CN108337945B - Travel route generation system - Google Patents

Abstract

A travel route generation system capable of generating a travel route on which a work vehicle can be automatically and appropriately traveled on a field without causing a reduction in work efficiency. The travel route generation system includes: a travel path generation unit (24) that generates a travel path of the work vehicle in the field; and a storage unit (25) that stores various generation conditions required for the travel route generation unit (24) to generate the travel route, wherein the travel route generation unit (24) generates the travel route using at least the outer peripheral shape of the field, the position of the entry/exit route with respect to the field, and the working width of the working device provided in the working vehicle, from among the various generation conditions, and the storage unit (25) stores the travel route generated by the travel route generation unit (24).

Description

Driving path generation system

technical field

The present invention relates to a travel route generation system including a travel route generation unit that generates a travel route of a work vehicle in a field.

Background technique

In recent years, it has been considered that a work vehicle such as a ride-on rice transplanter, a tractor, a combine harvester, etc. is equipped with a satellite navigation device, and the work vehicle is automatically driven in a field so as to pass a travel route set in advance. This satellite navigation device is used as a satellite. A well-known GPS (Global Positioning System: Global Positioning System) etc., which is an example of a positioning system (GNSS: Global Navigation Satelite System), measures the position and orientation of the vehicle body.

In order to enable the work vehicle to automatically travel appropriately in various fields where the shape of the outer periphery and the position of the access route with respect to the field are different, it is particularly important to generate a travel route for each field.

Conventionally, as a method of generating a travel path of a work vehicle in a field, for example, there is a method in which a reference line having a work start position and a work end position is set based on a teaching operation of manually driving the work vehicle, and the reference line is taken into consideration. The working width of the work vehicle is parallel to generate N rows of target routes separated by a certain interval, and the travel route is obtained by generating a work reference line that passes through the work start position or work end position and is orthogonal to the reference line and the target route ( For example, refer to Patent Document 1).

prior art literature

Patent Literature

Patent Document 1: Japanese Patent Laid-Open No. 2008-92818 (paragraph numbers 0045 to 0048, FIGS. 7 to 8 )

The problem to be solved by the invention

In the above-described generation method, when the work is performed on a plurality of fields, since it is necessary to perform the teaching work by manual driving for each field, the work efficiency is lowered. In addition, only the reciprocating travel route for reciprocating the work vehicle in the field is generated, and the surrounding travel route for the work vehicle to revolve along the outer peripheral shape of the field is not generated in the outer peripheral area of the field, so the generation of the work vehicle in the field is appropriate. There is still room for improvement on the driving path for autonomous driving.

That is, it is desired to generate a travel route that enables the work vehicle to automatically travel appropriately in the field without incurring inefficiency in work.

SUMMARY OF THE INVENTION

Means for solving problems

As a means for solving the above-mentioned problems, a travel route generation system according to the present invention includes:

a travel route generation unit that generates a travel route of the work vehicle in the field; and

a storage unit that stores various generation conditions required by the travel route generation unit to generate the travel route,

The travel route generating unit generates the driving route using at least an outer peripheral shape of the field, a position of an access route with respect to the field, and a working width of a work device included in the work vehicle, among the various generating conditions. driving path,

The storage unit stores the travel route generated by the travel route generation unit.

According to this aspect, for example, the outer peripheral shape of each field obtained from the field map, the position of the access route relative to the field, and the working width of the working device obtained from the catalogue are stored in the storage unit in advance, so that the matching work can be avoided. It is easy to generate an appropriate driving route for each field taking into account at least the outer peripheral shape of the field, the access path, and the working width of the work equipment by performing the teaching operation of manual driving. A route that travels in an efficient sequence and then exits from the incoming and outgoing routes.

In addition, since the generated travel route is stored in the storage unit, by reading the stored travel route, it is possible to use another working device with the same working width for the next work travel, or use a It can also be used when other work vehicles are traveling for work.

That is, the work vehicle can be automatically driven appropriately in the field without incurring inefficiency in work, and the travel route can be efficiently generated.

As a more preferred embodiment of the present invention,

the various generation conditions include the position and shape of obstacles in the field,

The travel route generation unit generates the travel route in consideration of the position and shape of the obstacle.

According to this aspect, in a field where there are obstacles such as water intakes and utility poles, an appropriate travel route can be generated in consideration of the obstacles.

As a more preferred embodiment of the present invention,

The travel path generating unit generates, as the travel path, a reciprocating travel path that causes the work vehicle to travel back and forth between two opposing field ends of the field, and a reciprocating travel path that is in the field. The outer peripheral area of the field causes the work vehicle to surround the outer peripheral shape of the field.

According to this aspect, by including the agricultural material supply device for supplying the agricultural material to the field, it is possible to generate a travel route suitable for a work vehicle that requires a reciprocating travel route and a revolving travel route.

As a more preferred embodiment of the present invention,

The peripheral shape of the field includes the length of each field end in the field,

When there is a difference between the lengths of the pair of field ends extending in the longitudinal direction of the field and the length of the pair of field ends extending in the lateral direction of the field, the travel path generating unit sets the pair of field ends having the shorter lengths. It is defined as the end for direction change in the reciprocating travel path.

