Path generation method and recording medium in agricultural work vehicle capable of autonomous driving

Abstract

The present invention relates to a path generation method, a program, and a recording medium in an agricultural work vehicle capable of autonomous driving. According to the present invention, the method includes: a first path generation step <S10> of generating a first autonomous driving path (10) which is an autonomous driving path in a first work area (WA1); a connecting path generation step <S20> of generating an autonomous driving connecting path (20) which is an autonomous driving path connected from an end point (10t) of the first autonomous driving path (10) to a start point (30s) of a second autonomous driving path (30) which is an autonomous driving path in a second work area (WA2); and a second path generation step <S30) of generating the second autonomous driving path (30), wherein driving patterns of the first autonomous driving path (10) and the second autonomous driving path (30) are different from each other. The present invention has the effect of improving productivity by reducing an area that a worker needs to manually manipulate for work.

Description

Path generation method and recording medium for autonomous agricultural work vehicles

[0001] The present invention relates to a path generation technology for an agricultural work vehicle capable of autonomous driving.

[0002] Agricultural work vehicles (hereinafter referred to as “work vehicles”) are work vehicles used for agricultural work, such as rice transplanters, combines, and agricultural tractors.

[0003] As the global population explodes, the demand for food is increasing. Conversely, a shortage of agricultural workers in rural areas is leading to a shortage of food supplies. To address this, research is actively underway on autonomous work vehicles that can drive themselves without human intervention.

[0004] Autonomous driving technology is divided into technology that sets a work area and generates a path, and technology that accurately follows the generated path.

[0005] The present invention is more related to a technique for generating a path.

[0006] The technique of creating a path is to set a work area and draw a work path in the set work area.

[0007] Generally, when generating a path, only the path in the center of the field is generated, excluding the edge of the field (the bird's head area).

[0008] Figure 1 shows a square-shaped farmland.

[0009] According to the prior art related to path generation technology, when each vertex of the cultivated field (CL) is set as ABCD and its location is recorded, a work area (WA) is set inside.

[0010] The working area (WA) is a rectangular shape set as the cropland (CL), is smaller than the cropland (CL), and is located in the center of the cropland (CL).

[0011] In the work area (WA), straight sections (SS) that form a straight work path (SC) are set.

[0012] On both sides of the work area (WA) in the direction of line AB, rotation sections (TS) forming a direction change path (TC) are set.

[0013] The rotation sections (TS) connect each straight section (SS) through a 180-degree change in direction.

[0014] Work is performed on straight sections (SS) of a straight work path (SC).

[0015] The work vehicle performs work in the straight sections (SS) while changing direction by making a 180-degree turn in the turning section (TS).

[0016] However, the outer peripheral area (AA, called the 'bird's-eye area') of the work area (WA) cannot be operated autonomously due to considerations such as the turning radius of the work vehicle, the safety distance between the work vehicle and the cultivated land (CL), etc.

[0017] The new head area (AA) requires the worker to manually operate the work vehicle to perform the work.

[0018] Considering the length of the entire work vehicle towing the work machine, there was a problem that the new head area requiring manual operation by the worker was wide.

[0019] As the cultivated area (CL) becomes narrower, the bird's head area (AA) becomes proportionally wider.

[0020] In countries like ours where most of the cultivated land (CL) is narrow, the bird's eye area (AA) is wide, so the benefit of autonomous driving is very small.

[0021] [Prior Art Literature]

[0022] [Patent Document]

[0023] (Patent Document 1) Republic of Korea Publication No. 10-2018-0115457

[0024] (Patent Document 2) Republic of Korea Patent No. 10-2049937

[0025] We need technology that can maximize the areas where autonomous driving can proceed.

[0026] The route generation method in an autonomous agricultural work vehicle according to the present invention includes a first route generation step of generating a first autonomous driving route (10) which is an autonomous driving route in a first work area (WA1). <s10>; A connecting path generation step for generating an autonomous driving connecting path (20) that is an autonomous driving path that connects the end point (10t) of the first autonomous driving path (10) to the starting point (30s) of the second autonomous driving path (30), which is an autonomous driving path in the second work area (WA2). <s20>; and a second path generation step for generating the second autonomous driving path (30) <S30); 를 포함하며, 상기 제2작업영역(WA2)은 상기 제1작업영역(WA1)의 바깥에 배치되고, 상기 제1자율주행경로(10)와 상기 제2자율주행경로(30)의 주행패턴은 서로 다르다.

[0027] The first autonomous driving path (10) has a first driving pattern of moving back and forth in the first work area (WA1), and the second autonomous driving path (30) has a second driving pattern of moving around the outside of the first work area (WA1) with the first work area (WA1) on the inside.

[0028] The above second autonomous driving path (30) is a path that rotates multiple times, and is created to rotate while moving away from the first work area (WA1) near the first work area (WA1).

[0029] The second path generation step above <s30>A straight section generation step that creates the path of the second straight section (31a, 31b) that runs straight. <s31>; and a rotation section creation step for creating a path of second rotation sections (32) that change direction to connect the second straight sections (31a, 31b) <s32>; includes.

[0030] The above second rotation section (32) has detailed rotation sections including a forward rotation section (32f-1, 32f-2) that rotates while driving forward and a backward rotation section (32r-1, 32r-2) that rotates while driving backward.

[0031] The above rotation section creation step <s32>Automatically generates the forward rotation section (32f-1, 32f-2) and the backward rotation section (32r-1, 32r-2) so as not to exceed the set threshold line (La, Lb).

[0032] The above threshold line (La. Lb) is set as '(length of the work tool) / 2 + A (A is a value arbitrarily determined according to the specifications of the work vehicle)' in a direction parallel to the second straight section (31a, 31b) and perpendicular to the second straight section (31a, 31b) on the outside of the second straight section (31a, 31b).

[0033] The above forward rotation sections (32f-1, 32f-2) and the above backward rotation sections (32r-1, 32r-2) rotate with the same rotation radius (R), and the rotation centers of the remaining sub-rotation sections, excluding the first section, the above forward rotation section (32f-1), are set to points symmetrical to the rotation center points of the previous sub-rotation sections based on the arrival points of the previous sub-rotation sections.

[0034] If the arrival point of the last sub-rotation section of the above-described sub-rotation sections does not match the arrival point (32e) of the preset second rotation section (32), the forward rotation sections (32f-1, 32f-2) and the backward rotation sections (32r-1, 32r-2) are moved in a direction parallel to the second straight section (31a, 31b) previously driven, so that the arrival point of the last sub-rotation section is positioned on the second straight section (31a, 31b) to be driven thereafter.

[0035] Both the forward rotation section (32f-1, 32f-2) and the above backward rotation section (32r-1, 32r-2) are generated by rotations having the same rotation radius (R).

