program for executing various control processes. For example, the path generation program may be 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 memory unit (22). Additionally, the path generation program may be downloaded from a server (not shown) to an operation terminal (20) via a communication network (N1) and stored in the memory unit (22).

[0042] The operation control unit (21) has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various calculation processes. The ROM is a non-volatile memory unit in which control programs, such as BIOS and OS, for executing various calculation processes on the CPU are stored in advance. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for various processes executed by the CPU. The operation control unit (21) controls the operation terminal (20) by executing various control programs stored in advance in the ROM or memory unit (22) on the CPU.

[0043] As shown in FIG. 1, the operation control unit (21) includes various processing units such as a registration processing unit (211), a setting processing unit (212), a generation processing unit (213), and an output processing unit (214). In addition, the operation control unit (21) functions as the various processing units by executing various processing according to the path generation program in the CPU. In addition, some or all of the processing units may be composed of electronic circuits. In addition, the path generation program may be a program for enabling a plurality of processors to function as the processing units.

[0044] The registration processing unit (211) registers various setting information for executing automatic driving on the work vehicle (10). Specifically, the registration processing unit (211) registers information regarding the work vehicle (10) (hereinafter referred to as work vehicle information). The registration processing unit (211) registers the information by having the operator perform an operation on the operation terminal (20) to register the information, such as the type (model) of the work vehicle (10), the location where the positioning antenna (164) is attached to the work vehicle (10), the type of the work device (14), the size and shape of the work device (14), the position of the work device (14) relative to the work vehicle (10), the vehicle speed and engine rotation speed during the work of the work vehicle (10), and the vehicle speed and engine rotation speed during the turning of the work vehicle (10).

[0045] For example, the registration processing unit (211) displays the menu screen (D1) shown in FIG. 5 on the operation display unit (23). The operator registers work information regarding the work machine (14) by, for example, selecting "Work Machine Registration" on the menu screen (D1).

[0046] Additionally, the registration processing unit (211) registers information regarding the packaging (F) (hereinafter referred to as packaging information). The registration processing unit (211) registers the information by performing a registration operation on the operating terminal (20) regarding information such as the location and shape of the packaging (F), the driving start position for starting the work, the driving end position for ending the work, and the working direction. Additionally, the working direction refers to the direction in which the work vehicle (10) is driven while performing work with the work machine (14) in the working area, excluding the non-working area from the packaging (F). For example, the operator registers the packaging information by selecting "Packaging Registration" on the menu screen (D1).

[0047] Information regarding the location and shape of the packaging (F) can be automatically obtained, for example, by having a worker board a work vehicle (10) and drive it around the outer perimeter of a predetermined area (AR) (see FIG. 3) and record the trend of the position information of the positioning antenna (164) at that time.

[0048] Specifically, the registration processing unit (211) acquires location information of the current location of the work vehicle (10) based on the positioning information positioned by the positioning unit (16). When the registration processing unit (211) acquires the location information, it registers it in the memory unit (22). For example, when registering a package (F), the registration processing unit (211) acquires location information of the work vehicle (10) at a predetermined sampling interval when the worker manually drives the work vehicle (10) in a predetermined area (AR) (see FIG. 3). The black circular dots shown in FIG. 3 correspond to the location information of each positioning point.

[0049] Additionally, while the operator is teaching the work vehicle (10), the work device (14) may be lowered to perform a predetermined task. The registration processing unit (211) sequentially registers the location information of the work vehicle (10) while the work vehicle (10) is teaching the work vehicle (10).

[0050] When the registration processing unit (211) finishes teaching driving, it registers the pavement (F) based on the above location information. For example, as shown in FIG. 4, the registration processing unit (211) obtains an approximate straight line connecting the driving trajectory (plot) driven by the work vehicle (10), generates an intersection point (complementary point (a1 to a6)) between the extensions of adjacent approximate straight lines, and registers the area enclosed by the straight line connecting the generated complementary points (a1 to a6) as the pavement (F). Additionally, the operator can change the location of the complementary point or add a complementary point. In this way, the registration processing unit (211) registers the pavement (F) as the work target area based on the location information obtained through manual driving operation of the work vehicle (10) by the operator.

[0051] Additionally, the registration processing unit (211) registers information regarding how to specifically perform the work (hereinafter referred to as work information). The registration processing unit (211) is configured to register, as work information, whether there is a cooperative work between an unmanned work vehicle (10) and a manned work vehicle (10), the number of skips which is the number of work paths skipped when the work vehicle (10) turns on the headland, the width of the headland, and the width of the non-work area. For example, the operator registers information on the driving path by selecting "Create Path" on the menu screen (D1).

[0052] The setting processing unit (212) sets a reference line (first reference line (Ra)) that serves as a reference when generating a target path for a work vehicle (10). Specifically, the setting processing unit (212) sets a first reference line (Ra) that includes a plurality of first partial straight lines (straight line segments) based on a plurality of location information obtained when registering a pavement (F). For example, the setting processing unit (212) sets the first reference line (Ra) based on location information indicating the driving trajectory of the work vehicle (10) obtained by the operator's manual driving operation (teaching driving operation) when registering a pavement (F). Below, a method for generating a target path corresponding to an area (A1) where work is performed while turning in the pavement (F) shown in FIG. 4 will be explained by way of example.

[0053] First, the setting processing unit (212) sets a provisional reference line (Re) including a partial curve (curve segment) based on multiple position information obtained when registering the packaging (F). Specifically, as shown in FIG. 6, the setting processing unit (212) sets the provisional reference line (Re) by connecting the driving trajectory (plot) corresponding to the position information of the work vehicle (10) obtained during teaching driving (see FIG. 3) with an approximate straight line and an approximate curve. The plot included in the provisional reference line (Re) shown in FIG. 6 represents the connection point of a partial straight line (x1, x2) of the approximate straight line and a partial curve (y1, y2) of the approximate curve. For example, when a plot of three consecutive points is connected by two straight lines, if the angle formed by the two straight lines is greater than or equal to a predetermined angle, the three points are approximated to one straight line, and if the angle formed by the two straight lines is less than a predetermined angle, the three points are approximated to one curve.

[0054] Next, the setting processing unit (212) sets a first reference line (Ra) based on the provisional reference line (Re). Specifically, the setting processing unit (212) converts a curve (turning path) included in the provisional reference line (Re) into a straight line based on the turning angle. In the example shown in FIG. 6, the setting processing unit (212) converts a partial curve (y1) (curve segment) into one or more partial straight lines based on the turning angle corresponding to the first partial straight line (x1) and the first partial straight line (x2). A specific example of a method for converting a partial curve into a partial straight line will be described below.

[0055] For example, as shown in FIG. 7a, when the turning angle (θ) in the first partial line (x1) and the first partial line (x2) is less than the first predetermined angle (e.g., 3 degrees) (in other words, when the angle (180 degrees - θ) formed by the first partial line (x1) and the first partial line (x2) is 177 degrees or more), the setting processing unit (212) finds the intersection point (x0) of the extension line of the first partial line (x1) and the extension line of the first partial line (x2). Then, the setting processing unit (212) deletes the partial curve (y1) and replaces it with the first partial line (x1) and the first partial line (x2) connected at the intersection point (x0). That is, the setting processing unit (212) replaces the first partial straight line (x1), the partial curve (y1), and the first partial straight line (x2) with two extended first partial straight lines (x1, x2).

[0056] Also, for example, as shown in FIG. 7b, when the turning angle (θ) in the first partial straight line (x1) and the first partial straight line (x2) is greater than or equal to the first predetermined angle (e.g., 3 degrees) and less than the second predetermined angle (e.g., 6 degrees), the setting processing unit (212) replaces the partial curve (y1) with one supplementary line (the first partial straight line (x12)). That is, the setting processing unit (212) replaces the first partial straight line (x1), the partial curve (y1), and the first partial straight line (x2) with three first partial straight lines (x1, x12, x2).

[0057] Also, for example, as shown in FIG. 7c, when the turning angle (θ) in the first partial straight line (x1) and the first partial straight line (x2) is greater than or equal to the second predetermined angle (e.g., 6 degrees), the setting processing unit (212) replaces the partial curve (y1) with a plurality of supplementary lines. Specifically, the setting processing unit (212) divides the turning angle (θ) by the set angle to calculate a value, which is the number of supplementary points, and arranges the calculated number of supplementary points at equal intervals on the partial curve (y1). In FIG. 7c, the setting processing unit (212) places two supplementary points on the partial curve (y1) and replaces the partial curve (y1) with three first partial straight lines (x121 to x123). The setting processing unit (212) replaces the first partial straight line (x1), the partial curve (y1), and the first partial straight line (x2) with five first partial straight lines (x1, x121, x122, x123, x2).

[0058] The setting processing unit (212) converts each partial curve included in the provisional reference line (Re) into a partial straight line by the method described above. Then, as shown in FIG. 6, the setting processing unit (212) sets a first reference line (Ra) consisting of a plurality of straight lines (first partial straight lines) based on the provisional reference line (Re). In the first reference line (Ra) shown in FIG. 6, the partial curve (y1) of the provisional reference line (Re) is converted into a first partial straight line (x11 to x13), and the partial curve (y2) of the provisional reference line (Re) is converted into a first partial straight line (x21 to x23). The first reference line (Ra) is composed of eight partial straight lines.

