Agricultural work vehicle and method for generating autonomous work path thereof

Abstract

Provided is a method for generating an autonomous work path of an agricultural work vehicle, the method comprising the steps of: receiving a user input setting a rotation direction and a work order, and acquiring the outermost path and the innermost path of an autonomous work path, wherein each of the outermost path and the innermost path comprises a plurality of path points; generating one or more intermediate paths between the outermost path and the innermost path by using the plurality of path points of each of the outermost path and the innermost path; and generating one or more connection paths for movement among the outermost path, the innermost path, and the one or more intermediate paths, on the basis of the set rotation direction and work order.

Description

Agricultural work vehicle and method for generating its autonomous work path

[0001] The present disclosure relates to an agricultural work vehicle and a method for generating an autonomous work path therefor. More specifically, it relates to a method for generating an autonomous work path for an autonomous agricultural work vehicle to perform a stopping operation on a race track.

[0002] Agricultural work vehicles are vehicles used for agricultural work, and may refer to, for example, rice transplanters, combines, tractors, etc. For example, a tractor can be attached to various implements required for agricultural work and perform the necessary agricultural work.

[0003] With the application of Tier 4 engines, automatic transmissions, and automatic hydraulic systems to agricultural work vehicles, and the introduction of information technology (IT), autonomous operation technology is being developed that enables agricultural work vehicles to perform agricultural tasks without human intervention. For example, in Level 3 autonomous operation, a worker must be on board the agricultural work vehicle to monitor and control the autonomous operation, whereas in Level 5 autonomous operation, the agricultural work vehicle directly determines work-related elements and performs the task regardless of whether a worker is on board.

[0004] A horse racing track consists of a flat gravel layer, a ground layer composed of weathered granite or similar materials on top of the gravel layer, and a cushion layer composed of sand on top of the ground layer. The cushion layer is generally formed to a thickness of about 7 cm and serves to protect the racehorse. If the cushion layer thins out due to racing or hardens as moisture freezes in low-temperature environments (e.g., at night, during winter), there is a risk of the racehorse sustaining an injury due to hoof damage, and the risk of falling increases.

[0005] Track maintenance refers to a series of operations aimed at removing horseshoe marks left during races, leveling the track, and maintaining a moisture content (e.g., 6% to 10%) suitable for racehorses. For the proper management of a racetrack, it is desirable to continuously perform track maintenance except when races are being held. For example, more than 5,000 track maintenance operations are performed annually at racecourses in South Korea.

[0006] However, since ground leveling is generally performed by operators manually driving agricultural work vehicles equipped with leveling implements, it requires an excessive workforce. Furthermore, deploying manpower in harsh working environments, such as at night or during winter, causes significant inconvenience and costs. Consequently, methods to perform ground leveling using autonomous agricultural work vehicles are being explored, and there is a growing demand for methods to generate autonomous paths for this task.

[0007] The present disclosure is intended to provide a method for generating an autonomous work path for an autonomous agricultural work vehicle to perform a stopping operation on a race track.

[0008] According to one aspect of the present disclosure, a method for generating an autonomous work path for an agricultural work vehicle may include receiving user input for setting a turning direction and a work sequence and obtaining an outermost path and an innermost path of the autonomous work path—wherein the outermost path and the innermost path each include a plurality of path points—, generating one or more intermediate paths between the outermost path and the innermost path using the plurality of path points included in each of the outermost path and the innermost path, and generating one or more connecting paths for movement between the outermost path, the innermost path, and the one or more intermediate paths based on the set turning direction and work sequence.

[0009] In one embodiment, the step of generating one or more intermediate paths may include: calculating the average position of a plurality of path points included in either the outermost path or the innermost path (hereinafter referred to as the "first reference path"); determining the first path point closest to the average position among the plurality of path points included in the first reference path; generating a virtual path point located at a position point-symmetric with respect to the first path point with respect to the average position; determining the second path point closest to the virtual path point among the plurality of path points included in the first reference path; determining the path point closer to the position where the first reference path began to be acquired among the first path point and the second path point as the first starting position; calculating the number of intermediate paths based on the first starting position; and generating the calculated number of intermediate paths based on the set operation sequence.

[0010] In one embodiment, the step of calculating the number of intermediate paths based on the first starting position may include: a step of calculating the distances from each path point included in the first reference path to the nearest path point among a plurality of path points included in the outermost path and the innermost path other than the first reference path (hereinafter referred to as the "second reference path") while circulating the first reference path in the set rotational direction starting from the first starting position; and a step of calculating the number of intermediate paths based on the maximum distance among the calculated distances and the width of the implement attached to the agricultural work vehicle.

[0011] In one embodiment, the step of calculating distances from each path point included in the first reference path to the nearest path point among a plurality of path points included in the second reference path, while traversing the first reference path in the set rotation direction starting from the first position, may include the step of determining whether the acquisition order of the plurality of path points included in the first reference path corresponds to the set rotation direction, and the step of calculating distances from each path point included in the first reference path to the nearest path point among a plurality of path points included in the second reference path, depending on whether the acquisition order corresponds to the set rotation direction; and the step of calculating distances from each path point included in the first reference path to the nearest path point among a plurality of path points included in the second reference path, wherein if the acquisition order corresponds to the set rotation direction, the distances from each path point included in the first reference path to the nearest path point included in the second reference path are calculated in the acquisition order of the plurality of path points included in the first reference path starting from the first starting position, and the acquisition order is the set rotation If there is no corresponding direction, starting from the first starting position, the distances from each path point included in the first reference path to the nearest path point among the multiple path points included in the second reference path can be calculated in the reverse order of the acquisition order of the multiple path points included in the first reference path.

