Agricultural work vehicle and method for generating movement path thereof

Abstract

A method for generating a movement path of an agricultural work vehicle from a current position to a target position is provided. The method comprises the steps of: determining whether the agricultural work vehicle crosses a boundary line of farmland when rotating along a circle that is tangent to the target position; generating a movement path from the current position to the target position on the basis of the determination that the agricultural work vehicle does not cross the boundary line of the farmland; and generating, on the basis of the determination that the agricultural work vehicle crosses the boundary line of the farmland, an alternative path for moving from the current position to the target position through an intermediate position.

Description

Agricultural work vehicles and methods for generating their movement paths

[0001] The present disclosure relates to an agricultural work vehicle and a method for generating the vehicle's movement path.

[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] Depending on the type of agricultural work, it may not be possible to complete the entire cultivated field at once. For example, in the case of crop harvesting, the agricultural work vehicle (or implement) must move to a specific location to unload the harvested crops before the harvest volume exceeds the vehicle's loading limit. In this situation, if the movement from the current location to the target location (e.g., unloading area) for unloading can be automated, it can significantly improve convenience for the worker.

[0005] For the automatic movement of agricultural work vehicles, a method was proposed to set the movement path as the common tangent line of two circles passing through the current location and the target location, respectively. However, the proposed method has limitations in practical application because it does not consider the possibility of collision with the boundaries of cultivated land or the path involving reverse movement.

[0006] The present disclosure is intended to provide a method for generating a movement path for an agricultural work vehicle that is applicable even in narrow fields or when the current location is close to the boundary of a field by including a path that moves through reverse movement and the possibility of collision with the boundary of a field.

[0007] According to one aspect of the present disclosure, a method for generating a movement path of an agricultural work vehicle (100) from a current location to a target location may include the steps of determining whether the agricultural work vehicle collides with a boundary line of a cultivated land when rotating along a circle that is in contact with the target location, and generating a movement path from the current location to the target location based on the determination that the agricultural work vehicle does not collide with the boundary line of the cultivated land, wherein the circle that is in contact with the target location is the circle closer to the current location of two circles that pass through the target location and whose tangential direction at the target location is parallel to the target direction of travel.

[0008] In one embodiment, the step of determining whether there is a collision with the boundary line of the cultivated land may include determining that the agricultural work vehicle does not collide with the boundary line of the cultivated land if the reference circle does not intersect the boundary line of the cultivated land, and determining that the agricultural work vehicle collides with the boundary line of the cultivated land if the reference circle intersects the boundary line of the cultivated land, wherein the center of the reference circle is the same as the center of the circle touching the target position, and the radius of the reference circle is at least half the width of the agricultural work vehicle or half the width of the implement attached to the agricultural work vehicle is greater than the radius of the circle touching the target position, and the radius of the circle touching the target position is the minimum turning radius of the agricultural work vehicle.

[0009] In one embodiment, the step of generating a movement path from the current location to the target location may include: determining whether the rotation direction is the same at the current location and the target location based on at least one of the current location, the target location, the current direction of travel, or the target direction of travel; determining whether the current location and the target location are close if it is determined that the rotation direction is not the same at the current location and the target location; determining whether the agricultural work vehicle collides with the boundary line of the cultivated land when moving forward from the current location; determining whether the agricultural work vehicle collides with the boundary line of the cultivated land when moving backward from the current location if it is determined that the agricultural work vehicle collides with the boundary line of the cultivated land when moving forward from the current location; and generating a movement path from the current location to the target location based on the determinations.

[0010] In one embodiment, the step of determining whether the rotation direction is the same at the current position and the target position may include: performing a first cross product operation on a direction vector from the current position to the target position and a direction vector corresponding to the current direction of travel; determining the rotation direction at the current position based on the direction of a vector obtained as a result of the first cross product operation; performing a second cross product operation on a direction vector corresponding to the target direction of travel and a direction vector from the target position to the current position; determining the lateral position of the current position relative to the target direction of travel based on the direction of a vector obtained as a result of the second cross product operation; determining the rotation direction at the target position based on the lateral position of the current position relative to the target direction of travel; and determining whether the rotation direction is the same at the current position and the target position.

[0011] In one embodiment, the step of determining proximity between the current position and the target position may include: calculating the distance between the centers of a circle tangent to the current position and a circle tangent to the target position; and determining that the current position and the target position are close if the distance between the centers is smaller than the minimum turning diameter of the agricultural work vehicle, and determining that the current position and the target position are not close if the distance between the centers is greater than or equal to the minimum turning diameter of the agricultural work vehicle, wherein the circle tangent to the current position is the circle closer to the target position among two circles that pass through the current position and whose tangential direction at the current position is parallel to the current direction of travel.

[0012] In one embodiment, the step of generating a movement path from the current position to the target position based on the above decisions may include, when the rotation direction at the current position and the target position are the same and the agricultural work vehicle does not collide with the boundary line of the cultivated land when advancing from the current position, generating a circle tangent to the current position and a circle tangent to the target position, and generating two common tangent lines of the circle tangent to the current position and the circle tangent to the target position; selecting, among the two common tangent lines, the common tangent line with a shorter travel distance to the point of contact with the circle tangent to the current position when advancing along the circle tangent to the current position; and generating a movement path including a path advancing along the circle tangent to the current position from the current position, a path advancing along the selected common tangent line, and a path advancing along the circle tangent to the target position to the target position.

[0013] In one embodiment, the step of selecting the common tangent line among the two common tangent lines that has a shorter travel distance to the point of contact with the circle tangent to the current position when advancing along the circle tangent to the current position may include the step of calculating the current direction of travel and two angles formed by the circle tangent to the current position and two points of contact of the two common tangent lines, and the step of selecting the common tangent line among the two common tangent lines that corresponds to the smaller of the two calculated angles.

[0014] In one embodiment, the step of generating a movement path from the current position to the target position based on the above determinations may include, when the rotation direction is the same at the current position and the target position, and when the agricultural work vehicle moves forward from the current position, it collides with the boundary line of the cultivated land, and when the agricultural work vehicle moves backward from the current position, it does not collide with the boundary line of the cultivated land, generating a circle tangent to the current position and a circle tangent to the target position, and generating two common tangent lines of the circle tangent to the current position and the circle tangent to the target position; selecting, among the two common tangent lines, the common tangent line with a shorter travel distance to the point of contact with the circle tangent to the current position when moving backward along the circle tangent to the current position; and generating a movement path including a path for moving backward from the current position along the circle tangent to the current position, a path for moving backward along the selected common tangent line, and a path for moving backward to the target position along the circle tangent to the target position.

[0015] In one embodiment, the step of generating a movement path from the current position to the target position based on the above determinations comprises: generating a circle symmetric to a circle tangent to the current position with respect to the current position, wherein the rotation direction is the same at the current position and the target position, and the agricultural work vehicle collides with the boundary line of the cultivated land when moving forward from the current position and collides with the boundary line of the cultivated land when moving backward from the current position; moving in a direction where the distance traveled along the symmetric circle until just before colliding with the boundary line of the cultivated land is longer; generating a circle tangent to a position reached by moving along the symmetric circle (hereinafter referred to as 'new current position' in this paragraph) and a circle tangent to the target position, and generating two common tangent lines of the circle tangent to the new current position and the circle tangent to the target position; selecting, among the two common tangent lines, the common tangent line where the distance traveled to the point of contact with the circle tangent to the new current position is shorter when moving along the circle tangent to the new current position; and a path of moving along the circle tangent to the new current position from the new current position, and the selected common It may include the step of generating a movement path including a path that moves along an outer tangent line, and a path that moves along a circle tangent to the target position to the target position.

[0016] In one embodiment, the step of generating a movement path from the current position to the target position based on the above decisions may include, when the rotation direction of the current position and the target position are different, the current position and the target position are not close, and the agricultural work vehicle does not collide with the boundary line of the cultivated land when advancing from the current position, generating a circle tangent to the current position and a circle tangent to the target position, generating two common tangents of the circle tangent to the current position and the circle tangent to the target position; selecting, among the two common tangents, the common tangent with a shorter travel distance to the point of contact with the circle tangent to the current position when advancing along the circle tangent to the current position; and generating a movement path including a path advancing along the circle tangent to the current position from the current position, a path advancing along the selected common tangent, and a path advancing along the circle tangent to the target position to the target position.

[0017] In one embodiment, the step of generating a movement path from the current position to the target position based on the above determinations may include, when the rotation direction of the current position and the target position are different, the current position and the target position are not close, and when the agricultural work vehicle moves forward from the current position, it collides with the boundary line of the cultivated land, and when the agricultural work vehicle moves backward from the current position, it does not collide with the boundary line of the cultivated land, generating a circle tangent to the current position and a circle tangent to the target position, and generating two common tangents of the circle tangent to the current position and the circle tangent to the target position; selecting, among the two common tangents, the common tangent with a shorter travel distance to the point of contact with the circle tangent to the current position when moving backward along the circle tangent to the current position; and generating a movement path including a path for moving backward from the current position along the circle tangent to the current position, a path for moving backward along the selected common tangent, and a path for moving backward to the target position along the circle tangent to the target position.

[0018] In one embodiment, the step of generating a movement path from the current position to the target position based on the above decisions comprises: generating a circle symmetrical to a circle tangent to the current position with respect to the current position, wherein the rotational direction of the current position and the target position are different, the current position and the target position are not close, and the agricultural work vehicle collides with the boundary line of the cultivated land when moving forward from the current position and the agricultural work vehicle collides with the boundary line of the cultivated land when moving backward from the current position; moving in a direction where the distance traveled along the symmetrical circle until just before colliding with the boundary line of the cultivated land is longer; generating a circle tangent to a position reached by moving along the symmetrical circle (hereinafter referred to as 'new current position' in this paragraph) and a circle tangent to the target position, and generating two common tangents of the circle tangent to the new current position and the circle tangent to the target position; selecting, among the two common tangents, the common tangent with a shorter distance traveled to the point of contact with the circle tangent to the new current position when moving along the circle tangent to the new current position; and at the new current position the new The method may include the step of generating a movement path including a path along a circle tangent to the current position, a path along a selected common tangent line, and a path along a circle tangent to the target position to the target position.

[0019] In one embodiment, the step of generating a movement path from the current position to the target position based on the above determinations comprises: generating a circle tangent to the current position and a circle tangent to the target position when the rotational direction of the current position and the target position are different, the current position and the target position are close, and the agricultural work vehicle does not collide with the boundary line of the cultivated land when moving forward from the current position; generating two circles that simultaneously tangent to the circle tangent to the current position and the circle tangent to the target position; selecting one of the two circles that does not intersect with the boundary line of the cultivated land; generating two common tangents of the circle tangent to the current position and the selected circle; selecting, among the two common tangents, the common tangent with a shorter travel distance from the current position to the first contact point between the selected circle and the circle tangent to the target position; and a path moving along the circle tangent to the current position from the current position to the second contact point between the selected common tangent and the circle tangent to the current position, and from the second contact point to the third contact point between the selected common tangent and the selected circle. The method may include the step of generating a movement path comprising a path that moves along, a path that moves along the selected circle from the third contact point to the first contact point, and a path that moves along the circle touching the target position from the first contact point to the target position.