[0059] As described above, the setting processing unit (212) sets a first reference line (Ra) based on a provisional reference line (Re) that includes a partial curve generated based on multiple position information. Additionally, the setting processing unit (212) sets a provisional reference line (Re) that includes a partial straight line and a partial curve based on multiple position information, converts the partial curve into one or multiple partial straight lines according to the angle (or turning angle) formed by two partial straight lines, and sets the first reference line (Ra) by connecting the partial straight line included in the provisional reference line (Re) and the partial straight line converted from the partial curve included in the provisional reference line (Re). Additionally, the operation control unit (21) determines the number of the partial straight lines that convert the partial curve based on the angle (turn angle) formed by two first partial straight lines.

[0060] The generation processing unit (213) generates a target path for automatically driving a work vehicle (10) on the pavement (F). When a worker selects "Create Path" (see FIG. 5) on the menu screen (D1) and receives a command to generate a target path, the generation processing unit (213) executes the generation of the target path. Specifically, the generation processing unit (213) sets either a first path generation mode that generates a target path based on a first reference line (Ra) which serves as a standard when generating the target path, or a second path generation mode that generates a target path based on a second reference line (Rb) which has a different shape or orientation from the first reference line (Ra), and generates a target path based on the first path generation mode or the second path generation mode.

[0061] [1st Path Generation Mode]

[0062] Hereinafter, an example of a method for generating a target path by the first path generation mode is described. In the first path generation mode, the generation processing unit (213) generates a target path by setting the shape or orientation of all work paths included in the target path based on the shape or orientation of the first baseline (Ra).

[0063] Here, in the first path generation mode, a method is considered to generate a target path by, for example, duplicating (translating) the first baseline (Ra). However, the following problems occur in this method. Specifically, as shown in FIG. 8, if a work path (R1) (target path) is generated by translating the first baseline (Ra) by a distance according to the work width (W1), a problem arises in which the work completed area (B1) when the work is performed by traveling along the first baseline (Ra) and the work completed area (B2) when the work is performed by traveling along the work path (R1) overlap (overlapping area of ​​part (Bx)), or a gap (unworked area of ​​part (By)) is created between the work completed areas (B1, B2).

[0064] Therefore, the generation processing unit (213) has a configuration in which it individually translates each of the plurality of first partial straight lines constituting the first reference line (Ra) by a predetermined distance, and connects each of the plurality of second partial straight lines corresponding to each of the plurality of first partial straight lines after translation to generate a target path. According to the above configuration, the problem shown in FIG. 8 can be solved as shown below.

[0065] Specifically, as shown in FIG. 9, the generation processing unit (213) generates a second part line (x31) by translating a first part line (x1) of a first reference line (Ra) by a working width (W1), generates a second part line (x32) by translating a first part line (x11) by a working width (W1), generates a second part line (x33) by translating a first part line (x12) by a working width (W1), generates a second part line (x34) by translating a first part line (x13) by a working width (W1), generates a second part line (x35) by translating a first part line (x21) by a working width (W1), generates a second part line (x36), and generates a first part line (x21) by translating a working width (W1). A second part line (x37) is created by translating a part line (x22) by the working width (W1), and a second part line (x38) is created by translating a first part line (x23) by the working width (W1). Then, the creation processing unit (213) creates a work path (R1) (target path) by connecting a plurality of second part lines (x31 to x38) after translation.

[0066] The details of the sequence of the method for generating the above target path are explained using FIGS. 10a to 10c. FIG. 10a shows a first reference line (Ra) composed of four first partial straight lines (xa1 to xa4). First, the generation processing unit (213) translates each of the first partial straight lines (xa1 to xa4) by a working width (W1), as shown in FIG. 10a. Next, the generation processing unit (213) extends each of the straight lines (xa11 to xa14) after translation. Next, the generation processing unit (213) finds the intersection points (p1 to p3) of the extended straight lines (xa11 to xa14), as shown in FIG. 10b. Additionally, the generation processing unit (213) obtains an intersection point (pa) of a straight line (xa11) and an orthogonal line (L0) that is orthogonal to the straight line (L0) connecting the starting point and the ending point of the first reference line (Ra) and passes through the starting point, and obtains an intersection point (pb) of a straight line (xa14) and an orthogonal line (Lb) that is orthogonal to the straight line (L0) and passes through the ending point. Then, as shown in FIG. 10c, the generation processing unit (213) generates a target path (work path (R1)) consisting of a second partial straight line (xb1) connecting the intersection points (pa, p1), a second partial straight line (xb2) connecting the intersection points (p1, p2), a second partial straight line (xb3) connecting the intersection points (p2, p3), and a second partial straight line (xb4) connecting the intersection points (p3, pb).

[0067] By generating a target path using the above method, the problem of overlap and gaps between the work widths described above (see FIG. 8) can be resolved. FIG. 11 shows a work path (R1) (target path) generated based on a first reference line (Ra). As shown in FIG. 11, since there is no overlap between the work completion area (B1) corresponding to the first reference line (Ra) and the work completion area (B2) corresponding to the work path (R1), or a gap between the work completion areas (B1, B2), the work precision in turning operations can be improved.

[0068] The generation processing unit (213) is made identical to generate an adjacent work path based on the work path (R1).

[0069] [Second Path Generation Mode]

[0070] Hereinafter, an example of a method for generating a target path by the second path generation mode is described. In the second path generation mode, the generation processing unit (213) sets the shape or orientation of the first work path included in the target path based on the shape or orientation of the first reference line (Ra), and sets the shape or orientation of the second work path included in the target path based on the shape or orientation of the second reference line (Rb). Specifically, the generation processing unit (213) generates the target path by setting the shape or orientation of a plurality of work paths included in the target path so that they approach the shape or orientation of the second reference line (Rb) from the shape or orientation of the first reference line (Ra) as they move in the arrangement direction of the plurality of work paths. That is, in the second path generation mode, the generation processing unit (213) performs a correction process to correct a curved path into a straight path. In addition, the generation processing unit (213) may correct a straight path into a curved path.

[0071] For example, the generation processing unit (213) generates a target path based on a first reference line (Ra), which is a curve, and a second reference line (Rb), which is a straight line. FIG. 12 shows an example of the first reference line (Ra) and the second reference line (Rb). The first reference line (Ra) is a reference curve set by the method described above (see FIG. 6 and FIG. 7). The second reference line (Rb) is a reference straight line that is pre-set, such as a straight line parallel to the side of the pavement (F), a straight line parallel to the working direction (for example, the working direction of the inner area of ​​the pavement (F)), or a straight line connecting two points (point A and point B) registered by the operator.

[0072] Specifically, the generation processing unit (213) sets the shape and orientation of one or more of the work paths included in the target path based on the shape and orientation of the second reference line (Rb). FIG. 12 shows three work paths (R11, R12, R13) included in the target path. In addition, the number of work paths set in the headland area corresponds to the number of work strokes set in the headland area. The generation processing unit (213) generates work paths (R11, R12, R13) so as to correspond to the curved shape of the first reference line (Ra), and also generates work paths (R11, R12, R13) so that the curved shape of the work paths (R11, R12, R13) approximates the straight shape of the second reference line (Rb).

[0073] For example, as shown in FIG. 12, the work path (R11) has a shape close to the curved shape of the first reference line (Ra), and the work path (R13) has a shape close to the straight shape of the second reference line (Rb). Specifically, the generation processing unit (213) sets the shape and orientation of the work paths (R11, R12, R13) based on the distance from the first reference line (Ra). For example, the generation processing unit (213) brings the shape and orientation of each work path (R11, R12, R13) closer to the shape and orientation of the second reference line (Rb) as the distance from the first reference line (Ra) increases.

[0074] FIG. 13 illustrates an example of a specific method for generating work paths. Here, three work paths (R11, R12, R13) are exemplified. The generation processing unit (213) sets three reference lines (L1, L2, L3) that are parallel to and equally spaced to the second reference line (Rb). The spacing of the reference lines (L1, L2, L3) is set based on the working width, overlap amount, etc. of the working machine (14). Next, the generation processing unit (213) calculates the deviation (Δdn) (distance of the arrow shown in FIG. 13) between the first reference line (Ra) and the second reference line (Rb). In addition, in the example shown in FIG. 13, the second reference line (Rb) is set at a position adjacent to the left end of the first reference line (Ra), but the second reference line (Rb) may be set at a position in the center or at the right end of the first reference line (Ra).

[0075] Next, the generation processing unit (213) sets the amount of reduction for the deviation (Δdn) between the work path and the second reference line (Rb) for each work path. The generation processing unit (213) gradually increases the amount of reduction as it moves further away from the first reference line (Ra). For example, since there are “3” work paths here, the generation processing unit (213) sets the amount of reduction per work path to “Δdn / 3”.

[0076] Then, the generation processing unit (213) sets the path (work path (R11)) obtained by subtracting “Δdn × 1 / 3” from the deviation (Δdn) between the first reference line (Ra) and the second reference line (Rb) as the position of the reference line (L1). In addition, the generation processing unit (213) sets the path (work path (R12)) calculated by subtracting “Δdn × 2 / 3” from the deviation (Δdn) between the first reference line (Ra) and the second reference line (Rb) as the position of the reference line (L2). In addition, the generation processing unit (213) sets the path (work path (R13)) calculated by subtracting “Δdn × 3 / 3” from the deviation (Δdn) between the first reference line (Ra) and the second reference line (Rb) as the position of the reference line (L3).

