CN116243714A

CN116243714A - Path generation system

Info

Publication number: CN116243714A
Application number: CN202310253297.1A
Authority: CN
Inventors: 平松敏史
Original assignee: Yanmar Power Technology Co Ltd
Current assignee: Yanmar Power Technology Co Ltd
Priority date: 2017-03-09
Filing date: 2018-01-19
Publication date: 2023-06-09
Also published as: JP2018143216A; CN110383191A; KR102287713B1; KR20230074599A; JP6811652B2; WO2018163615A1; KR20190077060A; KR102534336B1; CN110383191B; KR20210098554A

Abstract

The invention provides a path generation system. The route generation system includes a route generation unit that generates a travel route for an autonomous travel of a work vehicle, the travel route including a plurality of work routes for the autonomous operation of the work vehicle, and a connection route that connects the work routes to each other. When the working path is not orthogonal to the outer periphery of the field, the path generating unit may generate a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path as the connection path, and may generate the straight path parallel to the outer periphery of the field.

Description

Path generation system

The present application is a divisional application of the invention patent application with the application number 201880010342.8, the application date 2018, 1 month and 19 days, and the invention name of "route generation system".

Technical Field

The present invention relates to a path generation system, comprising: and a path generation unit that generates a travel path for autonomous travel of the work vehicle.

Background

The route generation system described above is used as an autonomous traveling system for autonomously traveling a work vehicle (see patent literature 1, for example). According to the system described in patent document 1, the shapes of a work area where an autonomous operation is performed by a work vehicle and a non-work area where an autonomous operation is not performed by the work vehicle are registered in a work target area such as a field, and a route generation unit generates a plurality of work routes in the work area and generates a plurality of connection routes connecting the work routes in the non-work area.

According to the system described in patent document 1, a rectangular work area is registered in a central portion of a work target area such as a field, and a non-work area is registered so as to surround the periphery of the work area. The route generation unit generates: a linear work path for reciprocating the work vehicle in the work area, and generating: and a turning connection path for switching the traveling direction of the work vehicle in a non-work area located at both end positions in the traveling direction of the work vehicle in the work area and connecting the work vehicle to the next work path.

Patent literature

Patent document 1: international publication No. 2015/119265

Disclosure of Invention

The work area such as a field is not limited to a rectangular shape, and there are shapes such as a parallelogram with an inclined outer periphery or other various shapes, and therefore, the shape of the work area and the non-work area is not a constant shape, but is a different shape depending on the shape of the work area. Therefore, if a curved connection path is generated only for the non-work area, there is a possibility that a part of the connection path protrudes outside the work object area due to the shape of the non-work area. For example, the shape in the non-working area is: in the case of a shape inclined with respect to the traveling direction of the work vehicle in the work area, since a sufficient traveling distance cannot be obtained in the direction orthogonal to the work vehicle in the work area, it is impossible to secure: a sufficient turning radius is required for generating the turning-shaped connection path, and there is a possibility that the turning-shaped connection path cannot be generated in the non-work area.

Therefore, in order to prevent the connection path from protruding out of the work target area, it is considered to increase the area of the non-work area so as to secure a sufficient turning radius, but if the area of the non-work area is increased, the area of the work area in the work target area becomes small, resulting in a new problem such as a reduction in work efficiency.

In view of the above-described circumstances, a main object of the present invention is to provide a route generation system capable of generating a connection route corresponding to the shape of a non-work area.

A first aspect of the present invention is configured as follows, including:

a region registration unit that registers shapes of a work region where an autonomous operation is performed by a work vehicle and a non-work region where an autonomous operation is not performed by the work vehicle;

a route generation unit that generates a travel route for the work vehicle to travel autonomously in the work area and the non-work area; and

a direction setting unit that sets a traveling direction of the work vehicle in the work area,

the path generation unit generates a path including: a plurality of work paths that are paths for the work vehicle to perform autonomous work in the work area; and a plurality of connection paths that are travel paths for autonomous travel of the work vehicle in the non-work area and connect the work paths,

The route generation unit may generate, as the connection route, a route including a first turning route, a second turning route, and a straight route set between the first turning route and the second turning route, and may generate the straight route so that the traveling direction and the straight route are not orthogonal.