[0020] In one embodiment, the step of generating a movement path from the current position to the target position based on the above determinations comprises: generating a circle tangent to the current position and a circle tangent to the target position when the rotation direction is different between the current position and the target position, the current position and the target position are close, the agricultural work vehicle collides with the boundary line of the cultivated land when moving forward from the current position, and the agricultural work vehicle does not collide with the boundary line of the cultivated land when moving backward from the current position; generating two circles that simultaneously tangent to the circle tangent to the current position and the circle tangent to the target position; selecting a circle among the two circles that does not intersect with the boundary line of the cultivated land; generating two common tangent lines of the circle tangent to the current position and the selected circle; selecting, among the two common tangent lines, the common tangent line with a shorter travel distance to the point of contact with the circle tangent to the current position when moving backward along the circle tangent to the current position; a path moving along the circle tangent to the current position from the current position to the sixth point of contact between the selected common tangent line and the circle tangent to the current position; and the The method may include the step of generating a movement path comprising: a path along the selected common outer tangent line from the sixth contact point to the seventh contact point of the selected circle, a path along the selected circle from the seventh contact point to the eighth contact point of the circle tangent to the selected circle and the target position, and a path along the circle tangent to the target position from the eighth contact point to the target position.

[0021] In one embodiment, the step of generating a movement path from the current location to the target location based on the above decisions comprises: generating a circle symmetrical to a circle tangent to the current location with respect to the current location, given that the rotational direction of the current location and the target location are different, the current location and the target location are close, and the agricultural work vehicle collides with the boundary line of the cultivated land when moving forward from the current location and collides with the boundary line of the cultivated land when moving backward from the current location; moving in a direction where the distance traveled along the symmetrical circle until just before colliding with the boundary line of the cultivated land is longer; generating a circle tangent to a location reached by moving along the symmetrical circle (hereinafter referred to as 'new current location' in this paragraph) and a circle tangent to the target location; generating two circles that simultaneously tangent to the circle tangent to the new current location and the circle tangent to the target location; selecting one of the two circles that does not intersect with the boundary line of the cultivated land; generating two common external tangents of the circle tangent to the new current location and the selected circle; and the two common external tangents Among, a step of selecting a common tangent line that has a shorter travel distance to the point of contact with the circle tangent to the new current position when moving along the circle tangent to the new current position, and a path along the circle tangent to the new current position from the new current position to the ninth point of contact between the selected common tangent line and the circle tangent to the new current position, a path along the common tangent line from the ninth point of contact to the tenth point of contact between the selected common tangent line and the selected circle, and a path along the selected circle from the tenth point of contact to the eleventh point of contact between the selected circle and the circle tangent to the target position.and may include the step of generating a movement path including a path that moves along a circle touching the target location from the 11th contact point to the target location.

[0022] In one embodiment, the method may further include the step of selecting the circle among the two circles that has a longer length of the perpendicular line from the center to the boundary line of the cultivated land when both circles intersect the boundary line of the cultivated land.

[0023] In one embodiment, the method may further include the step of generating an alternative path to move from the current location to the target location via an intermediate location based on the determination that the agricultural work vehicle collides with the boundary line of the cultivated land.

[0024] In one embodiment, the step of generating an alternative path to move from the current position to the target position via an intermediate position may include determining the intermediate position as a position that is movable forward or backward from the target position and does not collide with the boundary line of the cultivated land when rotating along a circle touching the intermediate position, generating a movement path from the current position to the intermediate position, and generating a forward path or a backward path from the intermediate position to the target position.

[0025] In one embodiment, the step of generating a movement path from the current position to the intermediate position may include: determining whether the rotation direction is the same between the current position and the intermediate position based on at least one of the current position, the intermediate position, the current direction of travel, or the target direction of travel; determining whether the current position and the intermediate position are close if it is determined that the rotation direction is not the same between the current position and the target position; determining whether the agricultural work vehicle collides with the boundary line of the cultivated land when moving forward from the current position; determining whether the agricultural work vehicle collides with the boundary line of the cultivated land when moving backward from the current position if it is determined that the agricultural work vehicle collides with the boundary line of the cultivated land when moving forward from the current position; and generating a movement path from the current position to the intermediate position based on the determinations.

[0026] According to one aspect of the present disclosure, an agricultural work vehicle may include a position sensor for detecting the current position of the agricultural work vehicle, a memory for storing one or more instructions, and at least one processor. When the one or more instructions are executed by the at least one processor, the agricultural work vehicle may determine whether the agricultural work vehicle collides with a boundary line of a cultivated land when rotating along a circle tangent to a target position, and based on the determination that the agricultural work vehicle does not collide with the boundary line of the cultivated land, generate a path of movement from the current position to the target position, and based on the determination that the agricultural work vehicle collides with the boundary line of the cultivated land, generate an alternative path of movement from the current position to the target position via an intermediate position, and the circle tangent to the target position is the circle closer to the current position among two circles that pass through the target position and whose tangential direction at the target position is parallel to the target direction of movement.

[0027] According to one aspect of the present disclosure, a method for generating a movement path of an agricultural work vehicle from a current location to a target location may include the steps of: generating a circle that is in contact with the current location and a circle that is in contact with the target location; generating two circles that are in contact with the circle that is in contact with the current location and the circle that is in contact with the target location simultaneously; selecting a circle among the two circles that does not intersect with the boundary line of the cultivated land; and generating a movement path from the current location to the target location using the circle that is in contact with the current location, the circle that is in contact with the target location, and the selected circle. The circle that is in contact with the current location is the circle that is closer to the target location among two circles that pass through the current location and whose tangential direction at the current location is parallel to the current direction of travel, and the circle that is in contact with the target location is the circle that is closer to the current location among two circles that pass through the target location and whose tangential direction at the target location is parallel to the target direction of travel.

[0028] According to one aspect of the present disclosure, a method for generating a movement path of an agricultural work vehicle from a current location to a target location may include: determining whether the agricultural work vehicle collides with a boundary line of a cultivated land when rotating along a circle tangent to the current location; generating a circle symmetrical to the circle tangent to the current location relative to the current location based on the determination that the agricultural work vehicle collides with the boundary line of the cultivated land; moving along the symmetrical circle in a direction where the distance traveled until colliding with the boundary line of the cultivated land is longer; and generating a movement path from the current location to the target location using a circle tangent to the location reached by moving along the symmetrical circle (hereinafter referred to as 'new current location' in this claim), a circle tangent to the current location, and a circle tangent to the target location, wherein the circle tangent to the current location is the circle closer to the target location among two circles passing through the current location and whose tangential direction at the current location is parallel to the current direction of travel, and the circle tangent to the target location is two circles passing through the target location and whose tangential direction at the target location is parallel to the target direction of travel. The circle that is closer to the current position and tangent to the new current position is the circle that is closer to the target position among the two circles that pass through the new current position and whose tangent direction at the new current position is parallel to the direction of travel at the new current position.

[0029] A method for generating a movement path for an agricultural work vehicle according to one embodiment is applicable even in cases where the field is narrow or the current location is close to the boundary of the field by including a path that moves by reverse and the possibility of collision with the boundary of the field.

[0030] FIG. 1 is a reference diagram for illustrating an agricultural work vehicle moving within a cultivated field according to one embodiment.

[0031] FIG. 2 is a reference diagram for explaining a method for determining the lateral position of a target position relative to the current direction of travel according to one embodiment.

[0032] FIG. 3 is a reference diagram for explaining a method for determining proximity between a current location and a target location according to one embodiment.

[0033] FIG. 4 is a reference diagram for explaining a method for determining the direction of rotation at a current position according to one embodiment.

[0034] FIG. 5 is a reference diagram for explaining a method for determining the direction of rotation at a target position according to one embodiment.

[0035] FIG. 6 is a reference diagram for explaining a method for determining whether an agricultural work vehicle collides with the boundary line of a cultivated land according to one embodiment.

[0036] FIG. 7 is a flowchart illustrating a method for generating a movement path of an agricultural work vehicle according to one embodiment.

[0037] FIG. 8 is a flowchart for explaining a method for classifying cases of movement path generation according to one embodiment.

[0038] FIG. 9 is a reference diagram for explaining a method of generating a movement path in a first case according to one embodiment.

[0039] FIG. 10 is a reference diagram for explaining a method of generating a movement path in a third case according to one embodiment.

[0040] FIG. 11 is a reference diagram for explaining a method of generating a movement path in a fifth case according to one embodiment.

[0041] FIG. 12 is a reference diagram for explaining a method of generating a movement path in the seventh case according to one embodiment.

[0042] FIG. 13 is a reference diagram for explaining a method of generating a movement path in the ninth case according to one embodiment.

[0043] FIG. 14 is a reference diagram for explaining a method of generating a movement path in the 11th case according to one embodiment.

[0044] FIG. 15 is a reference diagram for explaining a method of generating a movement path in the 13th case according to one embodiment.

[0045] FIG. 16 is a reference diagram for explaining a method of generating a movement path in the 15th case according to one embodiment.

[0046] FIG. 17 is a reference diagram for explaining a method of generating a movement path in the 17th case according to one embodiment.

[0047] FIG. 18 is a flowchart illustrating a method for generating an alternative path according to one embodiment.

[0048] FIG. 19 is a reference diagram for explaining a method for determining an intermediate position according to one embodiment.

[0049] FIG. 20 is a flowchart for explaining a method for classifying cases of alternative path generation according to one embodiment.

[0050] FIG. 21 is a block diagram illustrating the components of an agricultural work vehicle according to one embodiment.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] FIG. 1 is a reference diagram for illustrating an agricultural work vehicle moving within a cultivated field according to one embodiment.

[0059] Referring to FIG. 1, an agricultural work vehicle (100) is facing its current direction of travel from its current position. The present disclosure relates to a movement path that causes an agricultural work vehicle (100) to move from its current position to a target position and face its target direction of travel. Here, the current direction of travel refers to the front of the agricultural work vehicle (100) from its current position, and the target direction of travel refers to the front of the agricultural work vehicle (100) from its target position.

[0060] In most cases, the agricultural work vehicle (100) must turn to move from its current position to a target position and must not collide with the boundary of the cultivated land during movement. Therefore, the movement path must be set considering the turning ability of the agricultural work vehicle (100) and must be set so that the agricultural work vehicle (100) does not collide with the boundary of the cultivated land. As described below, reverse movement may be considered to create a movement path in which the agricultural work vehicle (100) does not collide with the boundary of the cultivated land.