[0012] In one embodiment, the step of generating the calculated number of intermediate paths based on the set operation sequence may include the step of setting an initial rotation path based on the set operation sequence, and the step of generating the calculated number of intermediate paths such that the spacing between the intermediate paths is equal based on the set operation sequence.

[0013] In one embodiment, the step of generating one or more connection paths may include generating one or more progress paths to move to a rotation path of the next operation sequence based on the set rotation direction and operation sequence, generating a straight path to move along the last rotation path, and generating a return path to move from the last rotation path to the initial rotation path.

[0014] In one embodiment, the one or more progress paths, the straight paths, and the return paths may each include a predetermined number of path points, and the predetermined number may be determined based on at least one of the spacing between the outermost path, the innermost path, and the one or more intermediate paths, and the turning radius of the agricultural work vehicle.

[0015] In one embodiment, the step of generating the one or more connection paths may further include the step of forming the one or more connection paths based on the last path point of the return path.

[0016] In one embodiment, the method may further include the step of creating one or more curved paths by curving one or more connection paths.

[0017] In one embodiment, the step of generating the one or more curved paths may include determining a second starting position based on the set work sequence, curving the one or more progress paths while following the one or more progress paths starting from the second starting position, and curving at least a portion of the return paths that is close to the last rotation path and the initial rotation path.

[0018] In one embodiment, the method may further include the step of equalizing the spacing of path points of the outermost path, the innermost path, the one or more intermediate paths, the one or more connecting paths, and the one or more curved paths.

[0019] In one embodiment, the step of equalizing the path point interval comprises: calculating a first distance between a third path point and a fourth path point that is the next in sequence to the third path point; determining the fourth path point as the equalized path point if the first distance falls within a predetermined numerical range, wherein the predetermined numerical range includes a reference value and a predetermined error range; if the first distance is smaller than the lower limit of the predetermined numerical range, searching for next path points until the second distance exceeds the reference value of the predetermined numerical range, wherein the second distance is the sum of the distances between path points traversed from the third path point until the second distance exceeds the reference value of the predetermined numerical range; determining a point moved from the searched path point in the direction of the path point preceding the searched path point by the difference between the second distance and the reference value of the predetermined numerical range as the equalized path point; and if the first distance is greater than the upper limit of the predetermined numerical range, from the fourth path point in the direction of the third path point, the first distance and the It may include a step of determining the point moved by the difference of the reference value of the predetermined numerical range as the uniformized path point.

[0020] According to one aspect of the present disclosure, an agricultural work vehicle may include a Human-Machine Interface (HMI) that provides an interface for a user to interact with the agricultural work vehicle, a position sensor that detects the position of the agricultural work vehicle, a memory that stores one or more commands, and at least one processor. When the one or more commands are executed by the at least one processor, the agricultural work vehicle may receive user input that sets a rotation direction and a work sequence, obtain an outermost path and an innermost path of an autonomous work path—wherein the outermost path and the innermost path each include a plurality of path points—generate one or more intermediate paths between the outermost path and the innermost path using the plurality of path points included in each of the outermost path and the innermost path, and generate one or more connecting paths for movement between the outermost path, the innermost path, and the one or more intermediate paths based on the set rotation direction and work sequence.

[0021] An agricultural work vehicle according to one embodiment can generate an autonomous work path to perform stopping work on a horse racing track.

[0022] An agricultural work vehicle according to one embodiment can reduce manpower and costs for managing a racetrack by autonomously performing stopping work using a generated autonomous work path.

[0023] FIG. 1 is a block diagram illustrating the components of an agricultural work vehicle according to one embodiment.

[0024] FIG. 2 is a flowchart illustrating the operation of an agricultural work vehicle generating an autonomous work path according to one embodiment.

[0025] FIG. 3a is a flowchart illustrating the operation of an agricultural work vehicle generating an intermediate path according to one embodiment.

[0026] FIG. 3b is a flowchart illustrating the operation of an agricultural work vehicle generating an intermediate path according to one embodiment.

[0027] FIG. 3c is a flowchart illustrating the operation of an agricultural work vehicle generating an intermediate path according to one embodiment.

[0028] FIG. 4a is a reference diagram for explaining the operations of FIG. 3a in an example where the first reference path is the outermost path.

[0029] FIG. 4b is a reference diagram for explaining the operations of FIG. 3b in an example where the first reference path is the outermost path.

[0030] FIG. 4c is a reference diagram for explaining the operations of FIG. 3b in an example where the first reference path is the outermost path.

[0031] FIG. 5 is a flowchart illustrating the operation of an agricultural work vehicle generating a connection path according to one embodiment.