According to this configuration, the route generation unit can generate a route including the first turning route, the straight route, and the second turning route as the connection route, and therefore, the first turning route, the straight route, and the second turning route can be appropriately combined according to the shape of the non-work area, and the connection route corresponding to the shape of the non-work area can be generated. Further, since the route generation unit generates the straight route so as not to be orthogonal to the traveling direction of the work vehicle in the work area, for example, even if the non-work area is: even in a shape inclined with respect to the traveling direction of the work vehicle in the work area, a sufficient traveling distance can be ensured as a straight traveling path, and a connection path can be generated. Accordingly, an appropriate connection path corresponding to the shape of the non-working area can be generated in a limited space of the non-working area.

The second aspect of the present invention is constituted as follows, characterized in that,

the first turning path is set to: the second turning path is provided at a position closer to the front side in the traveling direction than the straight path, and is provided at: a position further toward the inner side in the traveling direction than the straight traveling path,

in the case where an angle formed by a boundary line between the work area and the non-work area and a straight line extending in the traveling direction is an acute angle, the path generating section sets a turning angle of the work vehicle on a first turning path to an obtuse angle,

when the angle is an obtuse angle, the turning angle of the work vehicle on the first turning path is set to an acute angle.

According to this configuration, the route generation unit can set the turning angle of the work vehicle at the first turning path to an appropriate angle and can generate the connection route when the angle between the boundary line between the work area and the non-work area and the straight line extending in the traveling direction of the work vehicle in the work area is an acute angle or when the angle is an obtuse angle. Thus, for example, even if the non-work area is: even in the case of a shape inclined with respect to the traveling direction of the work vehicle in the work area, it is possible to appropriately generate: a connection path which does not protrude outside the work area and does not protrude to the work area side.

A third aspect of the present invention is the route generation unit that sets a turning radius of a first turning route and a turning radius of a second turning route to be the same turning radius, and generates the straight route so that a distance between the straight route and an outer periphery of the non-work area is shorter than a distance between the straight route and the boundary line.

According to this configuration, since the turning radii of the first turning path and the second turning path are set to the same turning radius, it is not necessary to perform processing such as control for making the turning radii different between when autonomous traveling is performed on the first turning path and when autonomous traveling is performed on the second turning path, and thus it is possible to simplify the configuration of control for performing autonomous traveling. Further, since the straight path can be generated on the side away from the work area as much as possible, it is possible to obtain: a larger turning radius of the work vehicle on the second turning path. Thus, while the autonomous traveling is performed on the second turning path, the time for adjusting the position, posture, and the like of the work vehicle can be ensured, and the autonomous operation on the work path can be started in a state where the position, posture, and the like of the work vehicle are stabilized.

A fourth aspect of the present invention is the route generation unit, wherein the first turning radius of the first turning route and the second turning radius of the second turning route are set to different turning radii, and the second turning radius is longer than the first turning radius.

According to this configuration, it is possible to obtain: since the turning radius of the work vehicle on the second turning path is larger, the time for adjusting the position, posture, and the like of the work vehicle can be ensured during autonomous traveling on the second turning path, and autonomous work on the work path can be started in a state where the position, posture, and the like of the work vehicle are stabilized.

A fifth aspect of the present invention is constituted as follows,

the route generation system includes an instruction unit configured to instruct the route generation unit to generate the straight route so that the traveling direction is orthogonal to the straight route when the angle is an acute angle,

the instruction unit does not instruct the path generation unit when the angle is an obtuse angle.

According to this configuration, when the angle formed by the boundary line between the work area and the non-work area and the straight line extending along the traveling direction of the work vehicle in the work area is an acute angle, the user can instruct the route generation unit to generate the straight route so that the traveling direction of the work vehicle in the work area is orthogonal to the straight route by using the instruction unit. Thus, the travel direction of the work vehicle in the work area and the travel route orthogonal to each other can be generated according to the user's demand.

On the other hand, when the angle formed by the boundary line between the work area and the non-work area and the straight line extending along the traveling direction of the work vehicle in the work area is an obtuse angle, the path generation unit is not instructed by the instruction unit, and therefore, a straight path orthogonal to the traveling direction and the straight path of the work vehicle in the work area is not generated, and thus, it is possible to appropriately prevent: a straight path protruding outside the work object area is generated.

Drawings

Fig. 1 is a diagram showing a schematic configuration of an autonomous traveling system.

Fig. 2 is a block diagram showing a schematic configuration of the autonomous traveling system.

Fig. 3 is a diagram showing a work path in a work area of a field.

Fig. 4 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 5 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 6 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 7 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 8 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 9 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 10 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 11 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 12 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 13 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 14 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 15 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 16 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 17 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 18 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 19 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 20 is a diagram for explaining a connection path in a non-working area of a field.