[0061] An agricultural work vehicle (100) can determine whether a plurality of conditions are satisfied based on a current location, a current direction of travel, a target location, and / or a target direction of travel, and can generate a movement path from the current location to the target location based on the determinations. Below, a method for determining whether each condition is satisfied is first described with reference to FIGS. 2 to 6, and a method for generating a movement path is described with reference to FIGS. 7 to 20.

[0062] FIG. 2 is a reference diagram for explaining a method for determining the lateral position of a target position relative to the current direction of travel according to one embodiment.

[0063] Referring to FIG. 2, an agricultural work vehicle (100) can determine the lateral position of a target position relative to the current direction of travel based on the current position, the current direction of travel, and the target position. The lateral position of the target position relative to the current direction of travel may be left or right. The lateral position of the target position relative to the current direction of travel can be understood as referring to whether the target position is on the left or right side relative to the current agricultural work vehicle (100).

[0064] For example, an agricultural work vehicle (100) can determine the lateral position of a target position relative to the current direction of travel using a cross product operation such as Equation 1.

[0065]

[0066] In mathematical formula 1, is a direction vector corresponding to the current direction of travel, and is the direction vector from the current position to the target position.

[0067] The agricultural work vehicle (100) is a vector obtained by mathematical formula 1 Based on the direction, the lateral position of the target location relative to the current direction of travel can be determined. For example, the lateral position of the target location relative to the current direction of travel is a vector The direction of is the direction coming out of the ground ( If ), it can be determined to the left and vector The direction of entering the ground ( If ), it can be determined to the right.

[0068] Although not illustrated in FIG. 2, in a similar manner, an agricultural work vehicle (100) can determine the lateral position of the current position relative to the target direction of travel based on the current position, the target position, and the target direction of travel. The lateral position of the current position relative to the target direction of travel may be left or right. The lateral position of the current position relative to the target direction of travel can be understood as referring to whether the current position is on the left or right side relative to the agricultural work vehicle (100) facing the target direction of travel from the target position.

[0069] For example, an agricultural work vehicle (100) can determine the lateral position of the current position relative to the target direction of travel using an external operation such as Equation 2.

[0070]

[0071] In mathematical formula 2, is a direction vector corresponding to the target's direction of travel, and is the direction vector from the target position to the current position.

[0072] The agricultural work vehicle (100) is a vector obtained by mathematical formula 2 Based on the direction, the lateral position of the current location relative to the target's direction of travel can be determined. For example, the lateral position of the current location relative to the target's direction of travel is a vector The direction of is the direction coming out of the ground ( If ), it can be determined to the left and vector The direction of entering the ground ( If ), it can be determined to the right.

[0073] FIG. 3 is a reference diagram for explaining a method for determining proximity between a current location and a target location according to one embodiment.

[0074] Referring to FIG. 3, an agricultural work vehicle (100) can determine whether the current location and the target location are close based on the distance (D) between the center of a circle (e.g., circle (310a)) that is in contact with the current location and a circle (e.g., circle (320a)) that is in contact with the target location. For example, the agricultural work vehicle (100) can determine that the current location and the target location are close if the distance (D) is smaller than the minimum turning diameter of the agricultural work vehicle (100) (i.e., 2 × minimum turning radius), and can determine that the current location and the target location are not close if the distance (D) is greater than or equal to the minimum turning diameter of the agricultural work vehicle (100).

[0075] The circle tangent to the current position refers to the circle (e.g., circle (310a)) that is closer to the target position among two circles (e.g., circle (310a) and circle (310b)) that pass through the current position and whose tangent direction at the current position is parallel to the current direction of travel. The radius of the circle tangent to the current position may be the minimum turning radius of the agricultural work vehicle (100).

[0076] The circle tangent to the target location refers to the circle (e.g., circle (320a)) that is closer to the current location among two circles (e.g., circle (320a) and circle (320b)) that pass through the target location and whose tangential direction at the target location is parallel to the target direction of travel. The radius of the circle tangent to the target location may be the minimum turning radius of the agricultural work vehicle (100).

[0077] FIG. 4 is a reference diagram for explaining a method for determining the direction of rotation at a current position according to one embodiment.

[0078] Referring to FIG. 4, an agricultural work vehicle (100) can determine the direction of rotation at the current position based on the current position, the current direction of travel, and the target position. The direction of rotation at the current position refers to the direction of rotation when the agricultural work vehicle (100) moves forward along the circle tangent to the current position at the current position. The direction of rotation at the current position may be clockwise or counterclockwise. For example, the agricultural work vehicle (100) rotates clockwise when moving forward along the circle tangent to the current position #1 at the current position #1, and rotates counterclockwise when moving forward along the circle tangent to the current position #2 at the current position #2.

[0079] For example, an agricultural work vehicle (100) can determine the direction of rotation at the current position using an external operation such as Equation 3.

[0080]

[0081] In mathematical formula 3, is the direction vector from the current position to the target position, and is a direction vector corresponding to the current direction of travel.

[0082] The agricultural work vehicle (100) is a vector obtained by mathematical formula 3 The direction of rotation at the current position can be determined based on the direction of. For example, the direction of rotation at the current position is a vector The direction of is the direction coming out of the ground ( If ), it can be determined in a clockwise direction and vector The direction of entering the ground ( If ), it can be determined in a counterclockwise direction.

[0083] FIG. 5 is a reference diagram for explaining a method for determining the direction of rotation at a target position according to one embodiment.

[0084] Referring to FIG. 5, the agricultural work vehicle (100) can determine the direction of rotation at the target position based on the lateral position of the current position relative to the target direction of travel. The direction of rotation at the target position refers to the direction of rotation when the agricultural work vehicle (100) advances along the circle tangent to the target position at the target position. The direction of rotation at the target position may be clockwise or counterclockwise. For example, the agricultural work vehicle (100) rotates counterclockwise when advancing along the circle tangent to the target position #1 at target position #1, and rotates clockwise when advancing along the circle tangent to the target position #2 at target position #2. As described above, the lateral position of the current position relative to the target direction of travel can be determined based on the current position, the target position, and the target direction of travel.

[0085] For example, the direction of rotation at the target position can be determined as counterclockwise if the lateral position of the current position relative to the target direction of travel is left, and as clockwise if the lateral position of the current position relative to the target direction of travel is right.

[0086] FIG. 6 is a reference diagram for explaining a method for determining whether an agricultural work vehicle collides with the boundary line of a cultivated land according to one embodiment.

[0087] Referring to FIG. 6, the agricultural work vehicle (100) can determine whether it collides with the boundary line of the cultivated land when rotating along a first circle (e.g., circle (610), circle (630)) that is in contact with the current (or target) position. The agricultural work vehicle (100) can determine whether it collides with the boundary line of the cultivated land based on whether a second circle (e.g., circle (620), circle (640)), which has a center equal to the center of the first circle and a radius greater than the radius of the first circle by at least half the width of the agricultural work vehicle (100) or half the width of a work tool attached to the agricultural work vehicle (100), intersects the boundary line of the cultivated land.

[0088] For example, the agricultural work vehicle (100) can determine that the agricultural work vehicle (100) does not collide with the boundary line of the cultivated land if the second circle does not intersect with the boundary line of the cultivated land, and can determine that the agricultural work vehicle (100) collides with the boundary line of the cultivated land if the second circle intersects with the boundary line of the cultivated land.

[0089] The agricultural work vehicle (100) can determine whether it collides with the boundary line of the cultivated land when moving forward and whether it collides with the boundary line of the cultivated land when moving backward.

[0090] Collision with the boundary of the cultivated land when moving forward refers to the agricultural work vehicle (100) colliding with the boundary of the cultivated land earlier than when moving backward when moving forward along the first circle (e.g., circle (610), circle (630)) from the current (or target) position. Collision with the boundary of the cultivated land when moving backward refers to the agricultural work vehicle (100) colliding with the boundary of the cultivated land earlier than when moving forward when moving backward along the first circle (e.g., circle (610), circle (630)) from the current (or target) position. In the example of FIG. 6, it can be described that the agricultural work vehicle (100) collides with the boundary of the cultivated land when moving forward along circle (610) and collides with the boundary of the cultivated land when moving backward along circle (630).

[0091] Hereinafter, a method for generating a movement path will be described with reference to FIGS. 7 to 20.

[0092] FIG. 7 is a flowchart illustrating a method for generating a movement path of an agricultural work vehicle according to one embodiment.

[0093] Referring to FIG. 7, in operation 710, the agricultural work vehicle (100) can determine whether it collides with the boundary line of the cultivated land when the agricultural work vehicle (100) passes through a target location and rotates along a circle in which the tangential direction at the target location is parallel to the target direction of travel. For example, operation 710 can be performed in the manner described above with reference to FIG. 6.

[0094] In operation 720, the agricultural work vehicle (100) can generate a path of movement from the current location to the target location based on the determination that the agricultural work vehicle (100) does not collide with the boundary line of the cultivated land. The specific process of operation 720 will be described later with reference to FIGS. 8 to 17.

[0095] In operation 730, the agricultural work vehicle (100) can generate an alternative path to move from the current location to the target location via an intermediate location based on the determination that the agricultural work vehicle (100) collides with the boundary line of the cultivated land. The specific process of operation 730 will be described later with reference to FIGS. 18 to 20.

[0096] FIG. 8 is a flowchart for explaining a method for classifying cases of movement path generation according to one embodiment.

[0097] Referring to FIG. 8, an agricultural work vehicle (100) can determine, based on at least one of a current position, a current direction of travel, a target position, or a target direction of travel, whether the direction of rotation is the same at the current position and the target position (Condition A), whether the current position and the target position are close (Condition B), whether there is a collision with the boundary line of the cultivated land when moving forward from the current position (Condition C), and whether there is a collision with the boundary line of the cultivated land when moving backward from the current position (Condition D). The agricultural work vehicle (100) can generate a movement path from the current position to the target position based on the determination of each condition. The method for determining each condition is as described above with reference to FIGS. 2 to 6.

[0098] As shown in FIG. 8, the agricultural work vehicle (100) can determine whether the current position and the target position are close (condition B) when it is determined that the rotational direction of the current position and the target position are not the same (condition A), and can omit the determination regarding whether the current position and the target position are close (condition B) when it is determined that the rotational direction of the current position and the target position are the same (condition A).

[0099] As shown in FIG. 8, if it is determined that the agricultural work vehicle (100) will collide with the boundary line of the cultivated land when moving forward from the current position (condition C), it can determine whether it will collide with the boundary line of the cultivated land when moving backward from the current position (condition D), and if it is determined that it will not collide with the boundary line of the cultivated land when moving forward from the current position (condition C), it can omit the determination regarding whether it will collide with the boundary line of the cultivated land when moving backward from the current position (condition D).