[0032] Figure 6 is a reference diagram for explaining the operations of Figure 5 in an example where the initial rotation path is the innermost path.

[0033] FIG. 7 is a flowchart illustrating the operation of an agricultural work vehicle curved along a connecting path according to one embodiment.

[0034] FIG. 8 is a reference diagram for explaining the operations of FIG. 7 in an example where the initial rotation path is the innermost path.

[0035] FIG. 9 is a flowchart illustrating the operation of an agricultural work vehicle equalizing the waypoint spacing according to one embodiment.

[0036] FIG. 10a is a reference diagram for explaining the operations of FIG. 9.

[0037] FIG. 10b is a reference diagram for explaining the operations of FIG. 9.

[0038] FIG. 10c is a reference diagram for explaining the operations of FIG. 9.

[0039] The terms used in this disclosure have been selected to be as widely used and general as possible, taking into account their functions within this disclosure; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. In specific cases, terms have been selected at the applicant's discretion, and in such cases, their meanings will be described in detail in the relevant explanatory sections. Therefore, terms used in this disclosure should be defined not merely by their names, but based on their meanings and the overall content of this disclosure.

[0040] Singular expressions may include plural expressions unless the context clearly indicates otherwise. Terms used herein, including technical or scientific terms, may have the same meaning as generally understood by those skilled in the art as described in this specification.

[0041] In this disclosure, the term “and / or” includes a combination of a plurality of related described components or any of a plurality of related described components.

[0042] Terms including ordinal numbers, such as "first" or "second," used in this disclosure may be used to describe various components, but said components should not be limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another.

[0043] In the present disclosure, the expression “at least one of a, b, or c” may refer to “a,” “b,” “c,” “a and b,” “a and c,” “b and c,” “all of a, b, and c,” or variations thereof.

[0044] When a part of a specification is described as "comprising" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Furthermore, terms such as "part" or "module" as used in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware or software, or as a combination of hardware and software.

[0045] Hereinafter, embodiments of the present disclosure are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present invention. However, the present disclosure may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present disclosure in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification have been given similar reference numerals. In addition, the reference numerals used in each drawing are for the purpose of explaining each drawing, and different reference numerals used in different drawings are not intended to represent different elements.

[0046] In the present disclosure, "path" may be understood as a group of multiple "path points." In other words, a path may include multiple path points. A path point may include GPS coordinate information of a specific location. For example, an outermost path, an innermost path, an intermediate path, a connecting path, and a curved path may each include multiple path points.

[0047] FIG. 1 is a block diagram illustrating the components of an agricultural work vehicle according to one embodiment.

[0048] Referring to FIG. 1, an agricultural work vehicle (100) according to one embodiment may include a Human-Machine Interface (HMI) (110), a position sensor (120), a memory (130), and a processor (140). However, not all components shown in FIG. 1 are essential components, and the agricultural work vehicle (100) may be implemented with more components than those shown in FIG. 1, or with fewer components.

[0049] The HMI (110) can provide an interface that allows the user and the agricultural work vehicle (100) to interact. For example, the HMI (110) may include an input interface that receives user input and an output interface that displays information related to an autonomous work path. In one embodiment, the input interface and the output interface may be implemented as a single piece of hardware, such as a touch screen capable of receiving touch input.

[0050] The position sensor (120) can detect the position of the agricultural work vehicle (100). The position sensor (120) may include at least one of GNSS (Global Navigation Satellite System), GPS (Global Positioning System), Differential GPS, RTK GPS (Real-Time Kinematic Global Positioning System), GLONASS, Galileo, and IMU (Inertial Measurement Unit), but is not limited thereto.

[0051] The memory (130) may store one or more instructions or programs that can be executed by the processor (140). The operations of the agricultural work vehicle (100) described in this disclosure may be implemented by the processor (140) executing the instructions or programs stored in the memory (130).

[0052] The memory (130) may include at least one of flash memory, hard disk, RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and PROM (Programmable Read-Only Memory), but is not limited thereto.

[0053] The processor (140) can control the overall operation of the agricultural work vehicle (100). For example, the processor (140) can control the operation performed by the agricultural work vehicle (100) to generate an autonomous work path for stopping work by executing one or more instructions or programs stored in memory (130).

[0054] The processor (140) may be composed of at least one of a CPU (Central Processing Unit), a microprocessor, an AP (Application Processor), a GPU (Graphic Processing Unit), an ASIC (Application Specific Integrated Circuit), a DSP (Digital Signal Processor), an ECU (Electronic Control Unit), a TCU (Transmission Control Unit), and a VCU (Vehicle Control Unit), but is not limited thereto.

[0055] FIG. 2 is a flowchart illustrating the operation of an agricultural work vehicle generating an autonomous work path according to one embodiment.

[0056] Referring to FIG. 2, in operation 210, an agricultural work vehicle (100) receives user input for setting the rotation direction and work sequence, and can obtain the outermost path and the innermost path of the autonomous work path. The outermost path and the innermost path may each include a plurality of path points.