According to this aspect, the number of turns of the vehicle body at the edge of the field can be reduced, and the running performance of the vehicle body in the field can be improved.

As a more preferred embodiment of the present invention,

The peripheral shape of the field includes the length of each field end in the field,

When either one of a pair of field ends extending in the longitudinal direction of the field and a pair of field ends extending in the lateral direction of the field has a length that is an integral multiple or approximately an integral multiple of the working width, the The travel route generation unit sets a pair of field ends that do not have a length that is an integral multiple or substantially an integral multiple of the work width as ends for direction change in the reciprocating travel route.

According to this aspect, the vehicle body can be driven without using each clutch (not shown) for changing the number of operations in a riding-type rice transplanter or the like provided with an agricultural material supply device for supplying agricultural materials to a plurality of rows in a row.

As a more preferred embodiment of the present invention,

In a case where there is a difference between the length of the straight portion of the pair of field ends extending in the longitudinal direction of the field and the length of the straight portion of the pair of field ends extending in the lateral direction of the field, the travel path generating section A pair of field ends having a shorter length of the straight portion are set as ends for direction change in the reciprocating travel path.

According to this aspect, the straight path without steering can be lengthened, and the running performance of the vehicle body in the field can be improved.

As a more preferred embodiment of the present invention,

The various generation conditions include the position of the field end on the side of the agricultural road adjacent to the agricultural road in the field,

The travel route generation unit sets the farm road-side field end as an end portion for direction change in the reciprocating travel route.

According to this aspect, for example, when the work vehicle is an agricultural material supply vehicle provided with an agricultural material supply device, it is possible to easily supply the work vehicle with spare agricultural materials, fuel and the like loaded on a truck parked on an agricultural road.

For example, when the work vehicle is a harvesting work vehicle such as a combine harvester provided with a harvesting device, the harvesting and the like can be easily transferred to the carriage of the truck parked on the agricultural road.

As a more preferred embodiment of the present invention,

The various generation conditions include a specific auxiliary work site at which auxiliary work related to the supply and discharge of on-board objects is performed, and the on-board load of the on-board objects changes as the work vehicle travels,

The reciprocating travel path includes a plurality of outbound operation paths and a plurality of return operation paths adjacent to each other,

The travel route generation unit sets the outgoing work route farthest from the auxiliary work site as a travel start route of the work vehicle in the reciprocating travel route.

According to this aspect, the work vehicle approaches the auxiliary work site while the work travel is performed on the reciprocating travel route, so that the vehicle body can be efficiently moved between the work travel interruption point and the support work site in a short time.

As a more preferred embodiment of the present invention,

When there are a plurality of the access routes, the travel route generation unit sets the access route closest to the field where the work vehicle travels next as the exit route of the work vehicle.

According to this aspect, when work is performed in a plurality of fields, the movement of the vehicle body between the fields can be efficiently performed in a short time.

As a more preferred embodiment of the present invention,

The various generation conditions include the traveled paths traveled by other work vehicles in the field,

The travel route generation unit generates the travel route in consideration of the traveled route.

According to this aspect, for example, when the work vehicle using the current travel path is an agricultural material supply vehicle and the other work vehicle is a raking work vehicle, it is possible to carry out the operation of passing through the raking path leveled by the raking work vehicle. Good material supply.

For example, when the work vehicle using the current travel path is a self-detaching combine harvester, and the other work vehicle is a ride-on rice transplanter, for harvesting of rice or the like that is lined up and planted in multiple rows by the ride-on rice transplanter, the Appropriate harvesting can be easily carried out along the rows of rice, etc.

As a more preferred embodiment of the present invention,

The various generation conditions include a previously traveled route of the work vehicle in the field,

The travel route generation unit generates the travel route in consideration of the traveled route.

According to this aspect, by making the same work vehicle always travel on the same travel path, it is possible to avoid a groove-shaped rut formed in the plowing plate of the field.

As a more preferred embodiment of the present invention,

The various generation conditions include the field environment of the field, and the field environment includes sunshine conditions, ventilation,

The travel route generation unit generates the travel route in consideration of the field environment.

According to this aspect, when the work vehicle is a riding-type rice transplanter or a planter, the seedlings and the like can be well exposed to sunlight and ventilation, and the seedlings and the like can be grown well.

As a more preferred embodiment of the present invention,

The reciprocating travel path includes a plurality of outbound operation paths and a plurality of return operation paths adjacent to each other,

The shape of the field is a shape in which the field ends facing each other in the longitudinal direction and the transverse direction of the field are spaced apart from each other at a certain interval or substantially at a certain interval, and the working device is an agricultural material supply device for supplying agricultural materials to the field. In this case, the travel route generation unit sets the outgoing work route farthest from the access route as the travel start route of the work vehicle in the reciprocating travel route.