[0100] The first case is a case where the rotation direction is the same at the current position and the target position, and there is no collision with the boundary line of the cultivated land when moving forward from the current position. A method for generating a movement path in the first case will be described later with reference to FIG. 9.

[0101] The third case is a case where the rotation direction is the same at the current position and the target position, and when moving forward from the current position, there is a collision with the boundary line of the cultivated land, and when moving backward from the current position, there is no collision with the boundary line of the cultivated land. A method for generating a movement path in the third case will be described later with reference to FIG. 10.

[0102] The fifth case is a case where the rotation direction is the same at the current position and the target position, and when moving forward from the current position, it collides with the boundary line of the cultivated land, and when moving backward from the current position, it collides with the boundary line of the cultivated land. A method for generating a movement path in the fifth case will be described later with reference to FIG. 11.

[0103] The seventh case is a case where the rotation direction of the current position and the target position are different, the current position and the target position are not close to each other, and there is no collision with the boundary line of the cultivated land when moving forward from the current position. A method for generating a movement path in the seventh case will be described later with reference to FIG. 12.

[0104] The ninth case is a case where the rotation direction of the current position and the target position are different, the current position and the target position are not close, the current position collides with the boundary line of the cultivated land when moving forward, and the current position does not collide with the boundary line of the cultivated land when moving backward. A method for generating a movement path in the ninth case will be described later with reference to FIG. 13.

[0105] The 11th case is a case where the rotation direction of the current position and the target position are different, the current position and the target position are not close, and when moving forward from the current position, there is a collision with the boundary line of the cultivated land, and when moving backward from the current position, there is a collision with the boundary line of the cultivated land. A method for generating a movement path in the 11th case will be described later with reference to FIG. 14.

[0106] The 13th case is a case where the rotation direction of the current position and the target position are different, the current position and the target position are close, and there is no collision with the boundary line of the cultivated land when moving forward from the current position. A method for generating a movement path in the 13th case will be described later with reference to FIG. 15.

[0107] The 15th case is a case where the rotation direction of the current position and the target position are different, the current position and the target position are close, and when moving forward from the current position, there is a collision with the boundary line of the cultivated land, and when moving backward from the current position, there is no collision with the boundary line of the cultivated land. A method for generating a movement path in the 15th case will be described later with reference to FIG. 16.

[0108] Case 17 is a case where the rotation direction of the current position and the target position are different, the current position and the target position are close, and when moving forward from the current position, there is a collision with the boundary line of the cultivated land, and when moving backward from the current position, there is a collision with the boundary line of the cultivated land. A method for generating a movement path in Case 17 will be described later with reference to FIG. 17.

[0109] FIG. 9 is a reference diagram for explaining a method of generating a movement path in a first case according to one embodiment.

[0110] Referring to 910 in FIG. 9, an agricultural work vehicle (100) can generate a circle (911) that is in contact with the current position and a circle (912) that is in contact with the target position, and two common outer tangent lines (913, 914) of the two circles (911, 912). At this time, the rotation direction of the circle (911) that is in contact with the current position and the circle (912) that is in contact with the target position can be set to the rotation direction at the current position and the rotation direction at the target position, respectively.

[0111] The agricultural work vehicle (100) can select the common tangent line (913, 914) that has a shorter travel distance to the point of contact (915, 916) with the circle (911) that is tangent to the current position when advancing along the circle (911) that is tangent to the current position.

[0112] For example, a common external tangent line with a shorter travel distance to the point of contact during forward movement can be selected based on angle calculations using the dot product operation.

[0113] The agricultural work vehicle (100) can calculate two angles formed by two points of tangency (915, 916) of two common outer tangents (913, 914) and a circle (911) tangent to the current direction of travel and the current position. For example, the agricultural work vehicle (100) can calculate a vector corresponding to the current direction of travel and the vector from the current position to the first contact point (915) The inner product operation of, and the vector corresponding to the current direction of travel and the vector from the current position to the second contact point (916) Two angles can be calculated using the inner product operation.

[0114] The agricultural work vehicle (100) can select the common tangent line corresponding to the smaller of the two calculated angles among the two common tangent lines (913, 914). In the example of FIG. 9, the common tangent line (913) is selected.

[0115] Referring to 920 in FIG. 9, an agricultural work vehicle (100) can generate a movement path (921) including a path that advances along a circle (911) tangent to the current location, a path that advances along a selected common outer tangent (913), and a path that advances along a circle (912) tangent to the target location to the target location.

[0116] FIG. 10 is a reference diagram for explaining a method of generating a movement path in a third case according to one embodiment.

[0117] Referring to 1010 in FIG. 10, an agricultural work vehicle (100) can generate a circle (1011) that is in contact with the current position and a circle (1012) that is in contact with the target position, and can generate two common outer tangent lines (1013, 1014) of the two circles (1011, 1012). At this time, the rotation direction of the circle (1011) that is in contact with the current position and the circle (1012) that is in contact with the target position can be set to the rotation direction at the current position and the rotation direction at the target position, respectively.

[0118] The agricultural work vehicle (100) can select the common tangent line (1013, 1014) that has a shorter travel distance to the point of contact (1015, 1016) with the circle (1011) that is in contact with the current position when reversing along the circle (1011) that is in contact with the current position.

[0119] For example, a common external tangent line with a shorter travel distance to the contact point during reverse movement can be selected based on angle calculations using dot product operations.

[0120] An agricultural work vehicle (100) can calculate two angles formed by two points of contact (1015, 1016) of a circle (1011) tangent to the current direction of travel and the current position and two common outer tangent lines (1013, 1014). For example, the agricultural work vehicle (100) can calculate two angles by using the dot product operation of a vector corresponding to the current direction of travel and a vector from the current position to the first point of contact (1015), and the dot product operation of a vector corresponding to the current direction of travel and a vector from the current position to the second point of contact (1016).

[0121] The agricultural work vehicle (100) can select the common tangent line corresponding to the larger of the two calculated angles among two common tangent lines (1013, 1014). In the example of FIG. 10, the common tangent line (1013) is selected.

[0122] Referring to 1020 of FIG. 10, an agricultural work vehicle (100) can generate a movement path (1021) including a path of reversing along a circle (1011) tangent to the current location, a path of reversing along a selected common outer tangent (1013), and a path of reversing along a circle (1012) tangent to the target location to the target location.

[0123] FIG. 11 is a reference diagram for explaining a method of generating a movement path in a fifth case according to one embodiment.

[0124] Referring to 1110 in FIG. 11, the agricultural work vehicle (100) collides with the boundary line of the cultivated land when moving forward and backward along the circle (1111) that is in contact with the current position. To eliminate the possibility of collision in at least one of the cases of moving forward and backward, the agricultural work vehicle (100) can create a circle (1112) that is symmetric to the circle (1111) that is in contact with the current position relative to the current position.

[0125] The agricultural work vehicle (100) can move along the circle (1112) until it collides with the boundary line of the cultivated land. At this time, the agricultural work vehicle (100) can move forward or backward in the direction where the distance traveled until it collides with the boundary line of the cultivated land is longer. In 1110 of FIG. 11, the agricultural work vehicle (100) moves backward along the circle (1112) because the distance traveled when moving backward is longer than the distance traveled when moving forward.

[0126] Referring to 1120 in FIG. 11, an agricultural work vehicle (100) can create a circle (1121) that is in contact with a new current position and a circle (1122) that is in contact with a target position, and create two common outer tangent lines (1123, 1124) of the two circles (1121, 1122). At this time, the rotation direction of the circle (1121) that is in contact with the new current position and the circle (1122) that is in contact with the target position can be set to the rotation direction at the new current position and the rotation direction at the target position, respectively.

[0127] The agricultural work vehicle (100) can select the common tangent line (1125, 1126) that has a shorter travel distance to the tangent line (1125, 1126) to the circle (1121) that is tangent to the new current position when moving along the circle (1121) that is tangent to the new current position among the two common tangent lines (1123, 1124). At this time, the agricultural work vehicle (100) can select the common tangent line based on the time when moving backward along the circle (1121) that is tangent to the new current position when moving forward along the circle (1112) in 1110 of FIG. 11, and can select the common tangent line based on the time when moving forward along the circle (1121) that is tangent to the new position when moving backward along the circle (1112) in 1110 of FIG. 11. In 1120 of FIG. 11, a common outer tangent line (1124) is selected where the travel distance to the tangent point (1125, 1126) is shorter when advancing along the circle (1121) that is tangent to the new current position.

[0128] For example, a common external tangent with a shorter travel distance to the tangent point can be selected based on angle calculations using the dot product operation.

[0129] An agricultural work vehicle (100) can calculate two angles formed by two points of contact (1125, 1126) of a circle (1121) tangent to the new current direction of travel and the new current position and two common outer tangent lines (1123, 1124). For example, the agricultural work vehicle (100) can calculate two angles by using the dot product operation of a vector corresponding to the new current direction of travel and a vector from the new current position to the first point of contact (1125), and the dot product operation of a vector corresponding to the new current direction of travel and a vector from the new current position to the second point of contact (1126).

[0130] The agricultural work vehicle (100) can select the common tangent line corresponding to the smaller of the two calculated angles among the two common tangent lines (1123, 1124). In the example of FIG. 11, the common tangent line (1124) is selected.

[0131] Referring to 1130 in FIG. 11, an agricultural work vehicle (100) can generate a movement path (1131) including a path along a circle (1112) from a current position to a new current position, a path along a circle (1121) tangent to the new current position from the new current position, a path along a selected common outer tangent (1124), and a path along a circle (1122) tangent to the target position to a target position. In this case, when moving forward along the circle (1112) in 1110 of FIG. 11, the path along the circle (1121) tangent to the new current position from the new current position, the path along the selected common outer tangent (1124), and the path along the circle (1122) tangent to the target position to a target position are reverse paths. In the case of moving backward along the circle (1112) in 1110 of FIG. 11, the path moving along the circle (1121) tangent to the new current position from the new current position, the path moving along the selected common outer tangent (1124), and the path moving along the circle (1122) tangent to the target position to the target position are the forward paths.

[0132] FIG. 12 is a reference diagram for explaining a method of generating a movement path in the seventh case according to one embodiment.

[0133] Referring to 1210 in FIG. 12, an agricultural work vehicle (100) can generate a circle (1211) that is in contact with the current position and a circle (1212) that is in contact with the target position, and can generate two common inner tangents (1213, 1214) of the two circles (1211, 1212). At this time, the rotation direction of the circle (1211) that is in contact with the current position and the circle (1212) that is in contact with the target position can be set to the rotation direction at the current position and the rotation direction at the target position, respectively.