Fig. 21 is a diagram for explaining a connection path in a non-working area of a field.

Detailed Description

An embodiment of an autonomous traveling system using a route generation system according to the present invention will be described with reference to the drawings.

As shown in fig. 1, the autonomous traveling system includes: a tractor 1 as a work vehicle that autonomously travels along a predetermined travel path; and a wireless communication terminal 2 capable of indicating various information to the tractor 1. In addition, in this embodiment, the present invention includes: when the position information of the tractor 1 is acquired, the positioning correction information can be transmitted to the base station 4 of the tractor 1.

In fig. 1, the tractor 1 is illustrated as the working vehicle, but a riding working vehicle such as a rice transplanter, a combine, a civil engineering and construction work apparatus, a snow breaker, or a walking working vehicle may be applied in addition to the tractor. In addition, although fig. 1 illustrates a case where a tilling device is mounted on the working machine 5 mounted on the tractor 1, the present invention is not limited to the tilling device, and various working machines such as a plow and a fertilizer device may be applied.

As shown in fig. 2, the tractor 1 includes a vehicle-side wireless communication unit 14, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, and the base station 4 includes a base station-side wireless communication unit 41. Thus, a wireless network system is constructed between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21, and between the vehicle-side wireless communication unit 14 and the base station-side wireless communication unit 41, and is configured to: various information can be transmitted and received wirelessly between the tractor 1 and the wireless communication terminal 2 and between the tractor 1 and the base station 4.

As shown in fig. 2, the tractor 1 includes: a positioning antenna 11, a vehicle-side control unit 12, a positional information acquisition unit 13, a vehicle-side wireless communication unit 14, a storage unit (not shown), and the like. The vehicle-side control unit 12 is configured to: the position information acquisition unit 13 acquires current position information (current position of the tractor 1) and controls various devices included in the tractor 1, such as a regulator, a transmission, a brake, and a steering device (not shown), so that the tractor 1 can run autonomously. The tractor 1 includes an inertial measurement unit (not shown) including a 3-axis gyroscope, a 3-direction accelerometer, and the like, and is configured to: the vehicle-side control unit 12 can detect the posture of the tractor 1, the azimuth of the traveling direction, and the like based on the measurement information of the inertial measurement unit.

As described above, the tractor 1 includes a steering device (not shown), and is configured to: the steering device is controlled by the vehicle-side control unit 12, so that the tractor 1 can be autonomously driven along a straight path, and the tractor 1 can be autonomously driven along a turning path. Furthermore, the steering device may be applied: for example, a device that can adjust the rotation angle (steering angle) of the steering wheel, or a device that can adjust the steering angle of the front wheels of the tractor 1.

Although not shown, the tractor 1 includes: a left braking device that applies braking force to a left wheel, and a right braking device that applies braking force to a right wheel. Thus, the vehicle-side control unit 12 operates only one of the pair of left and right brake devices, and thus, even in a turning path having a small turning radius, the tractor 1 can be caused to travel autonomously along the turning path. Although not shown, the tractor 1 includes: and a speed doubling device for driving only one of the left and right driving wheels by increasing the rotation speed of the driving wheel. Thus, the vehicle-side control unit 12 controls the speed doubling device instead of the brake device, and the tractor 1 can be caused to autonomously travel along a turning path having a small turning radius.

As shown in fig. 1, the positioning antenna 11 is configured to: signals are received, for example, from positioning satellites 3 constituting a satellite positioning system (GNSS). The positioning antenna 11 is disposed: for example, the upper surface of the top of the cab of the tractor 1.

As a positioning method using the satellite positioning system, as shown in fig. 1, a positioning method may be applied in which a base station 4 provided at a predetermined reference point is provided, and satellite positioning information of a tractor 1 (mobile station) is corrected by using positioning correction information from the base station 4, thereby obtaining the current position of the tractor 1. For example, various positioning methods such as DGPS (differential GPS positioning), RTK positioning (real-time dynamic positioning) and the like can be applied. In addition, as for the positioning method, the base station 4 may not be provided, and separate positioning may be used.

In this embodiment, for example, since the RTK positioning is applied, as shown in fig. 1 and 2, the tractor 1, which is the mobile station side, is provided with the base station 4 in addition to the positioning antenna 11. Presetting and mastering: the installation position of the base station 4, that is, the position information of the reference point. The base station 4 is configured to: for example, the surrounding area of the field and the like do not interfere with the position (reference point) of travel of the tractor 1. The base station 4 includes: base station side wireless communication unit 41 and base station positioning antenna 42.