[0036] The above joint path creation step <s20>A forward transition section creation step that creates a forward transition section (21) in which the driving direction is changed while maintaining forward movement at the end point (10t) of the first autonomous driving path (10). <s21>; and a reverse transition section creation step that creates a reverse transition section (22) that changes to a reverse state at the arrival point (21e) of the forward transition section (21) and moves to the starting point (30s) of the second autonomous driving path (30). <s22>; includes.

[0037] The above forward transition section (21) includes a forward section 1 (21-1) that rotates starting from the end point (10t) of the first autonomous driving path (10); and a forward section 2 (21-2) that starts from the destination point (PP) of the forward section 1 (21-1) and moves straight.

[0038] The rotation center point (O3) of the above first forward section (21-1) is located at a distance from the end point (10t) of the first autonomous driving path (10) by a rotation radius (R) in a direction perpendicular to the last section of the first autonomous driving path (10), and the rotation angle for generating the first forward section (21-1) is a value based on the angle formed between adjacent sides on the border of the first work area (WA1).

[0039] The above-mentioned backward transition section (22) includes a backward 1st section (22-1) that rotates and moves starting from the arrival point (21e) of the forward transition section (21); a backward 2nd section (22-2) that moves in a straight line starting from the arrival point (①) of the backward 1st section (22-1); a backward 3rd section (22-3) that rotates and moves starting from the arrival point (②) of the backward 2nd section (22-2); and a backward 4th section (22-2) that moves in a straight line starting from the arrival point of the backward 3rd section (22-3); wherein the arrival point of the backward 4th section (22-2) is the starting point (30s) of the second autonomous driving path (30).

[0040] The above backward transition section creation step <s22>It includes a first step of obtaining the arrival point of the reverse transition section (22); a second step of obtaining the starting point of the reverse transition section (22); a third step of creating the first reverse section (22-1); a fourth step of creating the fourth reverse section (22-4); a fifth step of creating the third reverse section (22-3); and a sixth step of creating the second reverse section (22-2) that connects the first reverse section (22-1) and the third reverse section (22-3) in a straight line; and the starting point of the fourth reverse section (22-4) is obtained by moving a distance equal to the driving interval (2G / sinα) of the work vehicle from the end point (20t) of the autonomous driving connecting path (20) in the driving direction of the work vehicle formed in the second straight section (31a, 31b).

[0041] The second path generation step above <s30>A straight section generation step that creates the path of the second straight section (31a, 31b) that runs straight. <s31>; and a rotation section creation step for creating a path of second rotation sections (32) that change direction to connect the second straight sections (31a, 31b) <s32>; and the destination point of the reverse transition section (22) is obtained by moving by G / sinα in the straight direction in the second straight section (31a, 31b) from the end point (10t) of the first autonomous driving path (10), and then moving by 2G / sinα in the backward direction in the second straight section (31a, 31b), where 'G' is 1 / 2 of the interval between the second straight sections (31a, 31b) that are parallel to each other, and 'α' is the angle between the second straight sections (31a, 31b).

[0042] The starting point of the above backward transition section (22) is a point at which the distance is 'L' in the direction of the second straight section (31a, 31b) from the end point of the backward transition section (22), and the distance in the direction away from the first working area (WA1) (hereinafter referred to as 'Y direction') while being parallel to the second straight section (31a, 31b) is 'd', and 'L' is the sum of the lengths (L1, L2, L3, L4) projected onto the second straight section (31a, 31b) of backward section 1 (22-1), backward section 2 (22-2), backward section 3 (22-3), and backward section 4 (22-3) forming the backward transition section (22), and 'd' is the distance between the backward section 1 (22-1), It is the sum of the lengths (d1, d2, d3, d4) in the Y direction of each of the second backward section (22-2), the third backward section (22-3), and the fourth backward section (22-3), and can satisfy the following Relationship 1, Relationship 4, and Relationship 5. Relationship 1) d = R - G, Relationship 4) L1 = L3 = Rsinβ, Relationship 6) d1 = d3 = R - Rcosβ, 'G' is 1 / 2 of the spacing between the second straight sections (31a, 31b) that are parallel to each other, 'R' is the turning radius of the work vehicle, and 'β' is a constant given as the turning angle of the work vehicle.

[0043] Relationships 7 and 8 can be further satisfied. Relationship 7) d2 = d - (d1 + d3), Relationship 8) L2 = d2 / tanβ

[0044] The program according to the present invention can execute the above-described autonomous driving route generation method on a computer.

[0045] According to the present invention, the autonomous operation ratio of the farmland increases, enabling more production with less labor, and has the effect of automatically performing work over a wider area with greater precision than what a worker can do manually.

[0046] Figure 1 is a reference diagram for explaining conventional technologies.

[0047] Figure 2 is a reference diagram for explaining a program according to the present invention.

[0048] Figure 3 is an example of an autonomous driving route generated according to the present invention.

[0049] Figure 4 is an example of a farmland to which an autonomous driving route generated according to the present invention is to be applied.

[0050] Figure 5 is an excerpt of the first autonomous driving route from the autonomous driving route of Figure 4.

[0051] Figure 6 is an excerpt of a second autonomous driving route from the autonomous driving route of Figure 4.

[0052] Figure 7 is an example of a second straight section in the second autonomous driving route of Figure 6.

[0053] Figure 8 is an example of a second turning section in the second autonomous driving route of Figure 6.

[0054] Figures 9 to 12 are reference drawings for explaining the second rotation section of Figure 8.

[0055] Figure 13 is an excerpt of an autonomous driving connection path from the autonomous driving path of Figure 4.

[0056] Figures 14 and 15 are reference drawings for explaining the autonomous driving connection path of Figure 13.

[0057] Figure 16 is a flowchart of a method for generating an autonomous driving route according to the present invention.

[0058] A preferred embodiment according to the present invention is described with reference to the attached drawings. However, for the sake of brevity of explanation, well-known configurations or descriptions that may be redundant are omitted or compressed as much as possible.

[0059] A work vehicle to which the present invention is applied is equipped with a human machine interface (HMI, hereinafter referred to as 'HMI') that functions as an interface between a person and the vehicle.

[0060] The HMI is equipped with a program to create an autonomous driving path.

[0061] Workers can use the HMI to create autonomous driving routes for work vehicles and perform autonomous driving tasks.

[0062] The program (P) may be stored in a storage medium capable of being stored and distributed as a storage medium, or may be transmitted through a telecommunications network while stored in a storage medium.

[0063] FIG. 2 is a reference diagram for explaining a computer-readable program (P) that can execute a path generation method (hereinafter abbreviated as “path generation method”) in a work vehicle capable of autonomous driving according to the present invention on an HMI.

[0064] The program (P) has a first path generation function (F1), a second path generation function (F2), and a third path generation function (F3).