[0134] The agricultural work vehicle (100) can select the common tangent line (1213, 1214) that has a shorter travel distance to the point of contact (1215, 1216) with the circle (1211) that is tangent to the current position when advancing along the circle (1211) that is tangent to the current position.

[0135] For example, a common internal tangent with a shorter travel distance to the point of contact during forward movement can be selected based on angle calculations using the inner product operation.

[0136] An agricultural work vehicle (100) can calculate two angles formed by two points of tangency (1215, 1216) of a circle (1211) tangent to the current direction of travel and the current position and two common internal tangents (1213, 1214). For example, the agricultural work vehicle (100) can calculate a vector corresponding to the current direction of travel and the vector from the current position to the first contact point (1215) The inner product operation of, and the vector corresponding to the current direction of travel and the vector from the current position to the second contact point (1216) Two angles can be calculated using the inner product operation.

[0137] The agricultural work vehicle (100) can select the common tangent corresponding to the smaller of the two calculated angles among two common tangents (1213, 1214). In the example of FIG. 12, the common tangent (1213) is selected.

[0138] Referring to 1220 in FIG. 12, an agricultural work vehicle (100) can generate a movement path (1221) including a path that advances along a circle (1211) tangent to the current location, a path that advances along a selected common inner tangent (1213), and a path that advances along a circle (1212) tangent to the target location to the target location.

[0139] FIG. 13 is a reference diagram for explaining a method of generating a movement path in the ninth case according to one embodiment.

[0140] Referring to 1310 in FIG. 13, an agricultural work vehicle (100) can generate a circle (1311) that is in contact with the current position and a circle (1312) that is in contact with the target position, and can generate two common inner tangents (1313, 1314) of the two circles (1311, 1312). At this time, the rotation direction of the circle (1311) that is in contact with the current position and the circle (1312) that is in contact with the target position can be set to the rotation direction at the current position and the rotation direction at the target position, respectively.

[0141] The agricultural work vehicle (100) can select the common tangent line (1313, 1314) that has a shorter travel distance to the point of contact (1315, 1316) with the circle (1311) that is in contact with the current position when reversing along the circle (1311) that is in contact with the current position.

[0142] For example, a common internal tangent with a shorter travel distance to the point of contact during reverse movement can be selected based on angle calculations using the inner product operation.

[0143] An agricultural work vehicle (100) can calculate two angles formed by two points of contact (1315, 1316) of a circle (1311) tangent to the current direction of travel and the current position and two common inner tangents (1313, 1314). For example, the agricultural work vehicle (100) can calculate two angles by using the dot product operation of a vector corresponding to the current direction of travel and a vector from the current position to the first point of contact (1315), and the dot product operation of a vector corresponding to the current direction of travel and a vector from the current position to the second point of contact (1316).

[0144] The agricultural work vehicle (100) can select the common tangent corresponding to the larger of the two calculated angles among two common tangents (1313, 1314). In the example of FIG. 13, the common tangent (1314) is selected.

[0145] Referring to 1320 in FIG. 13, an agricultural work vehicle (100) can generate a movement path (1321) including a path of reversing along a circle (1311) tangent to the current location, a path of reversing along a selected common inner tangent (1314), and a path of reversing along a circle (1312) tangent to the target location to the target location.

[0146] FIG. 14 is a reference diagram for explaining a method of generating a movement path in the 11th case according to one embodiment.

[0147] Referring to 1410 in FIG. 14, the agricultural work vehicle (100) collides with the boundary line of the cultivated land when moving forward and backward along the circle (1411) that is in contact with the current position. To eliminate the possibility of collision in at least one of the cases of moving forward and backward, the agricultural work vehicle (100) can create a circle (1412) that is symmetric to the circle (1411) that is in contact with the current position relative to the current position.

[0148] The agricultural work vehicle (100) can move along the circle (1412) until it collides with the boundary line of the cultivated land. At this time, the agricultural work vehicle (100) can move forward or backward in the direction where the distance traveled until it collides with the boundary line of the cultivated land is longer. In 1410 of FIG. 14, the agricultural work vehicle (100) moves backward along the circle (1412) because the distance traveled when moving backward is longer than the distance traveled when moving forward.

[0149] Referring to 1420 in FIG. 14, an agricultural work vehicle (100) can create a circle (1421) that is in contact with a new current position and a circle (1422) that is in contact with a target position, and create two common inner tangents (1423, 1424) of the two circles (1421, 1422). At this time, the rotation direction of the circle (1421) that is in contact with the new current position and the circle (1422) that is in contact with the target position can be set to the rotation direction at the new current position and the rotation direction at the target position, respectively.

[0150] Among the two common inner tangents (1423, 1424), the common inner tangent has a shorter travel distance to the point of contact (1425, 1426) with the circle (1421) that is tangent to the new current position when moving along the circle (1421) that is tangent to the new current position. At this time, the agricultural work vehicle (100) can select the common inner tangent based on the time when moving backward along the circle (1421) that is tangent to the new current position when moving forward along the circle (1412) in 1410 of FIG. 14, and can select the common outer tangent based on the time when moving forward along the circle (1421) that is tangent to the new position when moving backward along the circle (1412) in 1410 of FIG. 14. In 1420 of FIG. 14, a common inner tangent (1423) is selected where the travel distance to the tangent (1425, 1426) is shorter when advancing along the circle (1421) that is tangent to the new current position.

[0151] For example, a common tangent with a shorter travel distance to the tangent point can be selected based on angle calculations using the inner product operation.

[0152] An agricultural work vehicle (100) can calculate two angles formed by two points of contact (1425, 1426) of a circle (1421) tangent to the new current direction of travel and the new current position and two common inner tangents (1423, 1424). For example, the agricultural work vehicle (100) can calculate two angles by using the dot product operation of a vector corresponding to the new current direction of travel and a vector from the new current position to the first point of contact (1425), and the dot product operation of a vector corresponding to the new current direction of travel and a vector from the new current position to the second point of contact (1426).

[0153] The agricultural work vehicle (100) can select the common tangent corresponding to the smaller of the two calculated angles among two common tangents (1423, 1424). In the example of FIG. 14, the common tangent (1423) is selected.

[0154] Referring to 1430 in FIG. 14, an agricultural work vehicle (100) can generate a movement path (1431) including a path of reversing along a circle (1412) from a current position to a new current position, a path of advancing along a circle (1421) tangent to the new current position from the new current position, a path of advancing along a selected common inner tangent (1423), and a path of advancing along a circle (1422) tangent to the target position to a target position.

[0155] FIG. 15 is a reference diagram for explaining a method of generating a movement path in the 13th case according to one embodiment.

[0156] Referring to 1510 in FIG. 15, an agricultural work vehicle (100) can generate a circle (1511) in contact with the current position and a circle (1512) in contact with the target position. At this time, the rotation direction of the circle (1511) in contact with the current position and the circle (1512) in contact with the target position can be set to the rotation direction at the current position and the rotation direction at the target position, respectively.

[0157] An agricultural work vehicle (100) can generate two circles (1513, 1514) that simultaneously contact a circle (1511) that contacts the current position and a circle (1512) that contacts the target position. At this time, the rotation direction of the two circles (1513, 1514) can be set to be the same as the rotation direction of the circle (1511) that contacts the current position.

[0158] The agricultural work vehicle (100) can select the circle that does not intersect the boundary line of the cultivated land among the two circles (1513, 1514). In the example of FIG. 15, circle (1513) is selected. If both circles (1513, 1514) intersect the boundary line of the cultivated land, the agricultural work vehicle (100) can select the circle that has a longer length of the perpendicular line from the center to the boundary line of the cultivated land.

[0159] The agricultural work vehicle (100) can generate two common outer tangents (1515, 1516) of a circle (1511) that is tangent to the current location and a selected circle (1513).

[0160] The agricultural work vehicle (100) can select the common tangent line (1515, 1516) from which the travel distance to the point of contact (1519) of the circle (1512) that is tangent to the circle (1513) selected at the current position and the target position is shorter.

[0161] For example, a first path moving from the current position to the contact point (1519) includes a path moving forward along a circle (1511) that is tangent to the current position from the current position to the contact point (1517a), a path moving backward along a common outer tangent line (1515) from the contact point (1517a) to the contact point (1517b), and a path moving forward along a selected circle (1513) from the contact point (1517b) to the contact point (1519).

[0162] For example, a second path moving from the current position to the contact point (1519) includes a path moving backward along a circle (1511) that is tangent to the current position from the current position to the contact point (1518a), a path moving forward along a common outer tangent line (1516) from the contact point (1518a) to the contact point (1518b), and a path moving backward along a selected circle (1513) from the contact point (1518b) to the contact point (1519).

[0163] In the example of FIG. 15, since the travel distance of the first path is shorter than the travel distance of the second path, a common outer tangent line (1515) is selected.

[0164] Referring to 1520 in FIG. 15, an agricultural work vehicle (100) can generate a movement path (1521) comprising: a path along the circle (1511) that is tangent to the current location from the current location to the point of contact (1517a or 1518a) of the circle (1511) that is tangent to the current location from the point of contact (1517a or 1518a) to the point of contact (1517b or 1518b) of the selected common tangent (1515 or 1516) from the point of contact (1517a or 1518a) to the point of contact (1517b or 1518b) of the selected circle from the point of contact (1517b or 1518b) to the point of contact (1519) from the point of contact (1519) to the target location, and a path along the circle (1512) that is tangent to the target location from the point of contact (1519) to the target location.

[0165] For example, when a common outer tangent (1515) is selected, the agricultural work vehicle (100) can generate a movement path including a path of advancing along a circle (1511) tangent to the current position from the current position to a contact point (1517a), a path of reversing along a common outer tangent (1515) from the contact point (1517a) to a contact point (1517b), a path of advancing along a selected circle (1513) from the contact point (1517b) to a contact point (1519), and a path of advancing along a circle (1512) tangent to the target position from the contact point (1519) to a target position.

[0166] For example, when a common outer tangent (1516) is selected, the agricultural work vehicle (100) can generate a movement path including a path of reversing along a circle (1511) tangent to the current position from the current position to a contact point (1518a), a path of advancing along a common outer tangent (1516) from the contact point (1518a) to a contact point (1518b), a path of reversing along a selected circle (1513) from the contact point (1518b) to a contact point (1519), and a path of advancing along a circle (1512) tangent to the target position from the contact point (1519) to a target position.

[0167] FIG. 16 is a reference diagram for explaining a method of generating a movement path in the 15th case according to one embodiment.

[0168] Referring to 1610 in FIG. 16, an agricultural work vehicle (100) can generate a circle (1611) in contact with the current position and a circle (1612) in contact with the target position. At this time, the rotation direction of the circle (1611) in contact with the current position and the circle (1612) in contact with the target position can be set to the rotation direction at the current position and the rotation direction at the target position, respectively.