According to this aspect, since the travel end point of the reciprocating travel route is closer to the travel start point of the circle travel route generated so that the work vehicle can exit the entry and exit route well, it is possible to efficiently perform the reciprocation in a short time. Movement of the vehicle body around the travel end point of the travel route to the travel start point of the travel route.

As a more preferred embodiment of the present invention,

When the working device is an agricultural material supply device that supplies agricultural materials to a field, the travel route generation unit sets the terminal end of the reciprocating travel route to be the closest to the entry and exit route among the reciprocating travel routes s position.

According to this aspect, since the travel end point of the reciprocating route is closest to the travel start point of the circle travel route generated so that the work vehicle can exit the entry and exit route well, it is possible to efficiently perform the reciprocating travel in a short time. The movement of the vehicle body around the travel start point of the travel route from the travel end point of the route to the travel start point of the travel route.

As a more preferred embodiment of the present invention,

It also includes a human-operated order setting unit that sets a priority order for the various generation conditions,

The travel route generation unit generates the travel route in consideration of the priority order set by the manual operation of the order order setting unit.

According to this aspect, a travel route suitable for each field can be generated.

As a more preferred embodiment of the present invention,

have:

a display unit that displays a predetermined number of selection information related to selection of the travel route; and

an operation unit that enables manual selection of a predetermined number of the selection information displayed on the display unit,

The various generation conditions include a predetermined number of priority generation conditions with a high priority order,

The travel route generation unit generates a predetermined number of the travel routes corresponding to the predetermined number of the priority generation conditions, and instructs the display unit to display the predetermined number of the selection information corresponding to the predetermined number of the travel routes , and, when one piece of information is selected from the predetermined number of selection information by manual operation of the operation unit, the travel route generation unit determines the travel route corresponding to the selected selection information as the actual work vehicle The actual driving path traveled.

According to this aspect, the travel route generation unit generates the predetermined number of travel routes based on the predetermined number of priority generation conditions with the highest priority corresponding to the field, and displays the predetermined number of travel routes on the display unit. Therefore, when the operator operates the operation unit to select one information as required from the predetermined number of selection information displayed on the display unit, the travel route can be used as required.

That is, the travel route desired by the operator can be easily used by a simple operation.

Description of drawings

Fig. 1 is an overall left side view of the riding type rice transplanter.

FIG. 2 is a block diagram showing the configuration and the like of the travel route generation system.

FIG. 3 is a diagram showing an example of a travel route generated based on basic conditions.

FIG. 4 is a diagram showing another example of a travel route generated based on basic conditions.

FIG. 5 is a diagram showing a travel route generated in consideration of obstacles.

FIG. 6 is a diagram showing a travel route generated in consideration of an auxiliary work site.

FIG. 7 is a diagram showing a travel route generated in consideration of two incoming and outgoing routes in basic conditions.

FIG. 8 is a diagram showing a travel route generated in consideration of the length of the straight portion at the end of the field.

Symbol Description

3 Working device (agricultural material supply device)

24 Driving Route Generation Section

25 Storage

26B Display part

26C Operation Department

26E Sequence setting section

30 obstacles

Aa first field end

Ab second field end

Ac Farm side field end

P Auxiliary work location

R driving path

R1 travel start route

Ra Reciprocating driving path

Raa outbound work path

Rab multiplexing job path

Rb surround driving path

Rz in and out path

Rzb exit path

W Working width

Detailed ways

Hereinafter, an example of the form for implementing this invention is demonstrated based on drawing.

As shown in FIG. 1 , the riding-type rice transplanter exemplified in the present embodiment includes a traveling vehicle body 1 that travels on four-wheel drive, and a seedling planter connected to the rear of the traveling vehicle body 1 via a link mechanism 2 so as to be able to be raised and lowered. A device (an example of an agricultural material supply device) 3, a fertilization device (an example of an agricultural material supply device) 4 arranged at the rear of the traveling vehicle body 1, and the like.

As shown in FIGS. 1 and 2 , the traveling vehicle body 1 includes an engine 5 mounted on the front portion of the traveling vehicle body 1 in a vibration-proof manner, a hydrostatic type continuously variable transmission, and the like, which shift power from the engine 5 . The speed change unit 6, the steerable left and right front wheels 7 driven by the power shifted by the speed change unit 6, the left and right rear wheels 8 driven by the power shifted by the speed change unit 6, The clutch unit 9 for intermittently driving the seedling planting device 3 and the fertilization device 4, the elevating drive unit 11 having a hydraulic cylinder 10 and the like and driving the seedling planting device 3 up and down, and the operation of the hydraulic elevating drive unit 11, etc. An electronic control unit (hereinafter referred to as an ECU) 12 for dynamic control, an automatic operation system 13 for automatically operating the traveling vehicle body 1, a travel route generation system 14 for generating a travel route, and the like.