[0057] The agricultural work vehicle (100) can receive user input (e.g., touch input) to set the rotation direction and work order using the HMI (110). The rotation direction refers to the direction in which the agricultural work vehicle (100) rotates the autonomous work path during a stop operation, and may be either clockwise or counterclockwise. The work order refers to whether the agricultural work vehicle (100) performs work in the order from the outermost path to the innermost path or from the innermost path to the outermost path during a stop operation. Setting the work order can be understood as setting the initial rotation path.

[0058] An agricultural work vehicle (100) can acquire an outermost path and an innermost path using a position sensor (120). For example, when a user drives the agricultural work vehicle (100) to travel along the outermost path and the innermost path, the agricultural work vehicle (100) can acquire the outermost path and the innermost path based on location information detected by the position sensor (120). The agricultural work vehicle (100) can acquire a path point corresponding to the GPS coordinates of the current location whenever it travels a predetermined distance, and the outermost path and the innermost path may each include a plurality of path points. At this time, the HMI (110) can display a menu on the display to initiate the acquisition of the outermost path and the innermost path. When the user selects the menu and travels along the outermost path and the innermost path, the agricultural work vehicle (100) can store the GPS coordinates measured by the position sensor (120).

[0059] If the outermost path and the innermost path are stored in advance in memory (130), the agricultural work vehicle (100) may generate an autonomous work path using the previously stored outermost path and the innermost path instead of acquiring a new outermost path and the innermost path. For example, when changing the turning direction and / or work order for the same race track, or when changing the width of the work implement due to replacement of the work implement, the agricultural work vehicle (100) may use the previously stored outermost path and the innermost path.

[0060] In operation 220, the agricultural work vehicle (100) can generate one or more intermediate paths between the outermost path and the innermost path using multiple path points included in each of the outermost path and the innermost path. The number and spacing of the intermediate paths can be determined to cover the entire race track together with the outermost path and the innermost path. The agricultural work vehicle (100) can perform stopping operations by sequentially following the outermost path (or innermost path), one or more intermediate paths, and the innermost path (or outermost path) based on the work sequence set by the user. The operation of generating intermediate paths will be described later with reference to FIGS. 3a, 3b, 3c, 4a, 4b, and 4c.

[0061] In operation 230, the agricultural work vehicle (100) can generate one or more connecting paths for movement between the outermost path, the innermost path, and one or more intermediate paths based on the rotation direction and work sequence set by the user. When the agricultural work vehicle (100) completes a stopping operation for one rotation path, it can move to the rotation path of the next work sequence by following the connecting path. The operation of generating the connecting paths will be described later with reference to FIGS. 5 and 6.

[0062] In operation 240, the agricultural work vehicle (100) can create one or more curved paths by curving one or more connecting paths. The agricultural work vehicle (100) rotates when entering the connecting path to move to the next work sequence's turning path, and when entering the next work sequence's turning path from the connecting path. If the angle of rotation is greater than the rotational capability of the agricultural work vehicle (100), path-following performance may be degraded or safety accidents may occur due to sudden turns, and it is necessary to curve the connecting paths to prevent this. The operation of curving the connecting paths will be described later with reference to FIGS. 7 and 8.

[0063] In operation 250, the agricultural work vehicle (100) can equalize the spacing of the path points of the outermost path, the innermost path, one or more intermediate paths, one or more connecting paths, and one or more curved paths. The agricultural work vehicle (100) can perform stopping operations by following all path points included in the autonomous work path in order. At this time, if the spacing of the path points is not constant and is irregular, the path following performance may be degraded, and to prevent this, it is necessary to equalize the spacing of the path points. The operation of equalizing the spacing of the path points will be described later with reference to FIGS. 9, 10a, 10b, and 10c.

[0064] FIGS. 3a, 3b, and 3c are flowcharts for explaining the operation of an agricultural work vehicle generating an intermediate path according to one embodiment, and FIGS. 4a, 4b, and 4c are reference diagrams for explaining the operations of FIGS. 3a, 3b, and 3c, respectively, in an example where the first reference path is the outermost path.

[0065] Referring to FIGS. 3a and 4a, in operation 311, an agricultural work vehicle (100) can calculate the average position (401) of a plurality of path points included in a first reference path. For example, the average position (401) of a plurality of path points can be calculated as the average of the GPS coordinates of the plurality of path points.

[0066] The first reference path is either the outermost path or the innermost path, and may be arbitrarily determined based on ease of implementation. For example, the first reference path may be determined as the path that has the earlier operation order between the outermost path and the innermost path. In this disclosure, the other of the outermost path and the innermost path that is not the first reference path is referred to as the second reference path. The following description describes an example where the first reference path is the outermost path, but such description may be similarly applied even when the first reference path is the innermost path.

[0067] In operation 312, the agricultural work vehicle (100) can determine the first path point (402) closest to the average position (401) among a plurality of path points included in the first reference path.

[0068] In operation 313, the agricultural work vehicle (100) can generate a virtual path point (403) located at a point-symmetric position with respect to the first path point (402) with respect to the average position.

[0069] In operation 314, the agricultural work vehicle (100) can determine the second path point (404) closest to the virtual path point (403) among a plurality of path points included in the first reference path.