[0077] Additionally, the generation processing unit (213) may perform addition processing instead of subtraction processing. For example, the generation processing unit (213) may gradually increase the amount of addition each time it moves away from the first reference line (Ra) so that the deviation becomes a deviation greater than Δdn.

[0078] By this, the multiple work paths gradually change from a curved shape to a straight shape in the arrangement direction. For example, in the case where the external shape change of the pavement (F) is a curved shape, the multiple work paths approach the curved shape of the first reference line (Ra) as they move toward the outer circumference, and approach the straight shape of the second reference line (Rb) as they move toward the inner circumference of the pavement (F). Additionally, the generation processing unit (213) may set the work path closest to the inner circumference area among the multiple work paths in the headland area to a straight line so as to approximately match the shape and orientation of the second reference line (Rb).

[0079] In another embodiment, the setting processing unit (212) may set a first reference line (Ra) on the inner side of the packaging (F) and set a second reference line (Rb) that follows a straight-shaped packaging side on the outer side of the packaging (F). For example, the setting processing unit (212) sets a first reference line (Ra) of a curve according to the work trajectory when a worker freely performs work on the inner side of the packaging (F). In this case, the generation processing unit (213) generates a work path that approaches the shape of the second reference line (Rb) of a straight line as it moves toward the outer side of the packaging (F), and a work path that approaches the shape of the first reference line (Ra) of a curve as it moves toward the inner side of the packaging (F).

[0080] As described above, in the second path generation mode, when the number of work paths is set to N, the generation processing unit (213) brings the shape and orientation of each of the work paths from the first to the (N-1)th work path closer to the shape and orientation of the first reference line (Ra) as the distance from the first reference line (Ra) increases, and matches the shape and orientation of the Nth work path to the shape and orientation of the second reference line (Rb).

[0081] In another embodiment, the shape and orientation of the Nth work path may not match the shape and orientation of the second reference line (Rb) and may have a curved shape. For example, the generation processing unit (213) may bring the shape and orientation of each of the 1st to Nth work paths closer to the shape and orientation of the first reference line (Ra) as the distance from the first reference line (Ra) increases, and may match the shape and orientation of the next (N+1th) work path after the Nth to the shape and orientation of the second reference line (Rb).

[0082] In addition, the number of work paths until the work path matches the shape and orientation of the second baseline (Rb) may be set to a specification that cannot be changed (fixed).

[0083] By the generation method using the above second path generation mode, a target path can be generated in which the curved path gradually approaches the straight path.

[0084] Here, in the second path generation mode, since the shapes of two adjacent work paths are different, a gap of different sizes is created between the work completion areas (work widths) when work is performed by traveling along each work path, as shown in FIG. 14. Depending on the content of the work, there are cases where such a gap between work widths is allowed and cases where it is not allowed.

[0085] Therefore, the second path generation mode may further include an overlapping mode that generates a target path by overlapping parts of the respective work widths of neighboring work paths included in the target path, and a non-overlapping mode that generates a target path without overlapping the respective work widths of neighboring work paths included in the target path.

[0086] When set to a non-overlapping mode, the generation processing unit (213) generates a target path such that the work widths (work completion areas (B1, B2, B3)) of adjacent work paths do not overlap with each other, as shown in FIG. 14. In contrast, when set to an overlapping mode, the generation processing unit (213) generates a target path such that a portion of the work widths (work completion areas (B1, B2, B3)) of adjacent work paths overlap with each other, as shown in FIG. 15, so that no gaps are created. Additionally, in the overlapping mode, the generation processing unit (213) may generate a target path by arranging multiple work paths so that the overlapping area between adjacent work widths is minimized. As another embodiment, the generation processing unit (213) may generate a target path in the first area of ​​the packaging (F) in an overlapping mode and generate a target path in the second area of ​​the packaging (F) in a non-overlapping mode.

[0087] As described above, the generation processing unit (213) generates a target path based on the first path generation mode or the second path generation mode. Additionally, in the second path generation mode, the generation processing unit (213) generates a target path based on the duplicate mode or the non-duplicate mode. When the generation processing unit (213) generates a target path for the work vehicle (10), it registers (stores) the target path. For example, the generation processing unit (213) may register the target path in relation to the pavement (F), or it may register it without relation to the pavement (F). Additionally, the generation processing unit (213) can generate and register multiple target paths according to the work content for a single pavement (F).

[0088] The output processing unit (214) outputs the path data of the target path to the work vehicle (10). For example, when a worker selects a desired target path on the operation screen and gives a work start instruction, the output processing unit (214) outputs the path data of the selected target path to the work vehicle (10).

[0089] The work vehicle (10) is configured to autonomously drive along the target path while detecting the current position of the work vehicle (10) by the positioning antenna (164), in addition to the path data of the target path generated by the control terminal (20) being transmitted to the work vehicle (10) and stored in the memory unit (12). Furthermore, the current position of the work vehicle (10) may normally coincide with the position of the positioning antenna (164).

[0090] When a work vehicle (10) satisfies a predetermined starting condition, and a work start instruction is given by pressing a work start button on the operation screen by an operator, the work vehicle (10) starts automatic driving by the driving processing unit (111) and starts work by the work device (14) (see FIG. 2). For example, the operation control unit (21) permits automatic driving of the work vehicle (10) on the condition that the current position of the work vehicle (10) is within a predetermined distance from the driving start position and the vehicle orientation is within a predetermined orientation. Furthermore, the starting condition for permitting automatic driving of the work vehicle (10) is not limited to the above conditions.

[0091] The driving processing unit (111) of the work vehicle (10) automatically drives the work vehicle (10) from the driving start position to the driving end position according to the target path obtained from the operation terminal (20).

[0092] Additionally, the operation terminal (20) may be able to access the website (agricultural support site) of the agricultural support service provided by the server (city omitted) through the communication network (N1). In this case, the operation terminal (20) can function as an operation terminal of the server by executing a browser program by the operation control unit (21). And, the server is equipped with each processing unit described above and executes each processing.

[0093] [Operation screen during path creation]

[0094] When the generation processing unit (213) generates a target path, it displays an operation screen that receives the operator's operation on the operation terminal (20). Specifically, when the operator selects "Create Path" on the menu screen (D1) and proceeds to the path generation step, the generation processing unit (213) displays a baseline selection screen (D2) (see FIG. 16) for selecting a baseline creation method.

[0095] Specifically, the generation processing unit (213) enables the selection of an item corresponding to each of the following methods on the baseline selection screen (D2): a first method ("Point A + Point B"), which is created by using a straight line connecting the two points (Point A and Point B) as a baseline when a worker manually drives the work vehicle (10) to perform a registration operation at an arbitrary location; a second method ("Point A + Vehicle Axis"), which is created by using a straight line passing through the position (Point A) of the work vehicle (10) when the worker performs a registration operation at an arbitrary location and extending toward the bearing (vehicle bearing angle) at said position as a baseline; a third method ("Point A + Set Axis"), which is created by using a straight line passing through the position (Point A) of the work vehicle (10) when the worker performs a registration operation at an arbitrary location and extending toward the bearing (set bearing angle) set by the worker as a baseline; and a fourth method ("Curve"), which is created by using a straight line passing through the driving trajectory of a curve when the worker manually drives the work vehicle (10). Displays.

[0096] The first to third methods ("Point A + Point B", "Point A + Vehicle Azimuth", "Point A + Set Azimuth") correspond to a path generation mode (straight line mode) that generates a target path based on a straight reference line that does not include a curved section, and the fourth method ("Curve") corresponds to a path generation mode (curve mode) that generates a target path based on a reference line that includes a curved section (first reference line (Ra)). Additionally, when the operator selects "Curve," the generation processing unit (213) creates the first reference line (Ra) based on the configuration described above (see FIG. 6 and FIG. 7).

[0097] In this way, the generation processing unit (213) displays a reference line selection screen (D2) that allows selection of a curve mode ("Curve" in FIG. 16) which generates a target path based on a first reference line (Ra) that includes a curved portion, and a straight line mode ("Point A + Point B", "Point A + Vehicle Azimuth", "Point A + Set Azimuth" in FIG. 16) which generates a target path based on a first reference line (Ra) that does not include a curved portion. Below, the configuration when the operator selects "Curve" will be described.

[0098] When the operator selects a method for creating a baseline on the baseline selection screen (D2), the generation processing unit (213) displays a workpiece selection screen (D3) (see FIG. 17) for selecting a workpiece. The generation processing unit (213) displays a list of registration information for one or more previously registered workpieces and receives an operation from the operator to select one of the workpieces.

[0099] When the operator selects a “curve” as a method for creating a reference line (see FIG. 16) and selects a work tool (see FIG. 17), the generation processing unit (213) displays a measurement screen (not shown) for measuring the position (driving trajectory) of the work vehicle (10) during the operator’s manual driving (teaching driving). When the operator performs a measurement start operation on the measurement screen, the generation processing unit (213) starts measuring the position of the work vehicle (10) during manual driving. When the operator performs a measurement end operation on the measurement screen, the generation processing unit (213) ends measuring the position of the work vehicle (10) during manual driving.