The automatic operation system 13 includes a manual selection switch 15 capable of selecting a manual operation mode and an automatic operation mode, an automatic transmission unit 16 capable of performing an automatic shifting operation of the transmission unit 6 , and an automatic shifting operation of the left and right front wheels 7 . The automatic steering unit 17 for steering, the automatic clutch operation unit 18 for automatically operating the clutch unit 9, the positioning unit 19 for measuring the position and orientation of the traveling vehicle body 1, and the automatic transmission unit 16 in the automatic mode, etc. The automatic operation control part 20 etc. which control the operation|movement.

The ECU 12 is a microprocessor including a CPU, an EEPROM, and the like. The automatic operation control unit 20 is constructed by a control program or the like inside the ECU 12 .

The positioning unit 19 includes a known GPS (Global Positioning System) which is an example of a satellite positioning system (GNSS: Global Navigation Satelite System) for determining the position and orientation of the traveling vehicle body 1 . The satellite navigation device 21 to be measured, and the three-axis gyroscope (not shown) and the three-directional acceleration sensor (not shown) measure the yaw angle, pitch angle, roll angle, etc. of the traveling vehicle body 1 The inertial measurement unit (IMU: Inertial Measurement Unit, inertial measurement unit) 22 and so on. Although there are DGPS (Differential GPS: Differential Global Positioning System), RTK-GPS (Real Time Kinematic GPS: Real Time Kinematic Global Positioning System), etc. as a positioning method using GPS, in this embodiment, a positioning suitable for a moving body is adopted RTK-GPS.

The satellite navigation device 21 includes an antenna unit 23 for satellite navigation, and the antenna unit 23 receives radio waves transmitted from GPS satellites (not shown) and positioning data transmitted from a base station (not shown) installed at a known location. The base station receives radio waves from GPS satellites and transmits the obtained positioning data to the satellite navigation device 21 . The satellite navigation device 21 obtains the position and orientation of the traveling vehicle body 1 based on positioning data obtained by receiving radio waves from GPS satellites and positioning data from a base station.

The system includes a travel route generation system 14, a travel route generation unit 24 that generates a travel route R of the work vehicle in the field, and a storage unit that stores various generation conditions required for the travel route generation unit 12B to generate the travel route R 25. An input device 26 capable of inputting data such as a field map or various generation conditions to the travel route generation system 24 or the storage unit 25, etc., an output device 27 capable of outputting the generated travel route R, etc., connected setting It is a communication module 29 or the like that can wirelessly communicate with a communication terminal 28 such as a smartphone or a tablet.

The travel route generation unit 24 is constructed by a control program or the like inside the ECU 12 . The storage unit 25 is constructed by an EEPROM or the like inside the ECU 12 . The storage unit 25 stores a field map in which various information such as the position and shape of each field to be worked is recorded, and stores the work width W of various work devices such as the seedling planting device 3, and the size of each field where work is performed. The outer peripheral shape of each field, the position of the access route Rz relative to the field, the position and shape of obstacles in the field, the position of the field end on the side of the field adjacent to the agricultural road in the field, and the The specific auxiliary work site of the auxiliary work related to the supply and discharge of the on-board load that changes while the vehicle load changes, the traveled route that other work vehicles such as tractors and combine harvesters have traveled, and the ride-on rice transplanter that has traveled before. The traveled route, the sunlight condition of the field, and the ventilation of the field are used as various generation conditions. The outer peripheral shape of the field includes the length and the like of each field end in the field.

The input device 26 includes a number input unit 26A for inputting a registration number assigned to each field to be worked, and a display for displaying the input registration number and various generation conditions related to the field corresponding to the registration number. A unit 26B, an operation unit 26C capable of selecting various production conditions, and a work order input unit 26D for setting the work order when performing work on a plurality of fields, and the like. Thereby, the operator can assist in the creation of the traveling route R that places importance on the running performance of the riding rice transplanter in the field, and the generation of the seedling replenishment that places emphasis on the riding rice transplanter, from various generating conditions related to the field to be worked. Necessary production conditions such as a travel route R for workability or a travel route R for generating an emphasis on the growth of seedlings in the field are selected.

As shown in FIGS. 3 and 4 , when generating the travel route R in a rectangular field, for example, when the operator does not select the generation condition, the travel route generation unit 24 generates the travel route R based on the basic condition as a basis for generating the travel route R. The travel route R is generated by the working width W of the working device, the outer peripheral shape of the field, and the position of the access route Rz relative to the field. In this case, it is first determined whether or not the pair of first field ends Aa extending in the longitudinal direction of the field and the pair of second field ends Ab extending in the lateral direction of the field have an integral multiple or approximately the working width W of the seedling planting device 3 . Integer length. When only the length of the second field end Ab is an integral multiple or substantially an integral multiple of the working width W, the reciprocating travel path Ra and the revolving travel path Rb are generated, and the reciprocating travel path Ra causes the vehicle body to reciprocate in the longitudinal direction of the field. , the surrounding driving route Rb makes the vehicle body circle along the outer peripheral shape of the field in the outer peripheral area of the field. Next, on the basis that the work vehicle is a riding type rice transplanter, and based on the position of the entry and exit route Rz, the outgoing route which is farthest from the entry and exit route Rz among the plurality of outgoing work routes Raa and the plurality of return route work routes Rab included in the reciprocating travel route Ra is carried out. The route Raa is set as the first work route R1, and the travel order is set so that the vehicle body reciprocates toward the entry and exit route Rz in order from the first work route R1. Then, the route adjacent to the final route R10 of the reciprocating travel route Ra among the surrounding travel routes Rb is set as the eleventh work route R11 following the final route R10 of the reciprocating travel route Ra, and the eleventh work route is carried out with the vehicle body The travel order is set so that the route R11 starts to travel around the incoming and outgoing route Rz in sequence (refer to FIG. 3 ).