[0065] The autonomous driving route according to the route generation method of the present invention can be broadly divided into three routes.

[0066] The three routes are the first autonomous driving route, the autonomous driving connection route, and the second autonomous driving route, respectively.

[0067] The first path generation function (F1) of the program (P) is a function that generates the first autonomous driving path.

[0068] The second path generation function (F2) of the program (P) is a function that generates a second autonomous driving path.

[0069] The third path generation function of the program (P) is a function that generates a third autonomous driving path.

[0070] The actual work vehicle performs agricultural work by sequentially moving along the first autonomous driving path, the autonomous driving connection path, and the second autonomous driving path.

[0071] After data collection for path generation, the order of generation of the first autonomous driving path, autonomous driving connection path, and second autonomous driving path in the actual path generation process by the program (P) may be changed depending on the design of the program (P).

[0072] For example, it can be designed to be generated in the order of a first autonomous driving route, an autonomous driving connection route, and a second autonomous driving route.

[0073] For example, it can be designed to be generated in the order of a first autonomous driving route, a second autonomous driving route, and an autonomous driving connection route.

[0074] For example, the paths can be designed to be generated in the order of the worker's input, such as the second autonomous driving path, the autonomous driving connection path, and the first autonomous driving path.

[0075] For example, a second autonomous driving route set as a policy may be created first, and then the length of a straight section of the first autonomous driving route may be designed to be created with a length adjusted to suit the second autonomous driving route.

[0076] Figure 3 shows an example of an autonomous driving path (SC) generated according to the present invention.

[0077] The autonomous driving path (SC) of Fig. 3 includes a first autonomous driving path (10), an autonomous driving connection path (20, dotted line portion), and a second autonomous driving path (30).

[0078] The end point (10t) of the first autonomous driving path (10) is the starting point (20s) of the autonomous driving connecting path (20), and the end point (20t) of the autonomous driving connecting path (20) is the starting point (30s) of the second autonomous driving path (30).

[0079] Figure 4 is an example of a farmland (CL) on which a work vehicle will perform work while driving along an autonomous driving path (SC) generated by the present invention.

[0080] In Fig. 4, the coordinates of each of ABCD, which are vertices of the cultivated field (CL), may be elements that set the driving direction of the work vehicle in the cultivated field (CL).

[0081] The cultivated land (CL) is divided into the first working area (WA1) and the second working area (WA2).

[0082] The first working area (WA1) is located in the center of the cultivated field (CL).

[0083] In the first work area (WA1), the work vehicle moves along the first autonomous driving path (10) and performs work in a straight section.

[0084] The second working area (WA2) is an outer area surrounding the perimeter of the first working area (WA1) with the first working area (WA1) located inside.

[0085] The second work area (WA2) is the work area between the ABCD rectangular border and the first work area (WA1).

[0086] In the second work area (WA2), the work vehicle performs work in a straight section while moving autonomously along the second autonomous driving path (30).

[0087] Below, we will examine each path (10, 20, 30) and its creation method by changing the table of contents.

[0088] 1. Description of the first autonomous driving route

[0089] Figure 5 is an excerpt from the first autonomous driving route (10).

[0090] The first autonomous driving path (10) is an autonomous driving path for performing work in the first work area (WA1).

[0091] The first autonomous driving path (10) is a path for executing a round-trip straight movement of the work vehicle.

[0092] The first autonomous driving path (10) is identical to the autonomous driving path in the work area (WA) described with reference to Fig. 1.

[0093] The first autonomous driving route (10) has a number of first straight sections (11) and a number of first turning sections (12).

[0094] The first autonomous driving path (10) is a path that starts with driving on the first first straight section (11) from point (x2, y2) to point (x3, y3) and ends with driving on the last first straight section (11) from point (x4, y4) to point (x1, y1).

[0095] The first driving pattern, which is the driving pattern of the first autonomous driving route (10), is a driving pattern that allows work to be performed during a round-trip straight movement process.

[0096] Work by work vehicles is carried out only in the first straight section (11).

[0097] Each of the first straight sections (11) is parallel to each other.

[0098] In one example, the first straight section (11) may be parallel to the AB or AD direction of Fig. 4. The work vehicle is set to travel straight along a line segment parallel to the forward / reverse direction of the AB direction in the first straight section (11).

[0099] The first rotation section (12) is arranged parallel to each other and connects the first straight sections (11) whose directions are 180 degrees different.

[0100] The work vehicle does not perform work in the first turning section (12).

[0101] The 180-degree direction change of the work vehicle in the first turning section (12) can be various, such as a K-turn as in the examples of FIGS. 1 and 5 or a well-known C-turn.

[0102] The direction of rotation for a 180-degree change of direction of the work vehicle can be set to the right or left considering the straight direction of the work vehicle.

[0103] The setting and creation of the first autonomous driving route (10) are well known in various ways, so a detailed description thereof is omitted.

[0104] 2. Description of the second autonomous driving route

[0105] Figure 6 is an excerpt from the second autonomous driving route (30).

[0106] The second autonomous driving route (30) is an autonomous driving route in the second work area (WA2).

[0107] On the second autonomous driving path (30), the work vehicle is set to drive straight in the direction ⓐ or the opposite direction defined as an example, or to drive straight in the direction ⓑ or the opposite direction.

[0108] Work in the second work area (WA2) can be done as a finishing touch after work in the main first work area (WA1) is completed.

[0109] The second driving pattern, which is the driving pattern of the second autonomous driving route (30), is different from the first driving pattern.

[0110] It is preferable that the second autonomous driving path (30) be set as a path that circles the first work area (WA1) several times from the outside of the first work area (WA1).

[0111] The simplest example of a second driving pattern is a form in which four second straight sections (31a, 31b) are connected to each other by second turning sections (32) and make several turns around the outside of the first working area (WA1).

[0112] The second straight sections (31a, 31b) are divided into the first straight sections (31a) parallel to the ⓐ direction and the second straight sections (31b) parallel to the ⓑ direction. However, if the first working area (WA1) is an irregular polygon rather than a square, the second straight sections (31a, 31b) can be subdivided into sections with more directions.

[0113] In the example of Fig. 6, the second straight sections (31a, 31b) are connected with an angle of 'α' or '180-α'.

[0114] The second straight sections (31a) are parallel to the first straight sections (11), and the second straight sections (31b) have an angle of 'α' or '180-α' with the first straight sections (11). The angles of the second straight sections (31a) and the second straight sections (31b) may be determined according to the shape of the first working area (WA1).

[0115] Figure 7 shows an example of creating a second straight section (31a, 31b).