[0100] When the measurement is finished, the generation processing unit (213) displays a path creation method selection screen (D4) (see FIG. 18) for selecting a method to create a curve path (target path). The generation processing unit (213) displays, on the path generation method selection screen (D4), a selection item (K1) corresponding to a path generation mode (first path generation mode) (see FIG. 11) that generates a target path based on a first baseline (Ra), a selection item (K2) corresponding to a path generation mode (second path generation mode) that generates a target path based on the first baseline (Ra) and the second baseline (Rb) and a duplication mode (see FIG. 15) that generates a target path by overlapping parts of the respective work widths of neighboring work paths, and a selection item (K3) corresponding to a path generation mode (second path generation mode) that generates a target path based on the first baseline (Ra) and the second baseline (Rb) and a non-duplication mode (see FIG. 14) that generates a target path without overlapping the respective work widths of neighboring work paths. The operator selects any one of the selection items (K1 to K3). The first path generation mode is a path generation mode that does not correct curved paths into straight paths, and the second path generation mode is a path generation mode that corrects curved paths into straight paths. Additionally, the overlap mode of the second path generation mode is a path generation mode that corrects curved paths into straight paths and overlaps adjacent work paths, and the non-overlap mode of the second path generation mode is a path generation mode that corrects curved paths into straight paths and does not overlap adjacent work paths.

[0101] In another embodiment, the generation processing unit (213) may display, in the path creation method selection screen (D4), a mode according to the operator (14) or work content among the first path creation mode (selection item (K1)), the duplicate mode (selection item (K2)), and the non-duplicate mode (selection item (K3)). For example, in the path creation method selection screen (D4), the generation processing unit (213) may display, in an identifiable manner, a recommended mode suitable for the operator (14) or work content among the first path creation mode, the duplicate mode, and the non-duplicate mode. Specifically, the generation processing unit (213) displays the duplicate mode as the recommended mode when duplicate work is allowed, and displays the non-duplicate mode as the recommended mode when duplicate work is not allowed. In another embodiment, the operator may select whether to allow or disallow duplicate work. In addition, as shown in FIG. 19, for example, the generation processing unit (213) may display the recommended mode (here, “non-duplicate mode”) as selectable on the path creation method selection screen (D4), and set other modes (here, “first path creation mode”, “duplicate mode”) as unselectable (grayed out) or not displayed.

[0102] In the example shown in FIG. 18, selection items (K1 to K3) are displayed collectively on the path creation method selection screen (D4), but in another embodiment, the generation processing unit (213) may display a selection item (K10) corresponding to the first path creation mode and a selection item (K20) corresponding to the second path creation mode selectably on the path creation method selection screen (D41), as shown in FIG. 20a. That is, the generation processing unit (213) may display a selection screen (path creation method selection screen (D41)) in which either the first path creation mode or the second path creation mode can be selected. In addition, when the operator selects a selection item (K20) (second path generation mode) on the path generation method selection screen (D41), the generation processing unit (213) may display a selection item (K21) corresponding to the duplicate mode and a selection item (K22) corresponding to the non-duplicate mode on the path generation method selection screen (D42), as shown in FIG. 20b.

[0103] The generation processing unit (213) generates a target path (see FIG. 11, FIG. 14, FIG. 15) based on a path generation mode selected by the operator (first path generation mode, second path generation mode (duplicate mode, non-duplicate mode)). Specifically, in the curve mode and second path generation mode, the generation processing unit (213) generates the target path by setting the shape of a plurality of work paths included in the target path to approach a straight line from a curve or a straight line from a curve as they move in the arrangement direction of the plurality of work paths (see FIG. 14 and FIG. 15), and in the curve mode and first path generation mode, the generation processing unit (213) generates the target path by setting (maintaining) each shape of a plurality of work paths included in the target path as a curve shape (see FIG. 11).

[0104] In addition, the generation processing unit (213) generates a target path in a curve mode and also in a duplicate mode by setting the shape of a plurality of work paths included in the target path so that they approach a straight line from a curve as they move in the arrangement direction of the plurality of work paths, and by overlapping parts of adjacent work widths so that no gaps are created (see FIG. 15), and in a curve mode and also in a non-duplicate mode, generates a target path in a curve mode and also in a non-duplicate mode by setting the shape of a plurality of work paths included in the target path so that they approach a straight line from a curve as they move in the arrangement direction of the plurality of work paths, and by ensuring that adjacent work widths do not overlap each other (see FIG. 14).

[0105] The generation processing unit (213) displays the generated target path, and when a worker performs a registration operation, it registers the target path in relation to the packaging (F). Additionally, the generation processing unit (213) may register the target path without relating it to the packaging (F).

[0106] In another embodiment, the generation processing unit (213) may display a target path corresponding to each of the first path generation mode, the duplicate mode, and the non-duplicate mode on the path generation method selection screen (D4) (see FIG. 18, etc.) and receive an operation from an operator to select one of the target paths. According to this configuration, the operator can check each target path of each mode. In addition, the generation processing unit (213) may allow the operator to switch between the path generation method selection screen (D4) for selecting the first path generation mode, the duplicate mode, and the non-duplicate mode, and the screen displaying the target path corresponding to each of the first path generation mode, the duplicate mode, and the non-duplicate mode.

[0107] [Path Generation Processing]

[0108] Hereinafter, with reference to FIG. 21, an example of the path generation process performed by the automatic driving system (1) will be described.

[0109] Furthermore, the present invention may be understood as an invention of a path generation method that executes one or more steps included in the path generation process. Additionally, the one or more steps included in the path generation process described herein may be appropriately omitted. Furthermore, the execution order of each step in the path generation process may differ within the scope of producing the same operational effect. Additionally, although the case in which the operation control unit (21) executes each step in the path generation process is described here as an example, a path generation method in which one or more processors execute each step in the path generation process in a distributed manner is also considered as another embodiment.

[0110] Step S1

[0111] In step S1, the operation control unit (21) determines whether it has received a start operation for creating a target path from an operator on an operation screen (not shown). If the operation control unit (21) receives a start operation from the operator (S1: Yes), it moves the processing to step S2. The operation control unit (21) repeats the determination process of step S1 until it receives a start operation from the operator (S1: No).

[0112] Step S2

[0113] In step S2, the operation control unit (21) sets a method for creating a reference line (reference line creation mode). Specifically, the operation control unit (21) receives an operation from an operator to select one of the first method ("Point A + Point B"), the second method ("Point A + Vehicle Azimuth"), the third method ("Point A + Set Azimuth"), or the fourth method ("Curve") on the reference line selection screen (D2) shown in FIG. 16. The operation control unit (21) sets the method selected by the operator. Here, the operator selects "Curve," and the operation control unit (21) sets the curve mode.

[0114] Step S3

[0115] In step S3, the operation control unit (21) sets the work machine. Specifically, the operation control unit (21) receives an operation to select a work machine from among the previously registered work machines on the work machine selection screen (D3) shown in FIG. 17.

[0116] Step S4

[0117] In step S4, the operation control unit (21) performs measurement processing to set a reference line. Specifically, when the operator performs a measurement start operation on the measurement screen (not shown), the operation control unit (21) starts recording the driving position (driving trajectory) of the work vehicle (10). The operator manually drives the work vehicle (10) by manual steering. For example, the operator drives the work vehicle (10) in a curved shape according to the desired work method or driving method. Additionally, the operator drives the work vehicle (10) to follow the outer edge of the curved shape of the pavement (F) of the work target. When the operator performs a measurement end operation on the measurement screen, the operation control unit (21) ends recording the driving position (driving trajectory). The operation control unit (21) stores the position information (measurement points) measured during the period from the start of measurement until the end of measurement.

[0118] Step S5

[0119] In step S5, the operation control unit (21) sets a method for creating a curved path (target path). Specifically, the operation control unit (21) displays a first path creation mode (selection item (K1)) that does not correct the curved path into a straight path, a duplicate mode (second path creation mode) (selection item (K2)) that corrects the curved path into a straight path and duplicates adjacent work paths, and a non-duplicate mode (second path creation mode) (selection item (K3)) that corrects the curved path into a straight path and does not duplicate adjacent work paths, and receives a selection operation from the operator. The operator selects one of the path creation modes on the path creation method selection screen (D4).

[0120] In another embodiment, the operation control unit (21) may identifiably display a recommended mode suitable for the working device (14) or work content among the first path generation mode, the redundancy mode, and the non-redundancy mode (see FIG. 19).

[0121] The operation control unit (21) sets the path generation mode selected by the operator. In another embodiment, the operation control unit (21) may automatically set the path generation mode based on the work machine (14) or work content among the first path generation mode, the duplicate mode, and the non-duplicate mode. Additionally, the operation control unit (21) may set the duplicate mode or the non-duplicate mode based on the type of work machine (14) or work content, for example, when the operator selects the second path generation mode.

[0122] Step S6

[0123] In step S6, the operation control unit (21) generates a curved path (target path). Specifically, the operation control unit (21) generates a target path based on a path generation mode (first path generation mode, second path generation mode (redundant mode, non-redundant mode)) set in step S5.