By forming the travel route R in this way, the vehicle body can continuously and efficiently travel from the first work route R1 to the entry and exit route Rz without using each clutch (not shown) for changing the number of plantings of the seedling planting device 3 .

In the above fields, when the lengths of both the first field end Aa and the second field end Ab are an integral multiple or a substantially integral multiple of the working width W, or neither is an integral multiple or a substantially integral multiple, the first field The first field end Aa, which has a shorter length among the end Aa and the second field end Ab, is set as the end for direction change in the reciprocating travel route Ra, and the reciprocating travel route Ra and the revolving travel route Rb are generated as the travel route R, and the reciprocating travel route Ra is generated. The travel path Ra causes the vehicle body to reciprocate between the pair of first field ends Aa, and the vehicle body circles the outer peripheral shape of the field in the outer peripheral region of the field along the circle travel path Rb. Next, based on the position where the work vehicle is a ride-on rice transplanter and the access route Rz, the outgoing work route Raa which is farthest from the access route Rz in the reciprocating travel route Ra is set as the first work route R1, and the vehicle body moves from the first work route to the first work route R1. The travel order is set so that the work route R1 starts to reciprocate toward the entry and exit route Rz in sequence. Then, the route adjacent to the final route R6 of the reciprocating travel route Ra among the revolving travel routes Rb is set as the seventh working route R7 following the final route R6 of the reciprocating travel route Ra, and the vehicle body is moved from the seventh working route R7 The travel order is set so as to start to circle around the entry and exit route Rz in sequence (see FIG. 4 ).

By forming the travel path R in this way, the number of turns of the vehicle body at the edge of the field can be reduced, and the driving performance of the vehicle body in the field can be improved. In addition, the vehicle body can continuously and efficiently travel from the first work route R1 to the entry and exit route Rz.

In the field described above, when the lengths of both the first field end Aa and the second field end Ab are not an integral multiple or substantially an integral multiple of the working width W, the field ends Aa, Aa, Aa, Aa, Aa, Aa, Aa, Aa, Aa, Aa, which have a longer distance between each clutch, are used. Ab is set as an end portion for direction change in the reciprocating travel route Ra, and the reciprocating travel route Ra and the circle travel route Rb are generated.

As a result, the work travel distance using each clutch can be shortened.

As shown in FIG. 5 , when generating the travel route R in a rectangular field in which obstacles 30 such as drains and trellis are present, for example, the travel route generation unit 24 includes obstacles because of the basic conditions related to the generation of the travel route R. The position and shape of the obstacle 30 are considered, and the travel path R is generated in consideration of the position and shape of the obstacle 30 . For example, if the position and shape of the obstacle 30 are those illustrated in FIG. 5 , and the first field end Aa is set as the generation condition of the end for direction change in the reciprocating travel path, the reciprocating travel is carried out. The route Ra includes a route from the obstacle 30 to the ridge edge of the one first field end Aa, and the reciprocating travel route Ra and the circumnavigation route Rb are generated such that the circumstance travel route Rb includes a route adjacent to the route of the ridge edge. Next, based on the position where the work vehicle is a riding rice transplanter and the entry and exit route Rz, the route of the ridge edge (the outgoing road working route Raa) is set as the first working route R1, and the first working route R1 is sandwiched therebetween. A route adjacent to the travel route Rb (return work route Rab) is set as the second work route R2, and the travel sequence is set so that the vehicle body reciprocates from the second work route R2 to the entry and exit route Rz in sequence. bit. Then, the route adjacent to the final route R6 of the reciprocating travel route Ra among the revolving travel routes Rb is set as the seventh working route R7 following the final route R6 of the reciprocating travel route Ra, and the vehicle body is moved from the seventh working route R7 The travel order is set so as to start to circle around the entry and exit route Rz in sequence.

By forming the travel path R in this way, even in the field where the obstacle 30 exists, the number of times the vehicle body turns around the edge of the field can be reduced, the driving performance in the field can be improved, and the vehicle body can be entered and exited from the first work path R1 at the same time. The route Rz travels continuously and efficiently.