[0116] The second straight section (31a, 31b) is created by setting a starting point (31s) where the section begins and an ending point (31e) where the section ends, moving from the starting point (31s) to the ending point (31e) and taking coordinates (P1, P2) at set intervals, and moving in the reverse direction from the ending point (31e) and taking coordinates (P3, P4) at set intervals. Here, the set interval can be 30 cm, 50 cm, etc., and can be set to be entered in meters.

[0117] Rather than marking coordinates across the entire second straight section (31a, 31b), it may be desirable to mark only a few coordinates (P1, P2, P3, P4) close to the starting point (31s) and the end point (31t) for proper straight driving of the work vehicle.

[0118] For reference, the first straight section (11) can also be created in the same manner as the second straight section (31a, 31b).

[0119] The second rotation section (32) is set to have a rotation amount corresponding to the angle ('α' or '180-α') between the two second straight sections (31a, 31b) in order to connect the first straight section (31a) and the second straight section (31b), which are not parallel to each other but must be connected to each other.

[0120] Since the second driving pattern is a driving pattern that circles the periphery of the first work area (WA1), the angle ('α' or '180-α') between the first straight section (31a) and the first straight section (31b) is greater than 0 degrees, but less than 180 degrees.

[0121] The angle ('α' or '180-α') between the first straight section (31a) and the first straight section (31b) may have the same value for opposite angles at the square vertices, but may have different values ​​if the diagonal relationship is not opposite. In addition, if the first working area (WA1) is an irregular polygon, the angle (α) at ​​each corner may have two or more different values.

[0122] The direction of rotation in the second turning sections (32) is determined uniformly based on the direction of rotation in the direction of movement of the first second straight section (31a, 31b) from the end point (10t) of the first autonomous driving path (10).

[0123] If the direction of rotation in the direction of movement of the first second straight section (31b) is a right turn, the directions of rotation in the remaining second turning sections (32) are all determined to be right turns, and if the direction of rotation in the direction of movement of the first second straight section (31b) is a left turn, the directions of rotation in the remaining second turning sections (32) are all determined to be left turns.

[0124] The second rotation section (32) is created as a path that can minimize the area required for rotation.

[0125] A large turning radius can increase the area required for rotation, while a small turning radius can reduce the area required for rotation. To address this issue, the present invention sets a threshold line that the second turning section (32) must not exceed. Two threshold lines are set for each turning point, and this will be described later.

[0126] The radius of rotation (R) of the rotation in the second rotation section (32) can be set by the program designer or the operator operating the program.

[0127] The operator can set the driving characteristics based on the specifications of the work vehicle and the minimum turning radius required for stable turning.

[0128] For convenience of explanation, Fig. 8 shows an example of the second rotation section (32) under the condition that the angle (α) of the corner of the rotation point is an obtuse angle.

[0129] There are three constraints for setting the second rotation section (32).

[0130] The first constraint is that a work vehicle that was driving straight along the second straight section (31a) or the second straight section (31b) near a corner requiring a turn must be aligned so that it can drive straight along the second straight section (31b) or the second straight section (31a) after turning.

[0131] The second constraint is that the work vehicle must not encroach on the area that has been previously worked on.

[0132] The third constraint is that the work vehicle must not go outside the area designated as ABCD of the cultivated land (CL), and the work vehicle must maintain a certain distance from the boundary of the cultivated land (CL) designated as ABCD.

[0133] According to the example of Fig. 8, the second turning section (32) connecting the second straight section (31a) and the second straight section (31b) is composed of two forward turning sections (32f-1, 32f-2) and two backward turning sections (32r-1, 32r-2). However, depending on the angle (α) at ​​which the work vehicle must turn, the second turning section (32) may be composed of subsections having at least one forward turning section (32f-1, 32f-2) and at least one backward turning section (32r-1, 32r-2).

[0134] According to the present invention, all forward rotation sections (32f-1, 32f-2) and backward rotation sections (32r-1, 32r-2) forming the second rotation section (32) rotate at a set rotation radius (R).

[0135] A specific method for setting the second rotation section (32) shown in the example of Fig. 8 is described.

[0136] To set the second rotation section (32), the starting point (32s) and the ending point (32e) of the second rotation section (32) are set as in Fig. 9.

[0137] The starting point (32s) of the second turning section (32) is the end point of the previous second straight section (31a) that has been driven, and the end point (32e) of the second turning section (32) is the starting point of the second straight section (31b) that must be driven thereafter.

[0138] In order to set the second rotation section (32), as shown in Fig. 10, a point located at a distance from the starting point (32s) inward by a preset rotation radius (R) in a direction perpendicular to the second straight section (31a) is set as the rotation center point 1 (O1).

[0139] The first forward rotation section (32f-1) rotates forward based on the rotation center point 1 (O1) and is generated by taking coordinates (C1, C2, C3, C4) at set intervals.

[0140] The arrival point (fe) of all forward rotation sections (32f-1, 32f-2) is set in relation to the second critical value line (Lb).

[0141] The second threshold line (Lb) is set parallel to the second straight section (32b) and outside the second straight section (31b). Here, outside means the direction away from the first working area (WA1).

[0142] The second threshold line (Lb) is a direction parallel to the second straight section (31b) that must be driven after passing through the second turning section (32), and can be set to be separated from the second straight section (31a) by '(length of the work machine) / 2 + A'. Here, A can be, for example, 1.5 m, and is a constant arbitrarily determined according to the specifications of the work vehicle and work machine, and thus can be determined differently for each work vehicle and work machine.

[0143] The rotation threshold of the forward rotation section (32f-1, 32f-2) is that the distance from the second threshold line (Lb) is a preset X (adjustable within 1.5 m). That is, the arrival point (fe) of the forward rotation section (32f-1, 32f-2) cannot be set beyond the line 'second threshold line (Lb) - X'.

[0144] Since the forward rotation section (32f-1, 32f-2) is set to draw a circular curve, the distance between the currently captured point and the second threshold line (Lb) may be longer than the distance between the previously captured point and the second threshold line (Lb). In this case, if the distance between the currently captured point and the second threshold line (Lb) is longer than the distance between the previously captured point and the second threshold line (Lb), the rotation stops.

[0145] The setting of the first reverse rotation section (32r-1) can be referred to in Fig. 11.

[0146] As in Fig. 11, in order to set the first backward rotation section (32r-1), a point symmetrical to the rotation center point 1 (O1) based on the arrival point (fe) of the first forward rotation section (32f-1) is set as the rotation center point 2 (O2). Here, the arrival point (fe) of the first forward rotation section (32f-1) is also the starting point of the first backward rotation section (32r-1).

[0147] Starting from the end point (fe) of the first forward rotation section (32f-1) based on the rotation center point 2 (O2), it rotates backward and marks coordinates (C5, C6, C7, C8) at preset distance intervals.

[0148] The arrival point (re) of the first backward rotation section (RS1) is set in relation to the first threshold line (La).