[0124] Specifically, the operation control unit (21) sets a first reference line (Ra) based on the position information (driving trajectory) acquired during the measurement processing (step S4). Additionally, the operation control unit (21) sets a straight line parallel to the side of the pavement (F), a straight line parallel to the direction of work, and a straight line connecting two points (point A and point B) registered by the operator as the second reference line (Rb). In another embodiment, if the pavement (F) is pre-registered, the operation control unit (21) may set the outer edge selected by the operator as the reference line on the map screen of the pavement (F). For example, if the operator selects opposing curved edges and straight edges among the outer edges of the pavement (F), the operation control unit (21) may set the curved edge as the first reference line (Ra) and the straight edge as the second reference line (Rb).

[0125] In the first path generation mode, the operation control unit (21) generates a target path based on the first reference line (Ra). For example, the operation control unit (21) generates a target path by setting (maintaining) the shape of each of the multiple work paths as a curved shape based on the first reference line (Ra) (see FIG. 11). In addition, the operation control unit (21) generates a target path so that there are no gaps or overlapping parts (see FIG. 8) between the work widths (work completion areas (B1, B2)) of adjacent work paths.

[0126] In the second path generation mode, the operation control unit (21) generates a target path based on the first reference line (Ra) and the second reference line (Rb). For example, in the non-overlapping mode (second path generation mode), the operation control unit (21) generates a target path based on the first reference line (Ra) and the second reference line (Rb) such that the curved path gradually approaches the straight path, and the work widths (work completion areas (B1, B2, B3)) of adjacent work paths do not overlap with each other (see FIG. 14).

[0127] In the overlap mode (second path generation mode), the operation control unit (21) generates a target path based on the first reference line (Ra) and the second reference line (Rb) such that the curved path gradually approaches the straight path, and the work widths (work completion areas (B1, B2, B3)) of neighboring work paths overlap with each other so that no gap is created (see FIG. 15).

[0128] In addition, in the above description regarding the second path generation mode, a curve is set as the first reference line (Ra) and a straight line is set as the second reference line (Rb); however, as another embodiment, a straight line may be set as the first reference line (Ra) and a curve may be set as the second reference line (Rb). In this case, the operation control unit (21) may generate the target path by setting the shape of a plurality of work paths included in the target path so that they approach the curve from the straight line as they go in the arrangement direction of the plurality of work paths. That is, in the present invention, "generating a target path so that it approaches the straight line from the curve" and "generating a target path so that it approaches the curve from the straight line" are synonymous.

[0129] Step S7

[0130] In step S7, the operation control unit (21) registers the target path. Specifically, the operation control unit (21) displays the target path generated in step S6 on the operation terminal (20) and receives a registration operation from the operator. If the operator determines that there are no problems with the generated target path, the operator performs the registration operation. Additionally, if the operator wishes to change the target path, for example, the operator returns to the path creation method selection screen (D4) of FIG. 18 and selects the path creation mode again to regenerate the target path.

[0131] When an operator performs a registration operation, the operation control unit (21) registers the target route in relation to the pavement (F). For example, the operation control unit (21) registers the target route in relation to the name of the pavement (F). Additionally, the operation control unit (21) may associate location information such as the self-location of the work vehicle (10), the starting point, ending point, and center point of the route with the target route as location information of the pavement (F). Additionally, the operation control unit (21) may register information regarding the route generation mode (first route generation mode, duplicate mode, and non-duplicate mode) when generating the route in relation to the target route.

[0132] In addition, since it is possible to specify the azimuth for a straight path (target path), it is easy to regenerate the same path, but it is difficult to regenerate the same path for a curved path (target path). For this reason, in the case of a curved path, it is desirable to allow registration even if the associated target's packaging (F) cannot be specified. Therefore, regarding the target path of a curved path, the operation control unit (21) may register it without associating it with the packaging (F) if the target's packaging (F) is not registered. For example, the operation control unit (21) creates a virtual packaging (empty packaging) and registers the target path by associating it with the empty packaging.

[0133] When the work vehicle (10) is driven automatically along the generated target path, the operator gives a work start instruction on the operation screen of the operation terminal (20). By doing so, the vehicle control device (11) obtains the work start instruction from the operation terminal (20) and starts the automatic driving of the work vehicle (10).

[0134] As described above, the automatic driving system (1) according to the present embodiment generates a target path for automatically driving a work vehicle (10) in a pavement (F) (work area). Additionally, the automatic driving system (1) sets one of a first path generation mode that generates a target path based on a first reference line (Ra) which serves as a reference when generating the target path, and a second path generation mode that generates a target path based on a second reference line (Rb) which has a shape or orientation different from the first reference line (Ra).

[0135] Specifically, the automatic driving system (1) sets the shape or orientation of all paths included in the target path in the first path generation mode based on the shape or orientation of the first baseline (Ra).

[0136] In this regard, in the second path generation mode, the automatic driving system (1) sets the shape or orientation of the first path included in the target path based on the shape or orientation of the first reference line (Ra), and sets the shape or orientation of the second path included in the target path based on the shape or orientation of the second reference line (Rb). For example, the automatic driving system (1) sets the shape or orientation of a plurality of paths included in the target path so that they approach the shape or orientation of the second reference line (Rb) from the shape or orientation of the first reference line (Ra) as they move in the arrangement direction of the plurality of paths.

[0137] According to the above configuration, for example, when a part of the outer shape of the packaging of the work target is curved, a reference line along the curve (first reference line (Ra)) can be set, and a target path of the curved shape can be generated based on the reference line (first path generation mode). In addition, if one wishes to perform work along a curve and work along a straight line, a reference line along the curve (first reference line (Ra)) and a reference line along a straight line (second reference line (Rb)) can be set, and a target path including a work path along the curve and a work path along the straight line can be generated based on the two reference lines (second path generation mode). In addition, the operator can generate a target path by selecting either the first path generation mode or the second path generation mode.

[0138] Accordingly, with the above configuration, it becomes possible to easily generate a target path for automatically driving a work vehicle (10) in a non-rectangular work area (packing (F)).

[0139] [Method for generating a straight path (target path)]

[0140] Although the above-described embodiment describes a configuration for generating a target path that includes a curved work path, the present invention is not limited thereto and may generate a target path composed of a straight work path that does not include a curved work path.

[0141] FIG. 22 shows an example of a pavement (F) in which each external side is composed of straight lines. For example, the operation control unit (21) sets a straight line parallel to the hypotenuse (f1) of the pavement (F) as the first reference line (Ra), and sets a straight line parallel to the side (f2) opposite the hypotenuse (f1) as the second reference line (Rb).

[0142] In this case, the operation control unit (21) sets either a first path generation mode that generates a target path based on a first reference line (Ra) or a second path generation mode that generates a target path based on a second reference line (Rb) which has a different orientation (non-parallel) from the first reference line (Ra). Specifically, in the first path generation mode, the operation control unit (21) sets the orientation of all work paths included in the target path based on the orientation of the first reference line (Ra). For example, the operation control unit (21) sets the orientation of each of the multiple work paths included in the target path to be parallel to the first reference line (Ra). Additionally, the operation control unit (21) generates a target path such that all work paths become parallel to the first reference line (Ra).

[0143] In this regard, in the second path generation mode, the orientation of the first work path included in the target path is set based on the orientation of the first reference line (Ra), and the orientation of the second work path included in the target path is set based on the orientation of the second reference line (Rb). Specifically, the operation control unit (21) sets the orientation of a plurality of work paths included in the target path so that, as one moves in the arrangement direction of the plurality of work paths, they approach the state parallel to the first reference line (Ra) to the state parallel to the second reference line (Rb). That is, the operation control unit (21) sets the orientation of a plurality of work paths included in the target path so that, as one moves in the arrangement direction of the plurality of work paths, they approach the orientation of the second reference line (Rb) from the orientation of the first reference line (Ra). For example, as shown in FIG. 22, the operation control unit (21) generates a target path such that the orientation of the work path (R21) is close to the orientation of the first reference line (Ra) and the orientation of the work path (R23) is close to the orientation of the second reference line (Rb).

[0144] Additionally, the operation control unit (21) may generate a target path for the work path (R3) of the inner area (F1) of the packaging (F) so as to be parallel to the second reference line (Rb).

[0145] Additionally, the operation control unit (21) may generate a target path by setting the work path (R3) of the inner area (F1) as the second reference line (Rb) in the second path generation mode. That is, in the second path generation mode, the operation control unit (21) may generate a target path based on the outer shape variation (f1) of the pavement (F) and the work path (R3), and in the first path generation mode, may generate a target path based on the outer shape variation (f1, f2) of the pavement (F) or the work path (R3).

[0146] In addition, in the above configuration, a redundant mode and a non-redundant mode (see FIG. 18) may also be set.

[0147] [Other methods for generating the first baseline (Ra)]

[0148] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0149] In the embodiment described above, the operation control unit (21) sets a provisional reference line (Re) including a partial curve based on the position information of the driving trajectory acquired at the time of packaging registration, and sets a first reference line (Ra) by converting the partial curve of the provisional reference line (Re) into a partial straight line. In another embodiment, the operation control unit (21) may omit the processing of setting the provisional reference line (Re). Specifically, the operation control unit (21) may set a first reference line (Ra) consisting of a plurality of partial straight lines (first partial straight lines) based on the position information of the driving trajectory acquired at the time of packaging registration. For example, as shown in FIG. 23, the operation control unit (21) may establish a first reference line (Ra) by repeating the process of connecting each positioning point with a straight line, replacing two straight lines with one straight line when the angle (d) formed by two adjacent straight lines is greater than or equal to a predetermined angle, and leaving two straight lines when the angle (d) formed is less than a predetermined angle. That is, when registering a work area, the operation control unit (21) may establish a first reference line (Ra) by integrating or dividing the partial straight lines according to the orientation between adjacent partial straight lines among a plurality of partial straight lines (first partial straight lines) that constitute the driving trajectory of the work vehicle (10) acquired by the user's manual driving operation.