[0169] An agricultural work vehicle (100) can generate two circles (1613, 1614) that simultaneously contact a circle (1611) that contacts the current position and a circle (1612) that contacts the target position. At this time, the rotation direction of the two circles (1613, 1614) can be set to be the same as the rotation direction of the circle (1611) that contacts the current position.

[0170] The agricultural work vehicle (100) can select the circle that does not intersect the boundary line of the cultivated land among the two circles (1613, 1614). In the example of FIG. 16, circle (1613) is selected. If both circles (1613, 1614) intersect the boundary line of the cultivated land, the agricultural work vehicle (100) can select the circle that has a longer length of the perpendicular line from the center to the boundary line of the cultivated land.

[0171] The agricultural work vehicle (100) can generate two common outer tangents (1615, 1616) of a circle (1611) that is tangent to the current location and a selected circle (1613).

[0172] The agricultural work vehicle (100) can select the common tangent line (1615, 1616) that has a shorter travel distance to the point of contact (1617a, 1018) with the circle (1611) that is in contact with the current position when reversing along the circle (1611) that is in contact with the current position.

[0173] For example, a common external tangent line with a shorter travel distance to the contact point during reverse movement can be selected based on angle calculations using dot product operations.

[0174] An agricultural work vehicle (100) can calculate two angles formed by two points of contact (1617a, 1618) of a circle (1611) tangent to the current direction of travel and the current position and two common outer tangent lines (1615, 1616). For example, the agricultural work vehicle (100) can calculate two angles by using the dot product operation of a vector corresponding to the current direction of travel and a vector from the current position to the first point of contact (1617a), and the dot product operation of a vector corresponding to the current direction of travel and a vector from the current position to the second point of contact (1618).

[0175] The agricultural work vehicle (100) can select the common tangent line corresponding to the larger of the two calculated angles among two common tangent lines (1615, 1616). In the example of FIG. 16, the common tangent line (1615) is selected.

[0176] Referring to 1620 in FIG. 16, an agricultural work vehicle (100) can generate a movement path (1621) including a path along a circle (1611) that is tangent to the current location from the current location to the contact point (1617a), a path along a common outer tangent line (1615) from the contact point (1617a) to the contact point (1617b), a path along a selected circle (1613) from the contact point (1617b) to the contact point (1619), and a path along a circle (1612) that is tangent to the target location from the contact point (1619) to the target location.

[0177] FIG. 17 is a reference diagram for explaining a method of generating a movement path in the 17th case according to one embodiment.

[0178] Referring to 1710 in FIG. 17, the agricultural work vehicle (100) collides with the boundary line of the cultivated land when moving forward and backward along the circle (1711) that is in contact with the current position. To eliminate the possibility of collision in at least one of the cases of moving forward and backward, the agricultural work vehicle (100) can create a circle (1712) that is symmetric to the circle (1711) that is in contact with the current position relative to the current position.

[0179] The agricultural work vehicle (100) can move along the circle (1712) until it collides with the boundary line of the cultivated land. At this time, the agricultural work vehicle (100) can move forward or backward in the direction where the distance traveled until it collides with the boundary line of the cultivated land is longer. In 1710 of FIG. 17, the agricultural work vehicle (100) moves forward along the circle (1712) because the distance traveled when moving forward is longer than the distance traveled when moving backward.

[0180] Referring to 1720 in FIG. 17, an agricultural work vehicle (100) can generate a circle (1721) that contacts a new current position and a circle (1722) that contacts a target position. At this time, the rotational direction of the circle (1721) that contacts the new current position and the circle (1722) that contacts the target position can be set to the rotational direction at the current position and the rotational direction at the target position, respectively.

[0181] The agricultural work vehicle (100) can generate two circles (1723, 1724) that simultaneously contact a circle (1721) that contacts a new current position and a circle (1722) that contacts a target position. At this time, the rotation direction of the two circles (1723, 1724) can be set to be the same as the rotation direction of the circle (1721) that contacts the new current position.

[0182] The agricultural work vehicle (100) can select the circle that does not intersect the boundary line of the cultivated land among the two circles (1723, 1724). In the example of FIG. 17, circle (1723) is selected. If both circles (1723, 1724) intersect the boundary line of the cultivated land, the agricultural work vehicle (100) can select the circle that has a longer length of the perpendicular line from the center to the boundary line of the cultivated land.

[0183] The agricultural work vehicle (100) can generate two common outer tangents (1725, 1726) of a circle (1721) and a selected circle (1723) that are tangent to a new current location.

[0184] Among the two common outer tangents (1725, 1726), the common outer tangent that has a shorter travel distance to the tangent point (1727a, 1728) with the circle (1721) tangent to the new current position when moving along the circle (1721) tangent to the new current position. At this time, the agricultural work vehicle (100) can select the common outer tangent based on when moving backward along the circle (1721) tangent to the new current position when moving forward along the circle (1712) in 1710 of FIG. 17, and can select the common outer tangent based on when moving forward along the circle (1721) tangent to the new position when moving backward along the circle (1712) in 1710 of FIG. 17. In 1720 of FIG. 17, a common outer tangent line (1725) is selected where the travel distance to the contact point (1727a, 1728) is shorter when moving backward along the circle (1721) that is tangent to the new current position.

[0185] For example, a common tangent with a shorter travel distance to the tangent point can be selected based on angle calculations using the inner product operation.

[0186] An agricultural work vehicle (100) can calculate two angles formed by two points of contact (1727a, 1728) of a circle (1721) tangent to the current direction of travel and a new current position and two common outer tangents (1725, 1726). For example, the agricultural work vehicle (100) can calculate two angles by using the dot product operation of a vector corresponding to the new current direction of travel and a vector from the new current position to the first point of contact (1727a), and the dot product operation of a vector corresponding to the new current direction of travel and a vector from the new current position to the second point of contact (1728).

[0187] The agricultural work vehicle (100) can select the common tangent line corresponding to the larger of the two calculated angles among the two common tangent lines (1725, 1726). In the example of FIG. 17, the common tangent line (1725) is selected.

[0188] Referring to 1730 in FIG. 17, an agricultural work vehicle (100) can generate a movement path (1731) including a path along a circle (1712) from a current location to a new current location, a path along a circle (1721) tangent to the new current location from the new current location to a contact point (1727a), a path along a common outer tangent (1725) from the contact point (1727a) to a contact point (1727b), a path along a selected circle (1723) from the contact point (1727b) to a contact point (1729), and a path along a circle (1722) tangent to the target location from the contact point (1729) to a target location.

[0189] FIG. 18 is a flowchart for explaining a method for generating an alternative path according to one embodiment, FIG. 19 is a reference diagram for explaining a method for determining an intermediate location according to one embodiment, and FIG. 20 is a flowchart for explaining a method for classifying cases of generating an alternative path according to one embodiment.

[0190] Referring to FIG. 18, in operation 1810, the agricultural work vehicle (100) can determine an intermediate position. As illustrated in FIG. 19, since there is a possibility of collision at the target position, the agricultural work vehicle (100) can determine an intermediate position as a position where it can move forward or backward from the target position. At this time, the intermediate position can be determined as a position where the agricultural work vehicle (100) does not collide with the boundary line of the cultivated land when rotating along the circle touching the intermediate position. At this time, the circle touching the intermediate position refers to the circle that is closer to the current position among two circles that pass through the intermediate position and whose tangential direction at the intermediate position is parallel to the target direction of travel (same as the direction of travel at the intermediate position), and whose radius is the minimum turning radius of the agricultural work vehicle (100).

[0191] In operation 1820, the agricultural work vehicle (100) can create a path of movement from the current location to an intermediate location.

[0192] An agricultural work vehicle (100) can determine, based on at least one of a current position, a current direction of travel, an intermediate position, or a target direction of travel, whether the direction of rotation is the same at the current position and the intermediate position (Condition A), whether the current position and the intermediate position are close (Condition B), whether there is a collision with the boundary line of the cultivated land when moving forward from the current position (Condition C), and whether there is a collision with the boundary line of the cultivated land when moving backward from the current position (Condition D). The agricultural work vehicle (100) can generate a movement path from the current position to the intermediate position based on the determination of each condition. The method for determining each condition is as described above with reference to FIGS. 2 to 6.

[0193] As shown in FIG. 20, the agricultural work vehicle (100) can determine whether the current position and the target position are close (condition B) when it is determined that the rotational direction of the current position and the target position are not the same (condition A), and can omit the determination regarding whether the current position and the target position are close (condition B) when it is determined that the rotational direction of the current position and the target position are the same (condition A).

[0194] As shown in FIG. 20, the agricultural work vehicle (100) can determine whether it collides with the boundary line of the cultivated land when moving forward from the current position (condition C) or whether it collides with the boundary line of the cultivated land when moving backward from the current position (condition D), and can omit the determination regarding whether it collides with the boundary line of the cultivated land when moving backward from the current position (condition D) if it determines that it does not collide with the boundary line of the cultivated land when moving forward from the current position (condition C).

[0195] The second case is when the direction of rotation is the same at the current position and the intermediate position, and there is no collision with the boundary line of the cultivated land when moving forward from the current position.

[0196] The fourth case is when the direction of rotation is the same at the current position and the intermediate position, and there is a collision with the boundary line of the cultivated land when moving forward from the current position, but no collision with the boundary line of the cultivated land when moving backward from the current position.

[0197] The 6th case is when the direction of rotation is the same at the current position and the intermediate position, and collides with the boundary line of the cultivated land when moving forward from the current position and collides with the boundary line of the cultivated land when moving backward from the current position.

[0198] Case 8 is the case where the direction of rotation differs between the current position and the intermediate position, the current position and the intermediate position are not close, and there is no collision with the boundary line of the cultivated land when advancing from the current position.

[0199] The 10th case is when the rotation direction differs between the current position and the intermediate position, the current position and the intermediate position are not close, there is a collision with the boundary line of the cultivated land when moving forward from the current position, and there is no collision with the boundary line of the cultivated land when moving backward from the current position.

[0200] Case 12 is a case where the rotation direction differs between the current position and the intermediate position, the current position and the intermediate position are not close, and there is a collision with the boundary line of the cultivated land when moving forward from the current position and a collision with the boundary line of the cultivated land when moving backward from the current position.

[0201] Case 14 is the case where the direction of rotation differs between the current position and the intermediate position, the current position and the intermediate position are close together, and there is no collision with the boundary line of the cultivated land when advancing from the current position.

[0202] Case 16 is the case where the rotation direction differs between the current position and the intermediate position, the current position and the intermediate position are close, there is a collision with the boundary line of the cultivated land when moving forward from the current position, and there is no collision with the boundary line of the cultivated land when moving backward from the current position.