[0149] The first critical value line (La) is parallel to the second straight section (31a) and is spaced apart by (working machine length) / 2 +1.5 m in a direction perpendicular to the second straight section (31a).

[0150] The rotation threshold of the first backward rotation section (32r-1) is the point where the distance from the first threshold line (La) is a preset X.

[0151] As above, the remaining second forward rotation section (32f-2) and the second backward rotation section (32r-2) are set.

[0152] However, the rotation center point of the second forward rotation section (32f-2) is set to a point symmetrical with respect to the rotation center point (O2) of the first backward rotation section (32r-1) based on the arrival point (re) of the first backward rotation section (32r-1), and the rotation center point of the second backward rotation section (32r-2) is set to a point symmetrical with respect to the rotation center point of the second forward rotation section (32f-2) based on the arrival point of the second forward rotation section (32f-2). In other words, except for the forward rotation section (32f-1), which is the first section, the remaining sub-rotation sections, namely the forward rotation sections (32f-2) and the backward rotation sections (32r-1, 32r-2), are set to a point symmetrical with respect to the rotation center point of the previous sub-rotation section based on the arrival point of the previous sub-rotation section.

[0153] If the rotation angle (180-α) is large, there may be three or more forward rotation sections (32f-1, 32f-2) and three or more backward rotation sections (32r-1, 32r-2), but all sections can be generated in the manner mentioned above.

[0154] However, as shown in Fig. 12, the arrival point (re') of the second backward turning section (32r-2), which is the last detailed turning section in which the work vehicle is arranged parallel to the second straight section (31b), may not match the arrival point (32e) of the preset second turning section (32). In this case, each of the forward turning sections (32f-1, 32f-2) and the backward turning sections (32r-1, 32r-2) is moved in a direction parallel to the previously driven second straight section (31a) (see arrow a) so that the arrival point (re') of the last backward turning section (32r-2) is positioned on the second straight section (31b) to be driven thereafter. In this case, the starting point (32a) and the arrival point (32e) of the previously set second turning section (32) may be slightly changed.

[0155] As the rotation angle (180-α) increases, the number of forward rotation sections (32f-1, 32f-2) and the number of backward rotation sections (32r-1, 32r-2) may increase, but regardless of the number, the second rotation section (32) is set while generating detailed rotation sections (32f-1, 32r-1, 32f-2, 32r-2) that do not exceed the threshold line (La, Lb).

[0156] As above, the rotation centers (O1, O2) and critical lines (La, Lb) of the forward rotation sections (32f-1, 32f-2) and the backward rotation sections (32r-1, 32r-2) are set, and each forward rotation section (32f-1, 32f-2) and the backward rotation section (32r-1, 32r-2) is set to rotate with the same rotation radius (R) without exceeding the critical lines (La, Lb). Therefore, when the rotation angle is determined, the number of forward rotation sections (32f-1, 32f-2) and the number of backward rotation sections (32r-1, 32r-2) can be automatically determined by considering the critical lines (La, Lb).

[0157] The second rotation section (32) is completed by continuously creating detailed rotation sections based on the set rotation radius (R) and the rotation center point (O1, O2) based on automatic calculation when the rotation radius (R) and rotation angle (180-α) are determined.

[0158] 3. Description of the autonomous driving connection route

[0159] Figure 13 is an excerpt of an autonomous driving connection path (20).

[0160] The autonomous driving connecting route (20) is an autonomous driving route that connects the end point (10t) of the first autonomous driving route (10) to the starting point (30s) of the second autonomous driving route (30).

[0161] In the autonomous driving connecting path (20), no work is performed, and only the direction of the work vehicle is changed.

[0162] The autonomous driving connecting route (20) has the end point (10t) of the first autonomous driving route (10) as the starting point (20s) and the start point (30s) of the second autonomous driving route (30) as the ending point (20t).

[0163] The autonomous driving connecting path (20) consists of a forward transition section (21) and a backward transition section (22).

[0164] The forward transition section (21) starts from the end point (10t) of the first autonomous driving route (10) and continues to the destination point (21e) while maintaining forward movement.

[0165] As shown in Fig. 14, the forward transition section (21) can be divided into forward section 1 (21-1) and forward section 2 (21-2).

[0166] Forward section 1 (21-1) is a section for changing direction by rotating by a rotation angle (180-α).

[0167] The starting point of the first forward section (21-1) is the end point (10t) of the first autonomous driving path (10), and the destination point (PP) is the point where the work vehicle changes to a posture that allows it to drive in a direction parallel to the first second straight section (31a, 31b) of the second autonomous driving path (30).

[0168] The rotation center point (O3) of the first forward section (21-1) is a point located at a distance equal to the turning radius (R) in the driving direction of the work vehicle driving on the second straight section (31a, 31b) of the second autonomous driving path (30) while being perpendicular to the last straight section (11) of the second autonomous driving path (10) from the end point (10t) of the first autonomous driving path (10).

[0169] The rotation angle (180-α) for creating the first forward section (21-1) for changing direction is based on the angle (α) formed between adjacent sides on the border of the first working area (WA1).

[0170] Once the rotation angle (180-α) is calculated, the coordinates are printed at each set angle while rotating to create a forward section 1 (21-1).

[0171] Forward section 2 (21-2) is a section that starts from the end point (PP) of forward section 1 (21-1) and moves straight in the direction of travel of the work vehicle running in the second straight section (31a, 31b) parallel to the second straight section (31a, 31b).

[0172] The arrival point (21e) of the forward section 2 (21-2) can be calculated differently depending on the method by which the reverse transition section (22) described later is created.

[0173] The starting point of the second forward section (21-2) is the destination point (PP) of the first forward section (21-1), and the destination point (21e) of the second forward section (21-2) is the starting point of the reverse transition section (22). Therefore, once the starting point of the reverse transition section (22) is calculated, the destination point of the second forward section (21-2) and the length of the second forward section (21-2) can be calculated.

[0174] Once the length of the second forward section (21-2) is calculated, the coordinates are printed at set intervals to create the second forward section (21-2).

[0175] The reverse transition section (22) starts from the end point (21e) of the forward transition section (21) and continues to the end point (20t) of the autonomous driving connecting path (20) while maintaining reverse motion.

[0176] Referring to Figure 15, the reverse transition section (22) can be subdivided into reverse section 1 (22-1), reverse section 2 (22-2), reverse section 3 (22-3), and reverse section 4 (22-3).

[0177] The first reverse section (22-1) and the third reverse section (22-3) are sections in which the work vehicle is rotated symmetrically in the forward / reverse direction by a set rotation angle (β) so that the work vehicle can move straight along the first second straight section (31a, 31b) of the second autonomous driving path (30).