[0150] In addition, as another embodiment for setting the first reference line (Ra), the operation control unit (21) may set the first reference line (Ra) based on a registered reference line connecting any points registered by the operator. For example, the operator performs a registration operation at any multiple locations while manually driving the work vehicle (10) on the pavement (F). When the operation control unit (21) sets a registered reference line connecting multiple registered locations in a straight line, it sets the first reference line (Ra) based on the registered reference line. By doing so, for example, when the operator registers points A, B, and C, the operation control unit (21) can create a target path corresponding to the turning operation of the turning part corresponding to the angle formed by the two straight lines by setting the first reference line (Ra) consisting of a straight line connecting points A and B and a straight line connecting points B and C.

[0151] In the embodiment described above, the first reference line (Ra) is composed of a plurality of straight lines (first partial straight lines), but in another embodiment, the first reference line (Ra) may be composed of straight lines and curves. When the first reference line (Ra) includes a curve, the operation control unit (21) individually moves the straight lines (first partial straight lines) and the curve by a predetermined distance, and at the same time, performs a process to correct the radius of curvature (turning radius) for the curve. For example, when a curve that is convex to the right included in the first reference line (Ra) is moved to the right, the operation control unit (21) corrects the radius of curvature of the curve after the movement to a value larger than the radius of curvature of the curve of the first reference line (Ra). On the other hand, when a curve that is convex to the left included in the first reference line (Ra) is moved to the right, the operation control unit (21) corrects the radius of curvature of the curve after the movement to a value smaller than the radius of curvature of the curve of the first reference line (Ra). In this way, the first baseline (Ra) may be constructed to include a curve.

[0152] [Correction Method for Turning Path]

[0153] In each of the embodiments described above, when a target path is generated based on the first reference line (Ra), there may be cases where the turning path included in the target path becomes less than the minimum turning radius by which the work vehicle (10) can turn. FIG. 24a schematically illustrates an adjacent first reference line (Ra) and a work path (R1). Here, when the turning radius of the turning path included in the first reference line (Ra) was the minimum turning radius (Rmin), the turning radius (Rn) of the turning path of the work path (R1) is a value (Rn) smaller than the minimum turning radius (Rmin). <Rmin)으로 되는 경우가 있다. 이 경우, 작업 차량(10)이 작업 경로(R1)에 있어서 선회 주행할 수 없게 되는 문제가 발생한다.

[0154] Therefore, to solve the above problem, the operation control unit (21) may move the turning center corresponding to the two partial straight lines when the turning radius when driving around the two partial straight lines is less than the minimum turning radius that the work vehicle (10) can turn when the two adjacent partial straight lines are connected. Specifically, as shown in FIG. 24b, the operation control unit (21) sets the turning radius (Rn) to the minimum turning radius (Rmin) (Rn=Rmin) for the turning path of the work path (R1) and moves the turning center from position (C1) to position (C2). In addition, the operation control unit (21) may set the turning center at a position where the turning radius (Rn) is greater than or equal to the minimum turning radius (Rmin). In this way, the operation control unit (21) performs a process to correct the turning path when the turning radius (Rn) of the work vehicle (10) becomes less than the minimum turning radius (Rmin). A specific example of a method for correcting the turning path is described below.

[0155] FIG. 25a shows the first reference line (Ra), the work path (R1) before correction, and the connection point of the partial straight line in the turning portion of each path. First, the operation control unit (21) identifies the partial straight line that requires correction of the turning path.

[0156] For example, the operation control unit (21) creates a number of supplementary lines by dividing the turning angle by a first predetermined angle (e.g., 3 degrees) in the method shown in FIGS. 7a to 7c (a method of converting a curve into a straight line). In this case, the turning angle (θ) of the two straight lines becomes a maximum of 4.5 degrees. For example, if the remainder of the value divided by the two supplementary lines is infinitely close to 3 degrees, the maximum turning angle (θ) becomes (3+2.999··· / 2) degrees. Therefore, when the turning angle (θ) of the two straight lines is 4.5 degrees or more, the operation control unit (21) determines that correction is required for the turning path formed by the two straight lines.

[0157] Alternatively, by transforming into a straight line as shown in FIGS. 7a to 7c, for example, the endpoint of the straight line of the turning portion is thought to exist on the turning circle (Cb) as shown in FIG. 26a. For this reason, a circle (Ca) of the minimum turning radius (Rmin) is created, and if the next straight line exists inside the circle (Ca), it can be determined that the circle (Cb) is smaller than the circle (Ca) of the minimum turning radius (Rmin). FIGS. 26b and 26c show a schematic diagram of the case where a straight line exists on the circle (Ca) of the minimum turning radius (Rmin). The operation control unit (21) calculates the azimuth deviation between the straight lines as θ (see FIG. 26b) when the angular deviation of the two straight lines is less than 3 degrees, and calculates the azimuth deviation between the straight lines as 2θ (see FIG. 26c) when the angular deviation of the two straight lines is 3 degrees or more. Specifically, the operation control unit (21) determines the minimum length (L) of the straight line of the turning part by the following formula.

[0158] L=2Rmin·cos(90-|θ|)

[0159] L=2Rmin·sin(|θ|)

[0160] By this, the operation control unit (21) has a length (S) of the straight line (partial straight line of the turning path) of the target that is smaller than the minimum length (L) (S <L) 경우에, 상기 직선으로 이루어지는 선회 경로에 대해서 보정이 필요하다고 판정한다.

[0161] In the example shown in FIG. 25a, the operation control unit (21) identifies a partial straight line on a circle (Cb) with a turning radius (Rn) smaller than the minimum turning radius (Rmin) as a partial straight line that requires correction. When the operation control unit (21) identifies a partial straight line that requires correction of the turning path by the above method, it then obtains a circle (Cc) with a minimum turning radius (Rmin) that is inscribed within two partial straight lines before and after the turning path (see FIG. 25b). Then, the operation control unit (21) sets a turning start point (p10) and a turning end point (p20) on the obtained circle (Cc) and generates a turning path from the turning start point (p10) to the turning end point (p20). Specifically, the operation control unit (21) specifies a circle (Cc) with a minimum turning radius (Rmin) among circles inscribed in each of the two partial straight lines, and sets the connection points of the two partial straight lines (turn start point (p10) and turn end point (p20)) on the arc of the specified circle (Cc). In addition, the operation control unit (21) generates the turning path as a plurality of partial straight lines.

[0162] In this way, the operation control unit (21) corrects the turning radius corresponding to the turning path when the turning path included in the generated target path becomes less than the minimum turning radius. By doing so, the problem of the work vehicle (10) being unable to turn on the work path (R1) can be resolved.

[0163] In addition, when the turning radius is corrected, a gap may occur between work completion areas corresponding to adjacent turning paths. Therefore, the operation control unit (21) may notify the operator that a gap occurs between work completion areas, or may ask the operator whether to allow the gap to occur.

[0164] [Sequence of creation of the reference curve (first baseline (Ra))]

[0165] An example of the sequence for generating the first baseline (Ra) is described. Here, an example of the sequence for generating the first baseline (Ra) is described based on positioning points (measurement points) acquired through teaching driving.

[0166] FIG. 27a shows a work area registration screen (D5) for registering a work area. For example, after the registration of a package based on the above measurement points is completed, when the operator selects "Work Area Registration" on the menu screen (D1) (see FIG. 5) and selects the target package, the operation control unit (21) displays the work area registration screen (D5) shown in FIG. 27a. On the work area registration screen (D5), the operator performs an operation to set the work area. For example, the operator selects a vertex among the measurement points that becomes the corner of the outer edge of the work area. Additionally, the operator may select a measurement point located at the corner, or may select the outer side of a measurement point located at the corner. If the operator selects the outer side of the measurement point, the operation control unit (21) sets a supplementary point that becomes the end point of the outer edge. FIG. 27b shows the state in which the operator has selected four points on the work area registration screen (D5).

[0167] The operation control unit (21) sets and displays a straight line (side) connecting each point selected by the operator. In addition, in the work area registration screen (D5) shown in FIG. 27b, the operation control unit (21) receives an operation to select a side among the set sides to perform a curve operation. If there is a side among the sides for which a curve operation is desired, the operator selects the side (tap the side on the screen (see FIG. 27b)), and if there is no side for which a curve operation is desired (when performing a straight operation on the entire area), the operator selects "Next." When the operator selects the right side for which a curve operation is desired (see FIG. 27b), the operation control unit (21) generates a curve driving trajectory (reference curve) based on the measurement point corresponding to the right side (measurement point between the right end point of the upper side and the right end point of the lower side).

[0168] Here, a method for determining the measurement point corresponding to the selected side (the measurement point that becomes the endpoint of the curve) is explained. For example, the operation control unit (21) identifies the point (P) corresponding to the endpoint of the selected side in the following order, and generates a curve based on the measurement points between the points (P).