For example, when the travel route generation unit 24 generates the travel route R in the rectangular field, the operator sets the position of the field edge Ac on the side of the farm road adjacent to the farm road as the generation condition. In this case, the farm road If the side field end Ac is the first field end Aa, the first field end Aa is set as the end for direction change in the reciprocating travel route, and the reciprocating travel route Ra and the round travel route Rb illustrated in FIG. 4 are generated as Travel path R. Next, based on the position where the work vehicle is a riding-type rice transplanter and the entry and exit route Rz, the travel order illustrated in FIG. 4 is set. In addition, if the field end Ac on the side of the agricultural road is the second field end Ab, the second field end Ab is set as the end for direction change in the reciprocating travel route, and the reciprocating travel route Ra and the circle shown in FIG. 3 are generated. The travel route Rb serves as the travel route R. Next, based on the position where the work vehicle is a riding-type rice transplanter and the entry and exit route Rz, the travel order illustrated in FIG. 3 is set.

By forming the travel path R in this way, it is possible to easily perform replenishment to the riding-type rice transplanter such as prepared seedlings and fertilizers loaded on a truck parked on a farm road.

As shown in FIG. 6 , when, for example, the travel route generation unit 24 generates a travel route R in a rectangular field, the operator will perform a specific auxiliary work point P at which the auxiliary work of replenishing the prepared seedlings and fertilizer to the riding rice transplanter is performed. It is set as a generation condition in which the auxiliary work point P exists at the first field end Aa away from the access route Rz, and the first field end Aa is set as the generation of the end portion for the direction change in the reciprocating travel route. If the conditions are met, a reciprocating travel route Ra and a circumnavigation route Rb are generated, the car body reciprocates between the pair of first field ends Aa on the back and forth travel route Ra, and the circumnavigation route Rb causes the car body to run along the field in the outer peripheral area of the field. The outer perimeter shape wraps around. Next, based on the position where the work vehicle is the riding type rice transplanter and the auxiliary work place P, the outgoing work route Raa farthest from the assist work place P is set as the first work route (travel start route) R1, and the vehicle body moves from the The travel order is set so that the first work route R1 starts to reciprocate toward the auxiliary work point P in sequence. Then, the route farthest from the final route R6 of the reciprocating travel route Ra among the surrounding travel routes Rb is set as the seventh working route R7 after the final route R6 of the reciprocating travel route Ra, and the vehicle body passes from the seventh working route R7 to the seventh working route R7. The travel order is set so as to start to circle around the entry and exit route Rz in sequence.

By forming the travel path R in this way, the riding-type rice transplanter approaches the auxiliary work point P while performing the work travel on the reciprocating travel path Ra, so that it is possible to efficiently perform the operation between the interruption point of the work travel and the auxiliary work point P in a short time. body movement.

As shown in FIG. 7 , when, for example, the travel route generation unit 24 generates a travel route R in a rectangular field having two entry and exit routes Rz, it is based on the work order of the field and the position information of the field set by the operator. , set the entry and exit route Rz of the field near the field where the work has just been performed as the entry route Rza, set the entry and exit route Rz of the field near the field where the next operation is to be performed as the exit route Rzb, and generate a suitable The travel order is set on the set reciprocating travel route Ra and the circle travel route Rb.

By forming the travel route R in this way, when the work is performed in a plurality of fields, the movement of the vehicle body between the fields can be efficiently performed in a short time.

As shown in FIG. 8 , when, for example, the length of the straight portion in the first field end Aa of the field is different from the length of the straight portion in the second field end Ab, the travel route generating unit 24 compares the length of the straight portion with the length of the straight portion. A pair of short field ends (first field ends Aa) are set as ends for direction change in the reciprocating travel route Ra to generate the reciprocating travel route Ra and the loop travel route Rb. Next, the travel order is set based on the work vehicle being a riding-type rice transplanter and the position of the entry and exit route Rz.

By forming the travel route R in this way, the straight route without steering can be lengthened and the running performance of the vehicle body in the field can be improved, and at the same time, the vehicle body can continuously and efficiently travel from the first work route R1 to the entry and exit route Rz.

As shown in FIGS. 3 , 4 , 7 , and 8 , for example, in the shape of a field, the travel path generating unit 24 is a shape in which field ends facing each other in the longitudinal and lateral directions of the field are spaced apart from each other or at approximately a constant interval. In the case of , by using the seedling planting device 3 for planting seedlings in the field, the outgoing work route Raa farthest from the access route Rz is set as the first work route (travel start route) R1.

With this setting, with respect to the travel start point of the circle travel route Rb generated so that the vehicle body exits the entry/exit route Rz well, since the travel end point of the reciprocating travel route Ra becomes closer, it is possible to shorten the time. The movement of the vehicle body from the travel end point Ra of the reciprocating travel route to the travel start point of the reciprocating travel route Rb is efficiently performed.

As shown in FIGS. 3 , 4 , 7 , and 8 , the travel path generation unit 24 sets the travel end point (terminal) of the reciprocating travel path Ra as the reciprocating travel path Ra based on the seedling planting device 3 for planting seedlings in the field. The position in the travel route that is closest to the entry and exit route Rz.

If set in this way, since the travel start point of the reciprocating travel route Ra becomes the closest to the travel start point of the circle travel route Rb, which is generated so that the vehicle body exits from the entry and exit route Rz well, it is possible to efficiently and efficiently in a short time. The movement of the vehicle body from the travel end point Ra of the reciprocating travel route to the travel start point of the reciprocating travel route Rb is carried out smoothly.