[0203] Case 18 is a case where the direction of rotation differs between the current position and the intermediate position, the current position and the intermediate position are close together, and there is a collision with the boundary line of the cultivated land when moving forward from the current position and a collision with the boundary line of the cultivated land when moving backward from the current position.

[0204] The method of generating a movement path from the current location to an intermediate location in cases 2, 4, 6, 8, 10, 12, 14, 16, and 18 is the same as the method of generating a movement path from the current location to a target location in cases 1, 3, 5, 7, 9, 11, 13, 15, and 17 described above, so a detailed explanation is omitted.

[0205] In operation 1830, the agricultural work vehicle (100) can create a forward path or a reverse path from an intermediate position to a target position.

[0206] FIG. 21 is a block diagram illustrating the components of an agricultural work vehicle according to one embodiment.

[0207] Referring to FIG. 21, an agricultural work vehicle (100) may include a position sensor (2110), a Human-Machine Interface (HMI) (2120), a memory (2130), and a processor (2140).

[0208] The position sensor (2110) can detect the current position of the agricultural work vehicle (100). The position sensor (2110) 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.

[0209] The HMI (2120) may provide an interface that allows the user and the agricultural work vehicle (100) to interact. For example, the HMI (2120) may include an input interface that receives user input regarding a target location, and an output interface that displays information related to a travel 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.

[0210] The memory (2130) may store one or more instructions or programs that can be executed by the processor (2140). The operations of the agricultural work vehicle (100) described in this disclosure may be implemented by the processor (2140) executing the instructions or programs stored in the memory (2130).

[0211] The memory (2130) 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.

[0212] The processor (2140) can control the overall operation of the agricultural work vehicle (100). For example, the processor (2140) can control the operation performed by the agricultural work vehicle (100) to create a movement path from the current location to a target location by executing one or more instructions or programs stored in memory (2130).

[0213] The processor (2140) 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.

[0214] 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.

[0215] 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.

[0216] 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 method for generating a movement path of an agricultural work vehicle (100) from a current location to a target location, A step of determining whether the above agricultural work vehicle (100) collides with the boundary line of a cultivated land when rotating along a circle that contacts a target location; and Based on the determination that the agricultural work vehicle (100) does not collide with the boundary line of the cultivated land, the method includes the step of generating a movement path from the current location to the target location. The circle tangent to the target position is the circle closer to the current position among two circles that pass through the target position and whose tangential direction at the target position is parallel to the target direction of travel. A method for generating a travel path for an agricultural work vehicle (100).

2. In Paragraph 1, The step of determining whether it conflicts with the boundary line of the above-mentioned cultivated land is, The method includes the step of determining that if the reference circle does not intersect the boundary line of the cultivated land, the agricultural work vehicle (100) does not collide with the boundary line of the cultivated land, and determining that if the reference circle intersects the boundary line of the cultivated land, the agricultural work vehicle (100) collides with the boundary line of the cultivated land. The center of the above reference circle is identical to the center of the circle tangent to the above target position, and The radius of the above reference circle is larger than the radius of the circle touching the above target position by at least half the width of the agricultural work vehicle (100) or half the width of the work tool attached to the agricultural work vehicle (100), and The radius of the circle tangent to the target position is the minimum turning radius of the agricultural work vehicle (100). A method for generating a travel path for an agricultural work vehicle (100).

3. In Paragraph 1, The step of generating a movement path from the current location to the target location is: Based on at least one of the above current location, above target location, current direction of travel, or above target direction of travel, A step of determining whether the rotation direction is the same at the current position and the target position, If it is determined that the rotation direction is not the same between the current position and the target position, a step of determining whether the current position and the target position are close. A step of determining whether the agricultural work vehicle (100) collides with the boundary line of the cultivated land when moving forward from the current position, If it is determined that the agricultural work vehicle (100) collides with the boundary line of the cultivated land when moving forward from the current position, a step of determining whether the agricultural work vehicle (100) collides with the boundary line of the cultivated land when moving backward from the current position, and A step comprising generating a movement path from the current location to the target location based on the above decisions, A method for generating a travel path for an agricultural work vehicle (100).

4. In Paragraph 3, The step of determining whether the rotation direction is the same at the current position and the target position is, A step of performing a first cross operation on the direction vector from the current position to the target position and the direction vector corresponding to the current direction of travel. A step of determining the direction of rotation at the current position based on the direction of the vector obtained as the result of the first cross operation, A step of performing a second cross operation on a direction vector corresponding to the target direction of travel and a direction vector from the target position to the current position, A step of determining the lateral position of the current position relative to the target direction of travel based on the direction of the vector obtained as a result of the second cross operation, A step of determining the direction of rotation at the target position based on the lateral position of the current position relative to the target direction of travel, and A step including determining whether the rotation direction is the same at the current position and the target position, A method for generating a travel path for an agricultural work vehicle (100).

5. In Paragraph 3, The step of determining whether the current location and the target location are close is: A step of calculating the distance between the center of a circle tangent to the current position and the center of a circle tangent to the target position, and The method includes the step of determining that the current position and the target position are close if the distance between the centers is smaller than the minimum rotational diameter of the agricultural work vehicle (100), and determining that the current position and the target position are not close if the distance between the centers is greater than or equal to the minimum rotational diameter of the agricultural work vehicle (100). The circle tangent to the current position is the circle that is closer to the target position among two circles that pass through the current position and whose tangential direction at the current position is parallel to the current direction of travel. A method for generating a travel path for an agricultural work vehicle (100).

6. In Paragraph 3, The step of generating a movement path from the current location to the target location based on the above decisions is: If the direction of rotation is the same at the current position and the target position, and the agricultural work vehicle (100) does not collide with the boundary line of the cultivated land when moving forward from the current position, A step of generating a circle (911) tangent to the current position and a circle (912) tangent to the target position, and generating two common outer tangent lines (913, 914) of the circle (911) tangent to the current position and the circle (912) tangent to the target position, Among the two common outer tangents (913, 914), the step of selecting the common outer tangent with a shorter travel distance to the point of contact (915, 916) with the circle (911) tangent to the current position when advancing along the circle (911) tangent to the current position, and The method comprises the step of generating a movement path including a path that advances along a circle (911) tangent to the current location at the current location, a path that advances along a selected common tangent line, and a path that advances along a circle (912) tangent to the target location to the target location. A method for generating a travel path for an agricultural work vehicle (100).

7. In Paragraph 6, The step of selecting the common tangent line among the two common tangent lines (913, 914) that has a shorter travel distance to the point of contact (915, 916) with the circle (911) tangent to the current position when advancing along the circle (911) tangent to the current position, is: A step of calculating two angles formed by the circle (911) tangent to the current direction of travel and the current position and the two points of tangency (915, 916) of the two common outer tangent lines (913, 914), and The method includes the step of selecting, among the two common external tangents (913, 914), the common external tangent corresponding to the smaller of the two calculated angles. A method for generating a travel path for an agricultural work vehicle (100).

8. In Paragraph 3, The step of generating a movement path from the current location to the target location based on the above decisions is: If the rotation direction is the same at the current position and the target position, and the agricultural work vehicle (100) collides with the boundary line of the cultivated land when moving forward from the current position, and the agricultural work vehicle (100) does not collide with the boundary line of the cultivated land when moving backward from the current position, A step of generating a circle (1011) tangent to the current position and a circle (1012) tangent to the target position, and generating two common outer tangent lines (1013, 1014) of the circle (1011) tangent to the current position and the circle (1012) tangent to the target position, Among the two common outer tangents (1013, 1014), the step of selecting the common outer tangent with a shorter travel distance to the point of contact (1015, 1016) with the circle (1011) tangent to the current position when moving backward along the circle (1011) tangent to the current position, and The method comprises the step of generating a movement path including a path for moving backward along a circle (1011) tangent to the current position at the current position, a path for moving backward along a selected common outer tangent line, and a path for moving backward along a circle (1012) tangent to the target position to the target position. A method for generating a travel path for an agricultural work vehicle (100).

9. In Paragraph 3, The step of generating a movement path from the current location to the target location based on the above decisions is: When the rotation direction is the same at the current position and the target position, and when the agricultural work vehicle (100) moves forward from the current position, it collides with the boundary line of the cultivated land, and when the agricultural work vehicle (100) moves backward from the current position, it collides with the boundary line of the cultivated land. A step of generating a circle (1112) that is symmetric to a circle (1111) that is tangent to the current position based on the current position, A step of moving in the direction with a longer distance along the above-mentioned symmetrical circle (1112) until just before colliding with the boundary line of the cultivated land, A step of generating a circle (1121) tangent to a position reached by movement along the symmetric circle (1112) (hereinafter referred to as the 'new current position' in this paragraph) and a circle (1122) tangent to the target position, and generating two common outer tangent lines (1123, 1124) of the circle (1121) tangent to the new current position and the circle (1122) tangent to the target position. Among the two common external tangents (1123, 1124), the step of selecting the common external tangent with a shorter travel distance to the tangent point (1125, 1126) with the circle (1121) tangent to the new current position when moving along the circle (1121) tangent to the new current position, and The method comprises the step of generating a movement path including a path along a circle (1121) tangent to the new current location at the new current location, a path along a selected common tangent line, and a path along a circle (1122) tangent to the target location to the target location. A method for generating a travel path for an agricultural work vehicle (100).

10. In Paragraph 3, The step of generating a movement path from the current location to the target location based on the above decisions is: In the case where the rotation direction is different between the current position and the target position, the current position and the target position are not close to each other, and the agricultural work vehicle (100) does not collide with the boundary line of the cultivated land when moving forward from the current position, A step of generating a circle (1211) tangent to the current position and a circle (1212) tangent to the target position, and generating two common internal tangent lines (1213, 1214) of the circle (1211) tangent to the current position and the circle (1212) tangent to the target position, Among the two common internal tangents (1213, 1214), the step of selecting the common internal tangent with a shorter travel distance to the tangent point (1215, 1216) with the circle (1211) tangent to the current position when advancing along the circle (1211) tangent to the current position, and A step of generating a movement path including a path that advances along a circle (1211) tangent to the current location at the current location, a path that advances along a selected common tangent line, and a path that advances along a circle (1212) tangent to the target location to the target location. A method for generating a travel path for an agricultural work vehicle (100).

11. In Paragraph 3, The step of generating a movement path from the current location to the target location based on the above decisions is: In the case where the rotation direction is different between the current position and the target position, the current position and the target position are not close to each other, and when moving forward from the current position, the agricultural work vehicle (100) collides with the boundary line of the cultivated land, and when moving backward from the current position, the agricultural work vehicle (100) does not collide with the boundary line of the cultivated land, A step of generating a circle (1311) tangent to the current position and a circle (1312) tangent to the target position, and generating two common internal tangent lines (1313, 1314) of the circle (1311) tangent to the current position and the circle (1312) tangent to the target position, Among the two common internal tangents (1313, 1314), the step of selecting the common internal tangent with a shorter travel distance to the point of contact (1315, 1316) with the circle (1311) tangent to the current position when moving backward along the circle (1311) tangent to the current position, and The method comprises the step of generating a movement path including a path for moving backward along a circle (1311) tangent to the current position at the current position, a path for moving backward along a selected common tangent line, and a path for moving backward along a circle (1312) tangent to the target position to the target position. A method for generating a travel path for an agricultural work vehicle (100).