[0178] The second backward section (22-2) and the fourth backward section (22-4) are sections for positioning the work vehicle at the starting point (30s) of the second autonomous driving path (30) by adding a straight-line movement distance to the movement distance on the second straight section (31a, 31b) formed by the first backward section (22-1) and the third backward section (22-3).

[0179] In order to create a backward transition section (22), the arrival point and starting point of the backward transition section (22) must be known.

[0180] The destination point of the reverse transition section (22) is the end point (20t) of the autonomous driving connecting path (20) and the starting point (30s) of the second autonomous driving path (30), and is determined by the length of the work machine, etc. In addition, the destination point of the reverse transition section (22) becomes the reference point for calculating the starting point of the reverse transition section (22).

[0181] In the example of Fig. 6, the first second straight section (31b) of the second autonomous driving path (30) is set to a distance (G) equal to (driving interval / 2) from the rectangular boundary line (B), which is the border of the first work area (WA1). Here, the driving interval (2G) is the interval (2G) between the second straight sections (31a, 31b) that are adjacent to each other in parallel. For example, the driving interval (2G) can be defined as the length of a line segment that vertically connects lines that cross the center of the work vehicle in the forward and backward directions when the work vehicle is driving the second straight sections (31a, 31b) that are adjacent to each other in parallel. The driving interval (2G) can be determined by the width of the work machine that determines the area of ​​work by the work machine.

[0182] On the other hand, the fourth second straight section (31a) of the second autonomous driving route (30) is set to be spaced apart from the boundary line (B) by the driving interval (2G).

[0183] The reason why the first second straight section (31b) and the fourth second straight section (31a) of the second autonomous driving route (30) are set differently is to enable more appropriate work to be performed.

[0184] In the first autonomous driving path (10), the work performed in the first straight section (11) passing the boundary line (B) is performed up to about half of the driving interval toward the second work area (WA2) considering the width of the work machine. However, no work is performed in the first turning section (12). Therefore, in order to perform work without gaps on the cultivated land (CL), it is preferable that the interval between the first second straight section (31b) of the second autonomous driving path (30) and the boundary line (B) be narrower than the interval between the fourth second straight section (31a) and the boundary line (B). Likewise, the interval between the third second straight section (31b) of the second autonomous driving route (30) and the boundary line (B) is the same as the interval between the first second straight section (31b) of the second autonomous driving route (30) and the boundary line (B), and the interval between the second second straight section (31a) of the second autonomous driving route (30) and the boundary line (B) is the same as the interval between the fourth second straight section (31a) of the second autonomous driving route (30) and the boundary line (B). In addition, the intervals between the second straight sections (31a, 31b) that are adjacent to each other in parallel are all the same as the driving interval (2G).

[0185] Referring to Fig. 3, in this embodiment, the starting point of the first second straight section (31b), which is the starting point (30s) of the second autonomous driving path (30), is stipulated so that the fourth second straight section (31a) passes through or at least reaches the starting point.

[0186] Accordingly, the end point (20t) of the autonomous driving connecting path (20) is the starting point of the first second straight section (31b) of the second autonomous driving path (30) and the destination point where the fourth second straight section (31a) passes or arrives. Referring to FIGS. 5 and 6, the point where the coordinates (x1, y1) of the end point (10t) of the first autonomous driving path (10) move by the magnitude G / sinα in the straight direction in the second straight section (31a) of the second autonomous driving path (30) and then move by the magnitude 2G / sinα in the backward direction in the second straight section (31b) becomes the end point (20t) of the autonomous driving connecting path (20) and the destination point of the backward transition section (22).

[0187] The reverse transition section (22) starts at the end point (21e) of the forward transition section (21) and ends at the start point (30s) of the second autonomous driving route (30).

[0188] The reverse transition section (22) will be further explained with reference to Fig. 15.

[0189] In Fig. 15, 'R' is the turning radius of the work vehicle, and 'β' is a predetermined constant value that is an appropriately set turning angle considering the turning radius (R).

[0190] O5 is the rotation center point 5 for generating the first backward section (22-1), and can be in the -Y direction from the starting point of the backward transition section (22) and on the boundary line (B) of the first work area (WA1). Therefore, the rotation center point 5 (O5) and the first second straight section (31a, 31b) of the second autonomous driving path (30) can have a distance of 'G' from each other. Here, the Y direction means the direction that is perpendicular to the second straight section (31b) and moves away from the first work area (WA1).

[0191] The distance between the center of rotation 5 (O5) and the starting point of the reverse transition section (22) is equal to the radius of rotation (R).

[0192] The rotation center point 6 (O6) is located at a position spaced apart from the starting point (③) of the 4th section of the reverse movement (22-4) by the rotation radius (R) in the Y direction.

[0193] Considering the above points, 'd', the distance in the Y direction between the starting point and the ending point (20t) of the backward transition section (22), is expressed by equation 1.

[0194] Relationship 1) d = R - G

[0195] 'L' is the sum of the lengths (L1, L2, L3, L4) projected onto the second straight section (31a, 31b) of each of the backward section 1 (22-1), backward section 2 (22-2), backward section 3 (22-3), and backward section 4 (22-3) that form the backward transition section (22). If this is expressed as a relational expression, it is as shown in relational expression 2.

[0196] Relationship 2) L = L1 + L2 + L3 + L4

[0197] In relational expression 2, 'L4' is defined as the distance equivalent to the driving distance (2G) in the driving direction of the work vehicle in the second straight section (31a, 31b) from the arrival point of the reverse transition section (22). If this is expressed as a relational expression, it is as in relational expression 3.

[0198] Relationship 3) L4 = 2G

[0199] In relational expression 2, since the rotation angles (β) of 'L1' and 'L3' must be the same, the rotation distances are also the same. The relational expression for 'L1' and 'L3' is as in relational expression 4).

[0200] Relationship 4) L1 = L3 = Rsinβ

[0201] 'd' is the sum of the lengths (d1, d2, d3, d4) in the Y direction of each of the backward section 1 (22-1), backward section 2 (22-2), backward section 3 (22-3), and backward section 4 (22-3) that form the backward transition section (22). If this is expressed as a relational expression, it is as shown in Relational Expression 5.

[0202] Relationship 5) d = d1 + d2 + d3 + 0

[0203] In relational expression 5, 0 means that d4, the Y-direction length of the 4th backward section (22-4), is 0.

[0204] In equation 5, 'd1' and 'd3' have the same rotation angle (β), so their rotation distances are the same. The equation for 'd1' and 'd3' is as shown in equation 6.

[0205] Relationship 6) d1 = d3 = R - Rcosβ

[0206] In Fig. 15, 'd2' is 'n' and 'L2' is 'm'.

[0207] d2 is calculated by relation 7.

[0208] Relationship 7) d2 = n = d - (d1 + d3)

[0209] Therefore, 'L2' and 'm' are calculated by relational expression 8.