When the travel route generation unit 24 sets the travel route on which the tractor of the harrow specification (an example of another work vehicle) has traveled in the field as the generation condition, the travel route generation unit 24 sets the travel route in accordance with the travel route as much as possible. The driving route R is generated by the method.

By forming the travel path R in this way, good planting can be performed through the raking path leveled by the tractor's raking work vehicle.

The travel route generation unit 24, when the operator sets the traveled route through which the riding-type rice transplanter has traveled in the field as the generation condition, uses the current back-and-forth travel route Ra and the traveled route as a back-and-forth travel route as much as possible. The travel route R is generated so that Ra intersects in the route direction.

By forming the travel path R in this way, it is possible to avoid the formation of groove-shaped ruts in the plowing plate of the field by causing the same work vehicle to always travel on the same travel path R.

The travel route generation unit 24 generates the reciprocating travel route Ra so that the route direction of the reciprocating travel route Ra is in a direction with good sunlight when the operator sets the sunshine condition of the field as the generation condition.

By forming the reciprocating travel path Ra in this way, the seedlings can receive good sunlight, and the seedlings can be grown well.

When the operator sets the ventilation of the field as the generation condition, the travel route generating unit 24 generates the reciprocating travel route Ra so that the route direction of the reciprocating travel route Ra is in a well-ventilated direction.

By forming the reciprocating travel path Ra in this way, the seedlings can be well ventilated, and the seedlings can be grown well.

As shown in FIG. 2 , the input device 26 includes a human-operated order setting unit 26E for setting priorities for various generation conditions.

The travel route generation unit 24 generates the travel route R in consideration of the set priority when the priority order of the generation conditions is set by the manual operation of the order setting unit 26E.

Thereby, the travel route R suitable for each field can be generated.

The storage unit 25 is configured to store the travel route R generated by the travel route generation unit 24 .

[Other Embodiments]

The present invention is not limited to the configurations exemplified in the above-described embodiments, and representative other embodiments related to the present invention are exemplified below.

[1] The travel route generation system 14 may be constructed in other work vehicles such as tractors and combine harvesters.

[2] The travel route generation system 14 may be constructed on a personal computer, tablet, etc. owned by the farmer, or may be constructed on a personal computer, tablet, etc. owned by the farmer and a work vehicle.

[3] The travel route generation system 14 may be constructed by a personal computer, a tablet, etc. owned by a farmer, an agricultural support system owned by an agricultural machine manufacturer, or the like.

[4] The travel route generation system 14 may be configured to display a predetermined number of selection information related to the selection of the travel route R on the display unit 26B of the input device 26, and the input device 26 may include The operation unit 26C that manually selects a predetermined number of selection information, the various generation conditions include a predetermined number of priority generation conditions with a higher priority order, and the travel route generation unit 24 generates a predetermined number of travels corresponding to the predetermined number of priority generation conditions. The route R simultaneous instruction display unit 26B displays a predetermined number of selection information corresponding to the predetermined number of travel routes R, and when one information is selected from the predetermined number of selection information by the manual operation of the operation unit 26C, it will be matched with the selected information. The travel path R corresponding to the selection information is determined as the actual travel path that the work vehicle actually travels.

[5] The generation of the travel route R by the travel route generation unit 24 can be variously changed according to the generation conditions. For example, the reciprocating travel route Ra and the round travel route Rb may be generated so that the length of the round travel route Rb is 2 turns or 1.5 turns. Path Rb.

Industrial applicability

The present invention is applicable to a travel path generation system for generating a travel path of a work vehicle in a field.

Claims (11)