[0070] In operation 315, the agricultural work vehicle (100) may determine the first starting position as the path point that is closer to the location (405) where the first reference path began to be acquired among the first path point (402) and the second path point (404). In the example of FIG. 4a, the second path point (404) may be determined as the first starting position. The location (405) where the first reference path began to be acquired may refer to the location corresponding to the path point acquired first in operation 210. In the example where the outermost path and the innermost path are stored in advance in memory (130), the location (405) where the first reference path began to be acquired may refer to the first path point among the list of path points stored in advance.

[0071] The first starting position may refer to a path point that begins the execution of the calculations or operations described below necessary for generating an intermediate path. For each path point included in the first reference path, the agricultural work vehicle (100) may sequentially perform the necessary calculations or operations starting from the first starting position.

[0072] Next, the agricultural work vehicle (100) can calculate the number of intermediate paths based on the first starting position.

[0073] Referring to FIGS. 3b and 4b, in operation 321, the agricultural work vehicle (100) can calculate the distances from each path point included in the first reference path to the nearest path point among a plurality of path points included in the second reference path while circulating the first reference path in a rotational direction set by the user, starting from the first starting position. In the example of FIG. 4a, if the rotational direction set by the user is counterclockwise, the agricultural work vehicle (100) can calculate the distances from each path point included in the outermost path to the nearest path point among a plurality of path points included in the innermost path while circulating the outermost path in a counterclockwise direction starting from the first starting position.

[0074] Since the agricultural work vehicle (100) acquires multiple path points sequentially in operation 210, it is possible to know only the order in which the multiple path points are acquired, but it is not possible to know whether the order in which they are acquired corresponds to the rotation direction set by the user. Therefore, in order to circulate the first reference path in the rotation direction set by the user, the agricultural work vehicle (100) needs to determine whether the order in which the multiple path points are acquired corresponds to the rotation direction set by the user.

[0075] If the acquisition order of multiple path points corresponds to the rotation direction set by the user, the agricultural work vehicle (100) can perform subsequent calculations or operations for the multiple path points in the acquisition order, and if the acquisition order of multiple path points does not correspond to the rotation direction set by the user, it can perform subsequent calculations or operations for the multiple path points in the reverse order of the acquisition order.

[0076] For example, an agricultural work vehicle (100) can determine whether the order of acquiring multiple path points corresponds to the rotation direction set by the user by using the shoelace formula of mathematical formula 1.

[0077]

[0078] In mathematical formula 1, i is the acquisition order of multiple path points, n is the number of multiple path points, and x i and y i are the x and y coordinates of the i-th path point, respectively.

[0079] The agricultural work vehicle (100) can determine that if A is positive, the order of acquiring multiple path points corresponds to a clockwise direction, and if A is negative, the order of acquiring multiple path points corresponds to a counterclockwise direction. By comparing the determination with the rotation direction set by the user, the agricultural work vehicle (100) can determine whether the order of acquiring multiple path points corresponds to the rotation direction set by the user.

[0080] If the acquisition order of a plurality of path points corresponds to a rotation direction set by the user, the agricultural work vehicle (100) can calculate the distances from each path point included in the first reference path to the nearest path point among the plurality of path points included in the second reference path, starting from the first starting position and according to the acquisition order of the plurality of path points included in the first reference path.

[0081] If the acquisition order of multiple path points does not correspond to the rotation direction set by the user, the agricultural work vehicle (100) can calculate the distances from each path point included in the first reference path to the nearest path point among the multiple path points included in the second reference path, starting from the first starting position and in the reverse order of the acquisition order of the multiple path points included in the first reference path.

[0082] In operation 322, the agricultural work vehicle (100) can determine the number of intermediate paths based on the maximum distance among the calculated distances and the width of the implement attached to the agricultural work vehicle (100). Since the outermost path, the innermost path, and the intermediate path must be able to cover the entire race track, the agricultural work vehicle (100) can determine the number of intermediate paths by performing a rounding operation on the result of dividing the maximum distance among the calculated distances by the width of the implement. For example, the agricultural work vehicle (100) can use a ceiling function that performs a rounding operation on the input value.

[0083] Next, the agricultural work vehicle (100) can generate a number of intermediate paths calculated based on the work sequence set by the user.

[0084] Referring to FIGS. 3c and 4c, in operation 331, the agricultural work vehicle (100) can set an initial turning path based on a work sequence set by a user. For example, if the work sequence set by the user is from the innermost path to the outermost path, the agricultural work vehicle (100) can set the innermost path as the initial turning path, and if the work sequence set by the user is from the outermost path to the innermost path, the agricultural work vehicle (100) can set the outermost path as the initial turning path. 401 in FIG. 4c illustrates the case where the work sequence set by the user is from the innermost path to the outermost path.

[0085] In operation 332, the agricultural work vehicle (100) can generate a number of intermediate paths calculated based on the work sequence set by the user. For example, as in 402 of FIG. 4c, the agricultural work vehicle (100) can generate a number of intermediate paths calculated such that the intervals between the intermediate paths are equal.

[0086] FIG. 5 is a flowchart for explaining the operation of an agricultural work vehicle generating a connecting path according to one embodiment, and FIG. 6 is a reference diagram for explaining the operations of FIG. 5 in an example where the initial turning path is the innermost path.