[0210] Relationship 8) m = n / tanβ = L2

[0211] By obtaining 'd' and 'L' using the values ​​given above and relational expressions 1 to 7, the starting point of the backward transition section (22) can be determined. And since the starting point of the backward transition section (22) becomes the arrival point (21e) of the forward transition section (21), the arrival point (21e) of the forward transition section (21) is also determined.

[0212] Once the starting point and the end point of the backward transition section (22) are calculated, each sub-section (22-1, 22-2, 22-3, 22-4) is created in the order of backward section 1 (22-1), backward section 4 (22-4), backward section 3 (22-3), and backward section 4 (22-4).

[0213] The backward section 1 (22-1) is created by rotating by a rotation angle (β) from the arrival point (21e) of the forward transition section (22) based on the rotation center point 1 (O5) and printing coordinates for each set angle.

[0214] The arrival point (21e) of the forward transition section (22) is the starting point of the first backward section (22-1), and the arrival point (①) of the first backward section (22-1) is the point rotated by the rotation angle (β) from the starting point of the first backward section (22-1).

[0215] The fourth reverse section (22-4) is the starting point (③) at a distance equal to the driving interval (= 2G) in the driving direction of the work vehicle in the first second straight section (31a, 31b) of the second autonomous driving route (30) from the end point (20t) of the autonomous driving route (20) and the end point of the reverse transition section (22), and the starting point (30s) of the second autonomous driving route (30) is the end point.

[0216] The destination of the third backward section (22-3) is the starting point (③) of the fourth backward section (22-4), and the starting point (②) of the third backward section (22-3) is the point rotated by the rotation angle (β) from the starting point of the fourth backward section (22-4).

[0217] The 3rd backward section (22-3) is created by taking the starting point (③) of the 4th backward section (22-4) as the destination point and rotating by the rotation angle (β) based on the rotation center point 2 (O6) and marking coordinates for each set angle.

[0218] The second section of the reverse movement (22-2) is created by connecting the end point (①) of the first section of the reverse movement (22-1) and the starting point (②) of the third section of the reverse movement (22-3) with a straight line and marking coordinates at set intervals.

[0219] Figure 16 is a flowchart according to an example showing the method for generating an autonomous driving path (SC) described above.

[0220] <s10>Create the first path

[0221] First, the first autonomous driving path (10) is created.

[0222] <s20>Create a joint path

[0223] An autonomous driving connecting path (20) starting from the end point (10t) of the first autonomous driving path (10) is created.

[0224] The creation of the autonomous driving connection path (20) is the creation of the forward transition section (21). <s21>After that, a backward transition section (22) is created. <s22>Proceed in the following order.

[0225] As explained above, the backward transition section (22) can be subdivided into a sequence of more specific steps.

[0226] (1) Find the destination point of the reverse transition section (22), which is the starting point (30s) of the second autonomous driving route and the end point (20t) of the autonomous driving connecting route (20).

[0227] (2) Using the constants given in advance according to the shape of the cultivated land (CL), specifications of the work vehicle and work machine, the starting point of the reverse transition section (22) and the arrival point (21e) of the forward transition section (22) are obtained.

[0228] (3) A backward section 1 (22-1) is created by rotating by a preset rotation angle (β) with the arrival point (21e) of the forward transition section (22) as the starting point.

[0229] (4) By moving the distance equivalent to the driving interval (2G) of the work vehicle from the end point (20t) of the autonomous driving connecting path (20) in the driving direction of the work vehicle in the second straight section (31a, 31b), the starting point of the 4th reverse section (22-4) is set, thereby ultimately creating the 4th reverse section (22-4).

[0230] (5) The starting point (③) of the backward 4th section (22-4) is used as the destination point, and a backward 3rd section (22-3) is created by rotating at a preset rotation angle (β).

[0231] (6) By connecting the arrival point (①) of the first backward section (22-1) and the starting point (②) of the third backward section (22-3) with a straight line, the second backward section (22-2) is created.

[0232] <s30>Create a second path

[0233] A second autonomous driving path (30) is created starting from the end point (20t) of the autonomous driving connecting path (20).

[0234] The creation of the second autonomous driving path (30) creates the second straight section (31a, 31b). <s31>After that, the second rotation section (32) is created. <s32>Proceed in the following order.

[0235] It is also possible to set the number of times the first work area (WA1) is circled by the second autonomous driving path (30).

[0236] In the future, when the work vehicle drives on the second autonomous driving path (30) while performing actual work, the number of wheels that circle the first work area (WA1) is counted, and the work is finished when the last wheel is finished.

[0237] The above-described embodiments merely illustrate preferred examples of the present invention, and it may have various applications. Therefore, the present invention should not be construed as limited to the above-described content. Instead, the scope of the present invention should be construed within the scope of the separately described claims and their equivalents.

Claims

1. First path generation step for generating the first autonomous driving path (10), which is an autonomous driving path in the first work area (WA1). <s10> ;< / s10> A connecting path generation step for generating an autonomous driving connecting path (20) that is an autonomous driving path that connects the end point (10t) of the first autonomous driving path (10) to the starting point (30s) of the second autonomous driving path (30), which is an autonomous driving path in the second work area (WA2). <s20>; and Second route generation step for generating the second autonomous driving route (30) <S30); 를 포함하며, The above second working area (WA2) is placed outside the above first working area (WA1), The driving patterns of the first autonomous driving route (10) and the second autonomous driving route (30) are different from each other. A method for generating a path in an autonomous agricultural work vehicle.

2. In paragraph 1, The above first autonomous driving path (10) has a first driving pattern of moving back and forth in the first work area (WA1). The above second autonomous driving path (30) has a second driving pattern that places the first work area (WA1) on the inside and goes around the outside of the first work area (WA1). A method for generating a path in an autonomous agricultural work vehicle.

3. In paragraph 2, The above second autonomous driving path (30) is a path that rotates multiple times, and is created to rotate while moving away from the first work area (WA1) and closer to the first work area (WA1). A method for generating a path in an autonomous agricultural work vehicle.

4. In paragraph 1, The second path generation step above <s30> Is Straight section creation step for creating the path of the second straight section (31a, 31b) that runs straight <s31> ; and A rotation section creation step that creates a path of second rotation sections (32) that change direction to connect the above second straight sections (31a, 31b). <s32> ; including A method for generating a path in an autonomous agricultural work vehicle.

5. In paragraph 4, The above second rotation section (32) has sub-rotation sections including a forward rotation section (32f-1, 32f-2) that rotates while moving forward and a backward rotation section (32r-1, 32r-2) that rotates while moving backward. The above rotation section creation step <s32> It automatically generates the forward rotation section (32f-1, 32f-2) and the backward rotation section (32r-1, 32r-2) so as not to exceed the set threshold line (La, Lb). A method for generating a path in an autonomous agricultural work vehicle.