12. In Paragraph 3, The step of generating a movement path from the current location to the target location based on the above decisions is: When the rotation direction is different between the current position and the target position, and the current position and the target position are not close, and when the agricultural work vehicle (100) moves forward from the current position, it collides with the boundary line of the cultivated land, and when the agricultural work vehicle (100) moves backward from the current position, it collides with the boundary line of the cultivated land. A step of generating a circle (1412) that is symmetric to a circle (1411) that is tangent to the current position based on the current position, A step of moving in the direction with a longer distance along the above-mentioned symmetrical circle (1412) until just before colliding with the boundary line of the cultivated land, A step of generating a circle (1421) tangent to a position reached by movement along the symmetric circle (1412) (hereinafter referred to as the 'new current position' in this paragraph) and a circle (1422) tangent to the target position, and generating two common internal tangent lines (1423, 1424) of the circle (1421) tangent to the new current position and the circle (1422) tangent to the target position. Among the two common internal tangents (1423, 1424), the step of selecting the common internal tangent with a shorter travel distance to the tangent point (1425, 1426) with the circle (1421) tangent to the new current position when moving along the circle (1421) tangent to the new current position, and The method comprises the step of generating a movement path including a path along a circle (1421) tangent to the new current location at the new current location, a path along a selected common tangent line, and a path along a circle (1422) tangent to the target location to the target location. A method for generating a travel path for an agricultural work vehicle (100).

13. In Paragraph 3, The step of generating a movement path from the current location to the target location based on the above decisions is: When the rotation direction is different between the current position and the target position, the current position and the target position are close together, and when the agricultural work vehicle (100) moves forward from the current position, it does not collide with the boundary line of the cultivated land, A step of generating a circle (1511) adjacent to the current location and a circle (1512) adjacent to the target location, A step of generating two circles (1513, 1514) that simultaneously touch the circle (1511) touching the current position and the circle (1512) touching the target position, A step of selecting the circle among the two circles (1513, 1514) that does not intersect the boundary line of the cultivated land, A step of generating a circle (1511) tangent to the current position and two common outer tangent lines (1515, 1516) of the selected circle, Among the two common external tangents (1515, 1516), the step of selecting the common external tangent with a shorter travel distance from the current position to the first tangent point (1519) of the circle (1512) tangent to the selected circle and the target position, and A step comprising generating a movement path including: a path along the circle (1511) tangent to the current position from the current position to the second point of contact (1517a or 1517b) of the circle (1511) tangent to the current position and the selected common tangent (1515 or 1516); a path along the selected common tangent (1515 or 1516) from the second point of contact (1517a or 1517b) to the third point of contact (1517b or 1518b) of the selected circle and the selected common tangent (1515 or 1516); a path along the selected circle from the third point of contact (1517b or 1518b) to the first point of contact (1519); and a path along the circle (1512) tangent to the target position from the first point of contact (1519) to the target position. A method for generating a travel path for an agricultural work vehicle (100).

14. In Paragraph 3, The step of generating a movement path from the current location to the target location based on the above decisions is: In the case where the rotation direction is different between the current position and the target position, the current position and the target position are close, and when moving forward from the current position, the agricultural work vehicle (100) collides with the boundary line of the cultivated land, and when moving backward from the current position, the agricultural work vehicle (100) does not collide with the boundary line of the cultivated land, A step of generating a circle (1611) adjacent to the current location and a circle (1612) adjacent to the target location, A step of generating two circles (1613, 1614) that simultaneously touch the circle (1611) touching the current position and the circle (1612) touching the target position, A step of selecting the circle among the two circles (1613, 1614) that does not intersect the boundary line of the cultivated land, A step of generating a circle (1611) tangent to the current position and two common outer tangent lines (1615, 1616) of the selected circle, Among the two common outer tangents (1615, 1616), the common outer tangent with a shorter travel distance to the point of contact (1617a, 1618) with the circle (1611) tangent to the current position when moving backward along the circle (1611) tangent to the current position, A step of generating a movement path comprising: a path along the circle (1611) tangent to the current position from the current position to the sixth contact point (1617a) of the circle (1611) tangent to the current position; a path along the selected common tangent from the sixth contact point (1617a) to the seventh contact point (1617b) of the selected circle; a path along the selected circle from the seventh contact point (1617b) to the eighth contact point (1619) of the circle (1612) tangent to the target position; and a path along the circle (1612) tangent to the target position from the seventh contact point (1617b). A method for generating a travel path for an agricultural work vehicle (100).

15. In Paragraph 3, The step of generating a movement path from the current location to the target location based on the above decisions is: When the rotation direction is different between the current position and the target position, and the current position and the target position are close, and when the agricultural work vehicle (100) moves forward from the current position, it collides with the boundary line of the cultivated land, and when the agricultural work vehicle (100) moves backward from the current position, it collides with the boundary line of the cultivated land. A step of generating a circle (1712) that is symmetric to a circle (1711) that is tangent to the current position based on the current position, A step of moving in the direction with a longer distance along the above-mentioned symmetrical circle (1712) until just before colliding with the boundary line of the cultivated land, A step of generating a circle (1721) that is tangent to a position reached by movement along the above-mentioned symmetrical circle (1712) (hereinafter referred to as the 'new current position' in this paragraph) and a circle (1722) that is tangent to the above-mentioned target position, A step of generating two circles (1723, 1724) that simultaneously touch the circle (1721) touching the new current position and the circle (1722) touching the target position, A step of selecting the circle among the two circles (1723, 1724) that does not intersect the boundary line of the cultivated land, A step of generating a circle (1721) tangent to the new current position and two common outer tangent lines (1725, 1726) of the selected circle, Among the two common external tangents (1725, 1726), the step of selecting the common external tangent with a shorter travel distance to the tangent point (1727a, 1728) with the circle (1721) tangent to the new current position when moving along the circle (1721) tangent to the new current position, and A step comprising generating a movement path including: a path along the circle (1721) tangent to the new current position from the new current position to the ninth point of contact (1727a) of the circle (1721) tangent to the new current position and the selected common tangent line; a path along the common tangent line (1725) from the ninth point of contact (1727a) to the tenth point of contact (1727b) of the selected circle and the selected circle; a path along the selected circle from the tenth point of contact (1727b) to the eleventh point of contact (1729) of the circle (1722) tangent to the target position and the selected circle; and a path along the circle (1722) tangent to the target position from the eleventh point of contact (1729) to the target position. A method for generating a travel path for an agricultural work vehicle (100).

16. In any one of paragraphs 13 through 15, If both of the above two circles (1513, 1514, 1613, 1614, 1723, 1724) intersect the boundary line of the cultivated land, the method further includes the step of selecting the circle among the two circles (1513, 1514, 1613, 1614, 1723, 1724) for which the length of the perpendicular line from the center to the boundary line of the cultivated land is longer. A method for generating a travel path for an agricultural work vehicle (100).

17. In Paragraph 1, Based on the determination that the agricultural work vehicle (100) collides with the boundary line of the cultivated land, the method further includes the step of generating an alternative route to move from the current location to the target location via an intermediate location. A method for generating a travel path for an agricultural work vehicle (100).

18. In Paragraph 17, The step of generating an alternative path to move from the current location to the target location via an intermediate location is: A step of determining the intermediate position as a position that is movable forward or backward from the above target position, such that it does not collide with the boundary line of the cultivated land when rotating along a circle touching the intermediate position. A step of generating a movement path from the current location to the intermediate location, and A step comprising generating a forward path or a backward path from the intermediate position to the target position, A method for generating a travel path for an agricultural work vehicle (100).

19. In Paragraph 18, The step of generating a movement path from the current location to the intermediate location is: Based on at least one of the above current location, above intermediate location, above current direction of travel, or above target direction of travel, A step of determining whether the rotation direction is the same at the current position and the intermediate position, If it is determined that the rotation direction is not the same between the current position and the target position, a step of determining whether the current position and the intermediate position are close. A step of determining whether the agricultural work vehicle (100) collides with the boundary line of the cultivated land when moving forward from the current position, If it is determined that the agricultural work vehicle (100) collides with the boundary line of the cultivated land when moving forward from the current position, a step of determining whether the agricultural work vehicle (100) collides with the boundary line of the cultivated land when moving backward from the current position, and A step comprising generating a movement path from the current location to the intermediate location based on the above decisions, A method for generating a travel path for an agricultural work vehicle (100).

20. A method for generating a movement path of an agricultural work vehicle (100) from a current location to a target location, A step of generating a circle tangent to the current position and a circle tangent to the target position; A step of generating two circles that simultaneously touch the circle touching the current position and the circle touching the target position; A step of selecting one of the two circles above that does not intersect the boundary line of the cultivated land; and The method includes the step of generating a movement path from the current location to the target location using a circle touching the current location, a circle touching the target location, and a selected circle. The circle tangent to the current position is the circle closer to the target position among two circles that pass through the current position and whose tangent direction at the current position is parallel to the current direction of travel. The circle tangent to the target position is the circle closer to the current position among two circles that pass through the target position and whose tangential direction at the target position is parallel to the target direction of travel. A method for generating a travel path for an agricultural work vehicle (100).

21. A method for generating a movement path of an agricultural work vehicle (100) from a current location to a target location, A step of determining whether the above agricultural work vehicle (100) collides with the boundary line of a cultivated land when rotating along a circle that contacts the current location; Based on the determination that the agricultural work vehicle (100) collides with the boundary line of the cultivated land, a step of generating a circle symmetric to the circle touching the current location with respect to the current location; A step of moving in the direction where the distance traveled along the symmetrical circle until collision with the boundary line of the cultivated land is longer; and The method includes the step of generating a movement path from the current position to the target position using a circle tangent to the position reached by movement along the symmetric circle (hereinafter referred to as the 'new current position' in this claim), a circle tangent to the current position, and a circle tangent to the target position. The circle tangent to the current position is the circle closer to the target position among two circles that pass through the current position and whose tangent direction at the current position is parallel to the current direction of travel. The circle tangent to the target position is the circle closer to the current position among two circles that pass through the target position and whose tangential direction at the target position is parallel to the target direction of travel, and The circle tangent to the new current position is the cause closer to the target position among two circles that pass through the new current position and whose tangential direction at the new current position is parallel to the direction of progress at the new current position. A method for generating a travel path for an agricultural work vehicle (100).

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