1. A travel path generation system, characterized in that, comprising: a travel route generation unit that generates a travel route of the work vehicle in the field; and a storage unit that stores various generation conditions required by the travel route generation unit to generate the travel route, The travel route generating unit generates the driving route using at least an outer peripheral shape of the field, a position of an access route with respect to the field, and a working width of a work device included in the work vehicle, among the various generating conditions. driving path, The storage unit stores the travel route generated by the travel route generation unit, The travel path generating unit generates, as the travel path, a reciprocating travel path that causes the work vehicle to travel back and forth between two opposing field ends of the field, and a reciprocating travel path that is in the field. The outer peripheral area of the field causes the work vehicle to surround the outer peripheral shape of the field, The various generation conditions include the position of the field end on the side of the agricultural road adjacent to the agricultural road in the field, The work vehicle is an agricultural material supply vehicle that receives supply of agricultural materials at the field end on the side of the agricultural road, The reciprocating travel path includes a plurality of outbound operation paths and a plurality of return operation paths adjacent to each other, The travel route generation unit sets the field end on the side of the agricultural road as an end portion for direction change in the reciprocating travel route, The shape of the field is a shape in which the field ends facing each other in the longitudinal direction and the transverse direction of the field are spaced apart from each other at a certain interval or substantially at a certain interval, and the working device is an agricultural material supply device for supplying agricultural materials to the field. In this case, the travel route generation unit sets the outgoing work route farthest from the access route as the travel start route of the work vehicle in the reciprocating travel route. 2. The travel route generation system according to claim 1, wherein: the various generation conditions include the position and shape of obstacles in the field, The travel route generation unit generates the travel route in consideration of the position and shape of the obstacle. 3. The travel route generation system according to claim 1 or 2, characterized in that, When there are a plurality of the access routes, the travel route generation unit sets the access route closest to the field where the work vehicle travels next as the exit route of the work vehicle. 4. The travel route generation system according to claim 1 or 2, characterized in that: The various generation conditions include the traveled paths traveled by other work vehicles in the field, The travel route generation unit generates the travel route in consideration of the traveled route. 5. The travel route generation system according to claim 1 or 2, characterized in that: The various generation conditions include a previously traveled route of the work vehicle in the field, The travel route generation unit generates the travel route in consideration of the traveled route. 6. The travel route generation system according to claim 1 or 2, characterized in that, The various generation conditions include the field environment of the field, and the field environment includes sunshine conditions, ventilation, The travel route generation unit generates the travel route in consideration of the field environment. 7. The travel route generation system according to claim 1 or 2, wherein: When the working device is an agricultural material supply device that supplies agricultural materials to a field, the travel route generation unit sets the terminal end of the reciprocating travel route to be the closest to the entry and exit route among the reciprocating travel routes s position. 8. The travel route generation system according to claim 1 or 2, wherein: It also includes a human-operated order setting unit that sets a priority order for the various generation conditions, The travel route generation unit generates the travel route in consideration of the priority order set by the manual operation of the order order setting unit. 9. The travel route generation system according to claim 1 or 2, characterized in that, comprising: a display unit that displays a predetermined number of selection information related to selection of the travel route; and an operation unit that enables manual selection of a predetermined number of the selection information displayed on the display unit, The various generation conditions include a predetermined number of priority generation conditions with a high priority order, The travel route generation unit generates a predetermined number of the travel routes corresponding to the predetermined number of the priority generation conditions, and instructs the display unit to display the predetermined number of the selection information corresponding to the predetermined number of the travel routes , and, when one piece of information is selected from the predetermined number of selection information by manual operation of the operation unit, the travel route generation unit determines the travel route corresponding to the selected selection information as the actual work vehicle The actual driving path traveled. 10. A driving route generation system, characterized in that it has: a travel route generation unit that generates a travel route of the work vehicle in the field; and a storage unit that stores various generation conditions required by the travel route generation unit to generate the travel route, The travel route generating unit generates the driving route using at least an outer peripheral shape of the field, a position of an access route with respect to the field, and a working width of a work device included in the work vehicle, among the various generating conditions. driving path, The storage unit stores the travel route generated by the travel route generation unit, The travel path generating unit generates, as the travel path, a reciprocating travel path that causes the work vehicle to travel back and forth between two opposing field ends of the field, and a reciprocating travel path that is in the field. The outer peripheral area of the field causes the work vehicle to surround the outer peripheral shape of the field, The peripheral shape of the field includes the length of each field end in the field, When either one of a pair of field ends extending in the longitudinal direction of the field and a pair of field ends extending in the lateral direction of the field has a length that is an integral multiple or approximately an integral multiple of the working width, the The travel route generation unit sets a pair of field ends having a length that is an integral multiple or substantially an integral multiple of the work width as ends for direction change in the reciprocating travel route. 11. A travel path generation system, characterized in that it has: a travel route generation unit that generates a travel route of the work vehicle in the field; and a storage unit that stores various generation conditions required by the travel route generation unit to generate the travel route, The travel route generating unit generates the driving route using at least an outer peripheral shape of the field, a position of an access route with respect to the field, and a working width of a work device included in the work vehicle, among the various generating conditions. driving path, The storage unit stores the travel route generated by the travel route generation unit, The travel path generating unit generates, as the travel path, a reciprocating travel path that causes the work vehicle to travel back and forth between two opposing field ends of the field, and a reciprocating travel path that is in the field. The outer peripheral area of the field causes the work vehicle to surround the outer peripheral shape of the field, The peripheral shape of the field includes the length of each field end in the field, When there is a difference between the lengths of the pair of field ends extending in the longitudinal direction of the field and the length of the pair of field ends extending in the lateral direction of the field, the travel path generating unit sets the pair of field ends having the shorter lengths. Defined as the end for direction change in the reciprocating travel path, The reciprocating travel path includes a plurality of outbound operation paths and a plurality of return operation paths adjacent to each other, The shape of the field is a shape in which the field ends facing each other in the longitudinal direction and the transverse direction of the field are spaced apart from each other at a certain interval or substantially at a certain interval, and the working device is an agricultural material supply device for supplying agricultural materials to the field. In this case, the travel route generation unit sets the outgoing work route farthest from the access route as the travel start route of the work vehicle in the reciprocating travel route, The revolving travel route is set so as to go toward the entry and exit route from a route after the travel end route of the reciprocating travel route.

Images