6. In paragraph 5, The above critical line (La. Lb) is set as '(length of the work tool) / 2 + A (A is a value arbitrarily determined according to the specifications of the work vehicle)' in a direction parallel to the second straight section (31a, 31b) and perpendicular to the second straight section (31a, 31b) outside the second straight section (31a, 31b). A method for generating a path in an autonomous agricultural work vehicle.

7. In paragraph 5, The above forward rotation section (32f-1, 32f-2) and the above backward rotation section (32r-1, 32r-2) rotate with the same rotation radius (R). Except for the first section, the above forward rotation section (32f-1), the rotation centers of the remaining sub-rotation sections are set to points symmetrical to the rotation centers of the previous sub-rotation sections based on the arrival points of the previous sub-rotation sections. A method for generating a path in an autonomous agricultural work vehicle.

8. In paragraph 7, If the arrival point of the last sub-rotation section of the above-mentioned sub-rotation sections does not coincide with the arrival point (32e) of the preset second rotation section (32), the forward rotation sections (32f-1, 32f-2) and the backward rotation sections (32r-1, 32r-2) are moved in a direction parallel to the previously driven second straight section (31a, 31b) so that the arrival point of the last sub-rotation section is positioned on the second straight section (31a, 31b) to be driven thereafter. A method for generating a path in an autonomous agricultural work vehicle.

9. In paragraph 4, The forward rotation section (32f-1, 32f-2) and the backward rotation section (32r-1, 32r-2) are both generated by rotations with the same rotation radius (R). A method for generating a path in an autonomous agricultural work vehicle.

10. In paragraph 1, The above joint path generation step <s20> Is A forward transition section creation step that creates a forward transition section (21) that changes the driving direction while maintaining forward movement at the end point (10t) of the first autonomous driving path (10) above. <s21> ; and A reverse transition section creation step that creates a reverse transition section (22) that changes to a reverse state at the destination point (21e) of the above forward transition section (21) and moves to the starting point (30s) of the above second autonomous driving path (30). <s22> ; including A method for generating a path in an autonomous agricultural work vehicle.

11. In paragraph 10, The above forward transition section (21) Forward section 1 (21-1) that rotates from the end point (10t) of the first autonomous driving route (10) to the starting point; and A forward section 2 (21-2) that starts from the destination point (PP) of the above forward section 1 (21-1) and moves straight; including; A method for generating a path in an autonomous agricultural work vehicle.

12. In paragraph 11, The rotation center point (O3) of the above first forward section (21-1) is located at a distance from the end point (10t) of the first autonomous driving path (10) by a rotation radius (R) in a direction perpendicular to the last section of the first autonomous driving path (10). The rotation angle for generating the above-mentioned first forward section (21-1) is a value based on the angle formed between adjacent sides on the border of the first working area (WA1). A method for generating a path in an autonomous agricultural work vehicle.

13. In paragraph 10, The above backward transition section (22) A backward section 1 (22-1) that rotates with the destination point (21e) of the above forward transition section (21) as the starting point; The second backward section (22-2) moves in a straight line starting from the destination point (①) of the first backward section (22-1); The third backward section (22-3) that rotates with the destination point of the second backward section (22-2) as the starting point (②); and Includes the backward 4th section (22-2) that moves in a straight line starting from the end point of the backward 3rd section (22-3); The destination of the above 4th backward section (22-2) is the starting point (30s) of the above 2nd autonomous driving route (30). A method for generating a path in an autonomous agricultural work vehicle.

14. In paragraph 13, The above backward transition section creation step <s22> Is Step 1: Finding the destination point of the above backward transition section (22); Step 2: Finding the starting point of the above backward transition section (22); Step 3 of creating the above backward section 1 (22-1); Step 4 of creating the above backward 4-section (22-4); Step 5 of creating the above backward 3-section (22-3); and It includes step 6 of creating a second backward section (22-2) that connects the first backward section (22-1) and the third backward section (22-3) in a straight line; The starting point of the above-mentioned backward 4th section (22-4) is obtained by moving the distance equivalent to the driving interval (2G) of the work vehicle from the end point (20t) of the above-mentioned autonomous driving connecting path (20) in the driving direction of the work vehicle in the above-mentioned second straight section (31a, 31b). A method for generating a path in an autonomous agricultural work vehicle.

15. In paragraph 14, The second path generation step above <s30> Is Straight section creation step for creating the path of the second straight section (31a, 31b) that runs straight <s31> ; and A rotation section creation step that creates a path of second rotation sections (32) that change direction to connect the above second straight sections (31a, 31b). <s32> ; including, The destination point of the above-mentioned backward transition section (22) is obtained by moving by G / sinα in the straight direction in the second straight section (31a, 31b) from the end point (10t) of the first autonomous driving path (10), and then moving by 2G / sinα in the backward direction in the second straight section (31a, 31b). 'G' is 1 / 2 of the spacing between the second straight sections (31a, 31b) that are parallel to each other, and 'α' is the angle between the second straight sections (31a, 31b). A method for generating a path in an autonomous agricultural work vehicle.

16. In paragraph 14, The starting point of the above backward transition section (22) is a point at which the distance is 'L' from the end point of the above backward transition section (22) in the direction of the second straight section (31a, 31b) and the distance is 'd' in the direction away from the first working area (WA1) while being parallel to the above second straight section (31a, 31b) (hereinafter referred to as 'Y direction'). 'L' is the sum of the lengths (L1, L2, L3, L4) projected onto the second straight section (31a, 31b) of each of the backward section 1 (22-1), backward section 2 (22-2), backward section 3 (22-3), and backward section 4 (22-3) that form the backward transition section (22). 'd' is the sum of the lengths (d1, d2, d3, d4) in the Y direction of each of the backward 1 section (22-1), backward 2 section (22-2), backward 3 section (22-3), and backward 4 section (22-3) that form the backward transition section (22). Satisfies the following relations 1, 4 and 5, Relationship 1) d = R - G Relationship 4) L1 = L3 = Rsinβ Relationship 6) d1 = d3 = R - Rcosβ 'G' is 1 / 2 of the spacing between the second straight sections (31a, 31b) that are parallel to each other, 'R' is the turning radius of the work vehicle, and 'β' is a constant given as the turning angle of the work vehicle. A method for generating a path in an autonomous agricultural work vehicle.

17. In paragraph 16, The following relations 7 and 8 are more satisfied Relationship 7) d2 = d - (d1 + d3) Relationship 8) L2 = d2 / tanβ A method for generating a path in an autonomous agricultural work vehicle.

18. A recording medium having recorded thereon a computer-readable program capable of executing a path generation method according to any one of clauses 1 to 17 on a computer.

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