[0169] (Sequence 1)

[0170] In step 1, as shown in FIG. 28a, the operation control unit (21) determines whether a vertex (selected point) of the work area is included in the driving trajectory (measurement point). If the vertex of the work area is included in the driving trajectory, the operation control unit (21) sets a point (P) at the location of the vertex, and if the vertex of the work area is not included in the driving trajectory, moves to step 2.

[0171] (Sequence 2)

[0172] In step 2, as shown in FIG. 28b, the operation control unit (21) determines whether a driving trajectory is included within a range of a predetermined distance (X(m)) from the vertex (complementary point) of the work area. If the driving trajectory is included within a range of a predetermined distance (X) from the vertex of the work area, the operation control unit (21) deletes the driving trajectory within the range and sets a point (P) at the deleted location. If the driving trajectory is not included within a range of a predetermined distance (X) from the vertex of the work area, the operation control unit (21) moves to step 3.

[0173] (Sequence 3)

[0174] In step 3, as shown in FIG. 28c, in the case of vertices between sides of a curve, the operation control unit (21) sets the point (P) as the point closest within the range of (minimum length of side from the vertex) / 2 and also within the range of (threshold) / 2 from the side bisector. Additionally, the threshold used for determining the omission of measurement points is set to, for example, 0.1m. If the distance between measurement points is less than or equal to the threshold, the operation control unit (21) omits that point. If no point satisfying the above conditions is found, the operation control unit (21) sets the starting point as point (P) because it is assumed that the starting point and the ending point are separated.

[0175] In addition, in step 3, as shown in FIG. 28d, in the case where the vertices of the curved side and the straight side are, the operation control unit (21) sets the point (P) as the first point found within the range of (threshold) / 2 from the straight side. According to this method, it is possible to correspond to the driving trajectory of the curve shown in FIG. 29.

[0176] In this way, the operation control unit (21) specifies points (P) (endpoints) and generates a curved path along one side based on the driving trajectory (measurement point) between the points (P). When the operation control unit (21) generates a curved path, it displays the selected side (see FIG. 27b) by replacing it with a curve, as shown in FIG. 30.

[0177] In addition, the operation control unit (21) can generate one curved path based on a partial straight line connecting a plurality of measurement points located between points (P1) by the method shown in the above-described embodiment (Figs. 6 to 10). That is, the curved path is generated by connecting straight paths of a predetermined length. In addition, the operation control unit (21) may set the curved path as a first reference line (Ra).

[0178] Next, another method for generating the first reference line (Ra) is described. Specifically, the operation control unit (21) generates the first reference line (Ra) based on at least one of the conditions of path length, azimuth deviation between adjacent paths, and deviation (distance) between the measurement point and the path. For example, the operation control unit (21) generates a partial straight line such that the path length is greater than or equal to a first predetermined length (e.g., 1 m) (first condition). Additionally, the operation control unit (21) generates a partial straight line such that the path length is less than or equal to a second predetermined length (e.g., 5 m) (second condition). Additionally, the operation control unit (21) generates a partial straight line such that the azimuth deviation between adjacent paths is less than 3 degrees (the angle formed between adjacent paths is 177 degrees or more) (third condition). Additionally, the operation control unit (21) generates a partial straight line such that the deviation between the measurement point and the path is less than 10 cm (fourth condition).

[0179] The operation control unit (21) may generate a first baseline (Ra) by setting the priority of the first to fourth conditions described above. For example, the operation control unit (21) may set the first condition as the first priority and the second to fourth conditions as the second priority.

[0180] FIG. 31a shows an example of a partial straight line satisfying the first, second, and third conditions. θ in FIG. 31a represents the orientation deviation between adjacent paths. FIG. 31b shows an example of a partial straight line satisfying the first, second, and fourth conditions. L1 to L4 in FIG. 31b represent the deviation between the measurement point and the path, respectively.

[0181] In addition, if priority is set for the above conditions, there is a possibility that a path may be generated that does not satisfy the conditions with lower priority. To prevent the generation of such unintended paths, the operation control unit (21) may set an error judgment condition that classifies an unacceptable path as an error. For example, the above error judgment conditions may be set such as "a bearing deviation between adjacent paths of 10 degrees or more (an angle formed between adjacent paths of less than 170 degrees)", "a deviation between a measurement point and a path of 30 cm or more". When the operation control unit (21) determines an error by satisfying the above error judgment conditions, it stops generating the curved path and displays a path generation error screen (not shown).

[0182] In addition, in the screen of the path generation error, if the operator approves the path determined to be an error, the operation control unit (21) may set the path as a curved path (first reference line (Ra)).

[0183] In addition, in the path generation error screen, when the operator gives instructions to correct the path, the operation control unit (21) may regenerate a curved path by correcting it to a path that does not satisfy the error judgment condition. In addition, the operator may be able to set whether to perform path correction processing when a path generation error occurs on a preset screen.

[0184] In addition, when the operation control unit (21) performs a correction of the path, it may display the path before correction and the path after correction side by side to receive the operator's selection operation, and set the selected path as the curved path (first reference line (Ra)).

[0185] When generating a target path of a curved path in a headland area, the operation control unit (21) generates a target path based on a curved path (first reference line (Ra)) in the headland area of ​​the side selected by the operator (see FIG. 27b). Specifically, the operation control unit (21) receives from the operator a selection operation of a pavement, a selection operation of a work area, a selection operation of a work vehicle, a selection operation of a work implement, a setting operation of a work in the headland area, a selection operation of a path generation mode (first path generation mode, second path generation mode (duplicate mode, non-duplicate mode)) (see FIG. 18), a setting operation of a turning method, etc., and generates a curved path (target path) in the headland area based on information according to each operation.

[0186] [Extension of the First Baseline (Ra)]

[0187] The operation control unit (21) may extend the generated first reference line (Ra) (curved path). Specifically, the operation control unit (21) generates a straight line (extension line) by extending outwardly the first straight path (partial straight line) and the last straight path (partial straight line) that constitute the first reference line (Ra). The length of the extension line is set, for example, to 1 km. In addition, the operation control unit (21) may display the extended part (extension line) so that it is identifiable. By extending the path, it becomes possible to drive, for example, a work vehicle (10) automatically to the pavement boundary (ridge edge).

[0188] FIG. 32 illustrates an example of a path extending the first reference line (Ra). For example, the operation control unit (21) sets an extension line (Rs1) extending the first straight path (Rs) and an extension line (Rg1) extending the last straight path (Rg) in the curved path (first reference line (Ra)) from the starting point (Ps) (the starting point of the first straight path (Rs) that constitutes the curved path (first reference line (Ra))) to the ending point (Pg) (the ending point of the last straight path (Rg) that constitutes the curved path).

[0189] Additionally, as shown in FIG. 33, the operation control unit (21) generates a work path (R1) by duplicating the generated curve path (first reference line (Ra)) in the left and right directions. At this time, the extended path (extension line) may be excluded from the duplication. Specifically, the operation control unit (21) duplicates each straight path (partial straight line) constituting the curve path by moving them parallel at equal intervals in a perpendicular direction, similar to the method shown in FIG. 10a to FIG. 10c. In addition, the distance of the parallel movement is set based on the setting information of the work machine (14) (e.g., work width, overlap width, etc.). After duplicating (moving parallel) the curve path, the operation control unit (21) may perform the path extension processing described above (see FIG. 32) for each duplicated curve path. In addition, the number of paths to be duplicated may be set by the operator. For example, if the operator specifies 10, the operation control unit (21) duplicates a total of 20 curve paths, 10 to the left and 10 to the right of the first baseline (Ra).

[0190] Additionally, the operation control unit (21) may display an extended work path (R1) that has been duplicated (generated) based on the first reference line (Ra), as shown in FIG. 34a, on the operation screen. Additionally, each work path (R1) is composed of multiple straight paths (partial straight lines), but the operation control unit (21) displays it as a single curved path on the operation screen. Additionally, the operation control unit (21) may display the extended line in an identifiable manner, omit the display of the extended line, or switch the display / non-display of the extended line according to the operator's operation. In FIG. 34a, the extended line is shown as a dotted line.

[0191] Additionally, the operation control unit (21) may search for a work path (R1) capable of initiating automatic driving (path search) and display the searched work path (R1) in an identifiable manner. Specifically, the operation control unit (21) searches for one or more work paths (R1) included in a predetermined direction range from the current position of the work vehicle (10) and highlights the work paths (R1) included in the range. FIG. 34b shows the appearance of highlighting three work paths (R1) included in the range on the operation screen.

[0192] Additionally, the operation control unit (21) may highlight the work path (R1) when the work path (R1) that is the target of the automatic driving path is determined, as shown in FIG. 34c. Additionally, the operation control unit (21) may highlight the work path (R1) while the automatic driving is in progress.

[0193] [Method of displaying the work path (R1)]

[0194] The operation control unit (21) may display the work path (R1) (target path) on the operation screen in alignment with the outer edge of the pavement (F). For example, as shown in FIG. 35a, the operation control unit (21) may display each work path (R1) as a single curved path, and may also be configured to display each work path (R1) only on the inner side of the pavement (F) and not on the outer side of the pavement (F). Specifically, as shown in FIG. 35a, the operation control unit (21) does not display the beginning and end sides of each work path (R1) (see FIG. 34a) that are located outside the pavement (F), including the extension line, but displays only the parts located inside the pavement (F). Additionally, the operation control unit (21) may display the straight path by extending it outside the pavement (F) (the path indicated by the dotted line in FIG. 35a).