[0087] Referring to FIGS. 5 and 6, in operation 510, an agricultural work vehicle (100) can generate one or more paths (601) for moving to a turning path of the next work sequence based on a turning direction and a work sequence set by a user. One or more paths (601) may include a predetermined number of path points. The predetermined number may be determined based on at least one of the interval between the outermost path, the innermost path, and one or more intermediate paths, and the minimum turning radius of the agricultural work vehicle (100).

[0088] As illustrated in FIG. 6, if the initial rotation path is the innermost path and the set rotation direction is counterclockwise, the agricultural work vehicle (100) can generate a first path of progress for moving from the innermost path to an adjacent intermediate path, second and third paths of progress for moving between the intermediate paths, and a fourth path of progress for moving from the last intermediate path to the outermost path.

[0089] In operation 520, the agricultural work vehicle (100) can generate a straight path (602) for moving along the last turning path. The straight path (602) may include a predetermined number of path points. The predetermined number may be determined based on at least one of the interval between the outermost path, the innermost path, and one or more intermediate paths, and the minimum turning radius of the agricultural work vehicle (100). For example, the straight path (602) may include the same number of path points as the moving path (601). The straight path (602) can prevent safety accidents by preventing the agricultural work vehicle (100) from making a sharp turn exceeding the minimum turning radius.

[0090] In operation 530, the agricultural work vehicle (100) can generate a return path (603) for moving from the last turn path to the initial turn path. The return path (603) may include a predetermined number of path points. The predetermined number may be determined based on at least one of the interval between the outermost path, the innermost path, and one or more intermediate paths, and the minimum turning radius of the agricultural work vehicle (100).

[0091] As illustrated in FIG. 6, when the outermost path, innermost path, intermediate path, and connecting path are created, the agricultural work vehicle (100) can perform stopping operations while following each path. For example, the agricultural work vehicle (100) can start a stopping operation at a first position (610), travel through all the turning paths, and reach a second position (620). In this case, to start a new stopping operation, the agricultural work vehicle (100) must reverse from the second position (620) to the first position (610) or start a new stopping operation at the second position (620). This method causes unnecessary time and fuel consumption due to reversing, or prevents stopping operations from being performed in the section between the first position (610) and the second position (620).

[0092] In order to avoid reversing or to prevent non-working sections from occurring during continuous stopping operations, the agricultural work vehicle (100) can create a new connecting path at the last path point (i.e., the second position (620)) of the return path (603). For example, the agricultural work vehicle (100) can re-perform operations 510, 520, and 530 at the last path point of the return path (603), and likewise create a new connecting path at the last path point of the return path created by the re-performation.

[0093] FIG. 7 is a flowchart illustrating the operation of an agricultural work vehicle curved in a connecting path according to one embodiment, and FIG. 8 is a reference diagram illustrating the operations of FIG. 7 in an example where the initial turning path is the innermost path.

[0094] Referring to FIGS. 7 and 8, in operation 710, the agricultural work vehicle (100) can set a second starting position based on the work sequence set by the user. For example, the second starting position may be the same as the starting position of the path of travel (601).

[0095] In operation 720, the agricultural work vehicle (100) may start from a second starting position and follow one or more paths (601), and may curve one or more paths (601). As illustrated in FIG. 8, the agricultural work vehicle (100) may curve at least a portion of the path (610) that is close to the turning path. The agricultural work vehicle (100) may determine the degree of curvature based on the minimum turning radius of the agricultural work vehicle (100).

[0096] In operation 730, the agricultural work vehicle (100) can curve at least a portion of the return path (603) that is close to the last turn path and the initial turn path.

[0097] By curving the connection path, the agricultural work vehicle (100) can be prevented from making a sharp turn, thereby preventing safety accidents.

[0098] FIG. 9 is a flowchart illustrating the operation of an agricultural work vehicle according to one embodiment of equalizing the waypoint spacing, and FIG. 10a, 10b, and 10c are reference diagrams illustrating the operations of FIG. 9.

[0099] An agricultural work vehicle (100) can equalize the spacing between path points by performing the following actions sequentially for all path points, starting from an initial path point.

[0100] Referring to FIG. 9, in operation 910, the agricultural work vehicle (100) can calculate a first distance between a third path point (1010a) and a fourth path point (1020a) which is the next step after the third path point (1010a), as illustrated in 1001 of FIG. 10a. The third path point (1010a) refers to an initial path point or a previously created uniform path point.

[0101] In operation 920, the agricultural work vehicle (100) may determine the fourth path point (1020a) as a uniform path point (1090a) if the first distance between the third path point (1010a) and the fourth path point (1020a) falls within a predetermined numerical range, as illustrated in 1002 and 1003 of FIG. 10a. For example, the predetermined numerical range may be 0.95m or greater and 1.05m or less, but is not limited thereto. The predetermined numerical range may be understood as a combination of a reference value (e.g., 1m) and a predetermined error range (e.g., 5%). FIG. 10a, 10b, and 10c illustrate that the first distance is compared with 1m as the reference value, but the comparison may be performed with the predetermined error range in mind.

[0102] As illustrated in 1004 of FIG. 10a, the agricultural work vehicle (100) can perform operation 910 again by making the determined uniformized path point (1090a) a new third path point (1010b) and the path point following the third path point (1010b) a new fourth path point (1020b).