[0195] Additionally, as shown in FIG. 35b, the operation control unit (21) may display a predetermined number of work paths (R1) in the headland area, and may also display some of the work paths (R1) outside the packaging (F). For example, the operation control unit (21) may display eight work paths (R1) in the headland area, display six of the work paths (R1) inside the packaging (F), and display the remaining two work paths (R1) outside the packaging (F). Additionally, the operation control unit (21) may display a number of work paths (R1) set by the operator inside and outside the packaging (F).

[0196] Additionally, as shown in FIG. 35c, the operation control unit (21) may lock (fix to the target path for initiating automatic driving) a curved side (first reference line (Ra)) among the outer shape sides of the pavement (F). FIG. 35c shows the state in which the curved side is locked. For example, when an operator taps the curved side on the operation screen, the operation control unit (21) locks the curved side. Also, for example, when the operator taps the lock icon on the operation screen while the work vehicle (10) is facing the same or a direction close to the direction of the curved work path (R1), the operation control unit (21) may lock the curved side. In another embodiment, when neither side is locked, the operation control unit (21) may display (highlight) the path of the side close to the current direction of the work vehicle (10) in an identifiable manner.

[0197] In each of the embodiments described above, the automatic driving system (1) corresponds to the path generation system according to the present invention, but the path generation system according to the present invention may be composed of a single operating terminal (20), may be composed of a combination of a work vehicle (10) and an operating terminal (20), or may be composed of a single server (not shown).

[0198] [Invention Note]

[0199] Hereinafter, an overview of the invention derived from each embodiment described above is provided. Furthermore, each component and each processing function described in the following notes can be selected and arbitrarily combined.

[0200] <Booklet 1>

[0201] A path generation method for generating a target path for automatically driving a work vehicle in a work area,

[0202] One or more processors,

[0203] A path generation method for setting either a first path generation mode for generating the target path based on a first reference line that serves as a standard when generating the target path, or a second path generation mode for generating the target path based on a second reference line that has a shape or orientation different from the first reference line.

[0204] Booklet 2

[0205] In the first path generation mode, the shape or orientation of all paths included in the target path is set based on the shape or orientation of the first baseline, and

[0206] A path generation method described in Appendix 1, wherein in the second path generation mode above, the shape or orientation of a first path included in the target path is set based on the shape or orientation of the first reference line, and the shape or orientation of a second path included in the target path is set based on the shape or orientation of the second reference line.

[0207] Book 3

[0208] A path generation method described in Appendix 1 or 2, wherein in the second path generation mode, the shape or orientation of a plurality of paths included in the target path is set to approach the shape or orientation of the second reference line from the shape or orientation of the first reference line as the arrangement direction of the plurality of paths progresses.

[0209] Book 4

[0210] A path generation method described in any one of Appendix 1 to 3, which displays a selection screen capable of selecting either the first path generation mode or the second path generation mode.

[0211] Book 5

[0212] A path generation method described in any one of Appendix 1 to 4, wherein the second path generation mode comprises a duplication mode for generating the target path by overlapping a portion of the respective work widths of neighboring paths included in the target path, and a non-duplication mode for generating the target path without overlapping the respective work widths of neighboring paths included in the target path.

[0213] Book 6

[0214] A path generation method described in Appendix 5, which displays a selection screen capable of selecting any one of the first path generation mode, the duplicate mode, and the non-duplicate mode.

[0215] Book 7

[0216] A path generation method described in Appendix 6, wherein, in the above selection screen, a mode according to the working mechanism or work content among the first path generation mode, the duplicate mode, and the non-duplicate mode is identifiablely displayed.

[0217] Book 8

[0218] A path generation method described in any one of Appendix 1 to 7, which displays a selectable selection screen for generating the target path based on the first reference line including a curved portion and generating the target path based on the first reference line of a straight line not including a curved portion.

[0219] Bookmark 9

[0220] In the curve mode and also in the second path generation mode, the shape of a plurality of paths included in the target path is set to approach a straight line or a curve as it moves in the arrangement direction of the plurality of paths.

[0221] A path generation method described in Appendix 8, wherein in the above curve mode and also in the above first path generation mode, the shape of each of the plurality of paths included in the target path is set to a curve shape.

[0222] Bookmark 10

[0223] In the above straight line mode and also in the above second path generation mode, the orientations of a plurality of paths included in the target path are set to approach a state parallel to the second reference line from a state parallel to the first reference line as they move in the arrangement direction of the plurality of paths, and

[0224] A path generation method described in Appendix 8 or 9, wherein in the above straight line mode and also in the above first path generation mode, the orientation of each of the plurality of paths included in the target path is set to be parallel to the first reference line.

[0225] Bookmark 11

[0226] As a path generation program that generates a target path for automatically driving a work vehicle in a work area,

[0227] A path generation program for setting one or more processors, a first path generation mode for generating a target path based on a first reference line that serves as a reference when generating the target path, and a second path generation mode for generating the target path based on a second reference line that has a shape or orientation different from the first reference line.

[0228] Bookmark 12

[0229] As a path generation system that generates a target path for automatically driving a work vehicle in a work area,

[0230] A path generation system that sets either a first path generation mode for generating a target path based on a first reference line that serves as a standard when generating the target path, or a second path generation mode for generating the target path based on a second reference line that has a shape or orientation different from the first reference line. Explanation of the symbols

[0231] 1: Automatic driving system 10: Work vehicle 11: Vehicle control unit 14: Work tool 16: Positioning unit 20: Operation terminal 21: Operation control unit 111: Driving processing unit 211: Registration Processing Unit 212: Configuration Processing Unit 213: Generation Processing Unit 214: Output Processing Unit F: Pavement (Work Area) R1: Work Path (Target Path) Ra: 1st baseline Rb: 2nd baseline D1: Menu screen D2: Baseline selection screen D3: Task selection screen D4: Path creation method selection screen D41: Path creation method selection screen D42: Path creation method selection screen D5: Workspace Registration Screen

Claims

Claim 1 A path generation method for generating a target path for automatically driving a work vehicle in a work area, comprising setting either a first path generation mode for generating the target path based on a first reference line that serves as a standard when generating the target path, or a second path generation mode for generating the target path based on a second reference line that has a shape or orientation different from the first reference line. Claim 2 A path generation method according to claim 1, wherein in the first path generation mode, the shape or orientation of all paths included in the target path is set based on the shape or orientation of the first baseline, and in the second path generation mode, the shape or orientation of the first path included in the target path is set based on the shape or orientation of the first baseline, and the shape or orientation of the second path included in the target path is set based on the shape or orientation of the second baseline. Claim 3 A path generation method according to claim 1, wherein in the second path generation mode, the shape or orientation of a plurality of paths included in the target path is set to approach the shape or orientation of the second reference line from the shape or orientation of the first reference line as the arrangement direction of the plurality of paths progresses. Claim 4 A path generation method according to claim 1, wherein a selection screen is displayed that allows selecting either the first path generation mode or the second path generation mode. Claim 5 A path generation method according to claim 1, wherein the second path generation mode comprises a duplication mode that generates the target path by overlapping a portion of the respective work widths of neighboring paths included in the target path, and a non-duplication mode that generates the target path without overlapping the respective work widths of neighboring paths included in the target path. Claim 6 A path generation method according to claim 5, which displays a selection screen capable of selecting any one of the first path generation mode, the duplicate mode, and the non-duplicate mode. Claim 7 A path generation method according to claim 6, wherein, in the selection screen, a mode according to the working machine or work content among the first path generation mode, the duplicate mode, and the non-duplicate mode is identifiable. Claim 8 A path generation method according to claim 1, wherein a selection screen is displayed that allows selection of a curve mode for generating the target path based on a first reference line including a curved portion and a straight mode for generating the target path based on a first reference line that does not include a curved portion. Claim 9 A path generation method according to claim 8, wherein in the curve mode and also in the second path generation mode, the shape of a plurality of paths included in the target path is set to approach a straight line or a straight line as it moves in the arrangement direction of the plurality of paths, and in the curve mode and also in the first path generation mode, each shape of a plurality of paths included in the target path is set to a curve shape. Claim 10 A path generation method according to claim 8, wherein in the straight line mode and the second path generation mode, the orientation of a plurality of paths included in the target path is set to approach a state parallel to the second reference line from a state parallel to the first reference line as the arrangement direction of the plurality of paths increases, and in the straight line mode and the first path generation mode, the orientation of each of the plurality of paths included in the target path is set to a state parallel to the first reference line. Claim 11 A path generation program for generating a target path for automatically driving a work vehicle in a work area, wherein one or more processors are configured to set either a first path generation mode for generating the target path based on a first reference line that serves as a reference when generating the target path, or a second path generation mode for generating the target path based on a second reference line that has a shape or orientation different from the first reference line. Claim 12 A path generation system for generating a target path for automatically driving a work vehicle in a work area, wherein the path generation system sets either a first path generation mode for generating the target path based on a first reference line that serves as a standard when generating the target path, or a second path generation mode for generating the target path based on a second reference line that has a shape or orientation different from the first reference line.

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