[0103] In operation 930, the agricultural work vehicle (100) may search for the next path points until the second distance exceeds the reference value of the predetermined numerical range, if the first distance between the third path point (1010c) and the fourth path point (1020c) is less than the lower limit of the predetermined numerical range, as illustrated in 1005 and 1006 of FIG. 10b. Here, the second distance refers to the sum of the distances between the path points traversed from the third path point (1010c) until the reference value of the predetermined numerical range is exceeded. As illustrated in 1006 of FIG. 10b, the second distance, which is the sum of the distance between the third path point (1010c) and the fourth path point (1020c), and the distance between the fourth path point (1020c) and the fifth path point (1030c), exceeds the reference value of the predetermined numerical range (e.g., 1m). In this example, the agricultural work vehicle (100) can explore the fifth waypoint (1030c) as a result of operation 930.

[0104] In operation 940, the agricultural work vehicle (100) can determine a point that is moved by the difference between a second distance and a reference value of a predetermined numerical range from the path point (e.g., the fifth path point (1030c)) found in operation 930, as illustrated in 1007 and 1008 of FIG. 10b, to the path point that is in the order prior to the found path point (e.g., the fourth path point (1020c)). In the example of FIG. 10b, since there is only one path point between the third path point (1010c) and the found path point (e.g., the fifth path point (1030c)), the path point that is in the order prior to the found path point is the fourth path point (1020c), but there may be multiple path points between the third path point (1010c) and the found path point.

[0105] In operation 950, the agricultural work vehicle (100) can determine a point moved from the fourth path point (1020d) toward the third path point (1010d) by the difference between the first distance and the reference value of the predetermined numerical range as a uniform path point (1090d), if the first distance between the third path point (1010d) and the fourth path point (1020d) is greater than the upper limit of the predetermined numerical range, as shown in 1009, 1010, and 1011 of FIG. 10c.

[0106] As shown in Figure 1012 of Fig. 10c, when the equalization process is completed for all path points, an autonomous work path with equalized path point spacing is generated.

[0107] The embodiments of the present disclosure described above may be implemented in the form of a recording medium comprising computer-executable instructions, such as program modules executed by a computer. A computer-readable medium may include any volatile and non-volatile media, and removable and inseparable media, that can be accessed by a computer. Additionally, a computer-readable medium may include computer storage media and communication media. A computer storage medium may include volatile and non-volatile, removable and inseparable media implemented by any method or technique for storing information, such as computer-readable instructions, data structures, program modules, or other data. A communication medium may include other data of modulated data signals, such as computer-readable instructions, data structures, or program modules.

[0108] The foregoing description of the present disclosure is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical spirit or essential features of the present disclosure. Therefore, all of the above descriptions should be understood as illustrative and not limiting. For example, a component described in a single form may be implemented in a distributed manner, and components described in a distributed manner may likewise be implemented in a combined manner.

[0109] The scope of the present disclosure is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and equivalents thereof should be interpreted as being included within the scope of the present disclosure.

Claims

1. A step (210) of receiving user input for setting the rotation direction and work order, and obtaining the outermost path and the innermost path of the autonomous work path - the outermost path and the innermost path each include a plurality of path points -; A step (220) of generating one or more intermediate paths between the outermost path and the innermost path using the plurality of path points included in each of the outermost path and the innermost path; and The method includes the step (230) of generating one or more connecting paths for movement between the outermost path, the innermost path, and one or more intermediate paths based on the set rotation direction and operation sequence. A method for generating an autonomous work path for an agricultural work vehicle (100).

2. In Paragraph 1, The step (220) of generating one or more intermediate paths above is, A step (311) of calculating the average position of a plurality of path points included in either the outermost path or the innermost path (hereinafter referred to as the "first reference path"), Step (312) of determining the first path point closest to the average position among the plurality of path points included in the first reference path, Step (313) of generating a virtual path point located at a position point-symmetric with respect to the first path point based on the above average position, Step (314) of determining the second path point closest to the virtual path point among the plurality of path points included in the first reference path, A step (315) of determining the path point closer to the location where the first reference path began to be obtained among the first path point and the second path point as the first starting position, A step of calculating the number of intermediate paths based on the first starting position, and A step comprising generating the calculated number of intermediate paths based on the above-set work sequence, A method for generating an autonomous work path for an agricultural work vehicle (100).

3. In Paragraph 2, The step of calculating the number of intermediate paths based on the first starting position is, A step (321) of calculating distances from each path point included in the first reference path to the nearest path point among a plurality of path points included in the outermost path and the innermost path other than the first reference path (hereinafter referred to as the "second reference path") while circulating the first reference path in the set rotation direction starting from the first starting position, and The method includes the step (322) of calculating the number of intermediate paths based on the maximum distance among the calculated distances and the width of the implement attached to the agricultural work vehicle (100). A method for generating an autonomous work path for an agricultural work vehicle (100).

4. In Paragraph 3, The step (321) of calculating distances from each path point included in the first reference path to the nearest path point among a plurality of path points included in the second reference path while circulating the first reference path in the set rotational direction starting from the first position, is: A step of determining whether the acquisition order of a plurality of path points included in the first reference path corresponds to the set rotation direction, and Depending on whether the above acquisition order corresponds to the set rotation direction, the method includes the step of calculating distances from each path point included in the first reference path to the nearest path point among a plurality of path points included in the second reference path. The step of calculating the distances from each path point included in the first reference path to the nearest path point among a plurality of path points included in the second reference path is: If the above acquisition order corresponds to the above-set rotation direction, the method comprises the step of calculating the distances from each path point included in the first reference path to the nearest path point among the plurality of path points included in the second reference path, starting from the first starting position and in the above-set acquisition order of the plurality of path points included in the first reference path, and if the above acquisition order does not correspond to the above-set rotation direction, calculating the distances from each path point included in the first reference path to the nearest path point among the plurality of path points included in the second reference path, starting from the first starting position and in the reverse order of the above-set acquisition order of the plurality of path points included in the first reference path. A method for generating an autonomous work path for an agricultural work vehicle (100).

5. In Paragraph 2, The step of generating the calculated number of intermediate paths based on the above-set work sequence is: Step (331) of setting an initial rotation path based on the above-set work sequence, and The method includes the step (332) of generating the calculated number of intermediate paths such that the intervals between the intermediate paths are equal based on the above-set work sequence, A method for generating an autonomous work path for an agricultural work vehicle (100).

6. In Paragraph 1, The step (230) of generating one or more connection paths above is, Step (510) of generating one or more progress paths (601) for moving to the rotation path of the next work sequence based on the rotation direction and work sequence set above, Step (520) of generating a straight path (602) for moving along the last rotation path, and The method includes the step (530) of generating a return path (603) for moving from the last rotation path to the initial rotation path. A method for generating an autonomous work path for an agricultural work vehicle (100).

7. In Paragraph 6, The above one or more progress paths (601), the straight path (602), and the return path (603) each include a predetermined number of path points, and The above predetermined number is determined based on at least one of the interval between the outermost path, the innermost path, and the one or more intermediate paths, and the turning radius of the agricultural work vehicle (100). A method for generating an autonomous work path for an agricultural work vehicle (100).

8. In Paragraph 6, The step (230) of generating one or more connection paths above is, The method further includes the step of regenerating one or more connection paths based on the last path point of the above return path (603). A method for generating an autonomous work path for an agricultural work vehicle (100).

9. In Paragraph 1, The method further includes the step (240) of creating one or more curved paths by curving one or more connected paths. A method for generating an autonomous work path for an agricultural work vehicle (100).

10. In Paragraph 9, The step (240) of generating one or more curved paths above is, Step (710) of determining a second starting position based on the above-set work sequence, A step (720) of starting from the second starting position and following the one or more progress paths (601) while curving the one or more progress paths (601), and The method includes the step (730) of curving at least a portion of the return path (603) that is close to the last rotation path and the initial rotation path. A method for generating an autonomous work path for an agricultural work vehicle (100).

11. In Paragraph 9, The method further comprises the step (250) of equalizing the interval between path points of the outermost path, the innermost path, one or more intermediate paths, one or more connecting paths, and one or more curved paths. A method for generating an autonomous work path for an agricultural work vehicle (100).

12. In Paragraph 11, The step (250) of equalizing the path point intervals above is, A step (910) of calculating a first distance between a third path point and a fourth path point which is the next in order of the third path point, If the first distance is included in a predetermined numerical range, the step (920) of determining the fourth path point as a uniform path point - the predetermined numerical range includes a reference value and a predetermined error range -, If the first distance is smaller than the lower limit of the predetermined numerical range, the step (930) of searching for the next path points until the second distance exceeds the reference value of the predetermined numerical range - the second distance is the sum of the distances between the path points traversed from the third path point until the reference value of the predetermined numerical range is exceeded -, A step (940) of determining the uniformized path point by moving from the above-mentioned path point in the direction of the path point that is in the order prior to the above-mentioned path point by the difference between the second distance and the reference value of the predetermined numerical range, and If the first distance is greater than the upper limit of the predetermined numerical range, the method includes the step (950) of determining the point moved from the fourth path point in the direction of the third path point by the difference between the first distance and the reference value of the predetermined numerical range as the uniformized path point. A method for generating an autonomous work path for an agricultural work vehicle (100).

13. In an agricultural work vehicle (100), A Human-Machine Interface (HMI) (110) that provides an interface for the user and the agricultural work vehicle (100) to interact; A position sensor (120) for detecting the position of the above agricultural work vehicle (100); Memory (130) for storing one or more instructions; and It includes at least one processor (140), When the above one or more instructions are executed by the at least one processor (140), the agricultural work vehicle (100) is, Receive user input for setting the rotation direction and operation sequence, and obtain the outermost path and innermost path of the autonomous operation path - the outermost path and the innermost path each include a plurality of path points -, One or more intermediate paths between the outermost path and the innermost path are generated using the plurality of path points included in each of the outermost path and the innermost path, and Generating one or more connecting paths for movement between the outermost path, the innermost path, and one or more intermediate paths based on the rotation direction and operation sequence set above. Agricultural work vehicle (100).

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