In the RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 3 is measured by using both the base station 4 provided at the reference point and the positioning antenna 11 of the tractor 1, which is the mobile station side of the object for obtaining the position information. In the base station 4, each time satellite positioning information is measured by the positioning satellite 3, or each time a set period elapses, it is generated that: positioning correction information including the measured satellite positioning information and the position information of the reference point is transmitted from the base station side wireless communication unit 41 to the vehicle side wireless communication unit 14 of the tractor 1. The position information acquisition unit 13 of the tractor 1 obtains the current position information of the tractor 1 by correcting the satellite positioning information measured by the positioning antenna 11 using the positioning correction information transmitted from the base station 4. The position information acquiring unit 13 obtains latitude information and longitude information, for example, as current position information of the tractor 1.

The wireless communication terminal 2 is configured by, for example, a personal computer or the like having a tablet computer with a touch panel, and can display various information on the touch panel, and can input various information by operating the touch panel. The wireless communication terminal 2 may be carried to the outside of the tractor 1 by a user, or may be mounted on the side of the driver's seat of the tractor 1.

As shown in fig. 2, the wireless communication terminal 2 includes: a terminal-side wireless communication unit 21, a region registration unit 22, a route generation unit 23, a direction setting unit 24, an instruction unit 25, a display unit (touch panel), and the like. The route generation unit 23 is configured to: a travel path for autonomous travel of the tractor 1 is generated. The wireless communication terminal 2 further includes a storage unit (not shown) in which: various information such as information registered by the user.

For autonomous travel of the tractor 1, the following is performed: registration of field information on the field H, which is the work target area, and generation of a travel path for autonomous travel of the tractor 1. The user operates the wireless communication terminal 2 to register field information related to the field H, such as the shape of the field H (see fig. 3) where the tractor 1 is caused to travel autonomously. The route generation unit 23 generates a travel route for the registered field H. Thus, when there are a plurality of fields H, field information related to each of the plurality of fields H is registered, and various travel paths are generated in each field.

When autonomous traveling of the tractor 1 is performed, the user operates the wireless communication terminal 2 to select a field H for which the operation is performed, and selects a traveling route for the autonomous traveling from among traveling routes generated for the field H. After the selection of the field H and the travel route, the autonomous travel start condition is established, and the wireless communication terminal 2 is able to instruct the start of autonomous travel. Then, the user operates the wireless communication terminal 2 to instruct the tractor 1 to start autonomous traveling, so that the tractor 1 can start autonomous traveling.

Since the route generation unit 23 of the wireless communication terminal 2 generates the travel route, route information related to the travel route needs to be transmitted from the wireless communication terminal 2 to the tractor 1. Therefore, the wireless communication terminal 2 transmits the route information to the tractor 1 when a predetermined timing is reached before or after the start of autonomous traveling. In this way, in the tractor 1, the vehicle-side control unit 12 obtains the current position information of the tractor 1 by the position information obtaining unit 13, and autonomously travels the tractor 1 along the travel path based on the path information transmitted from the wireless communication terminal 2. In addition, the current position information of the tractor 1 acquired by the position information acquiring unit 13 may be transmitted from the tractor 1 to the wireless communication terminal 2 in real time (for example, in a period of several hundred milliseconds) not only before the autonomous traveling is started but also after the autonomous traveling is started, and the current position of the tractor 1 and the like may be displayed on the display unit of the wireless communication terminal 2.

The route generation system according to the present invention will be described below.

The route generation system causes various screens to be displayed on a display unit (touch panel) of the wireless communication terminal 2, and generates a field H, which is a work target area, by a user operating the wireless communication terminal 2: a travel path for autonomous travel by the tractor 1. Accordingly, as shown in fig. 2, the wireless communication terminal 2 includes: a region registration unit 22, a route generation unit 23, a direction setting unit 24, an instruction unit 25, and the like.

As shown in fig. 3, the area registration unit 22 is configured to: the shapes of the work area R1 where autonomous work is performed by the tractor 1 and the non-work area R2 where autonomous work is not performed by the tractor 1 are registered based on the registered field information, work vehicle information related to the tractor 1, other input information, and the like. The work area R1 is: an area where the tractor 1 autonomously travels and an autonomous operation such as cultivation is actually performed by the working machine 5 mounted on the tractor 1. In contrast, the non-work region R2 is: in the autonomous traveling, the work is not performed by the work implement 5 mounted on the tractor 1, and for example, only the autonomous traveling or even the region where the autonomous traveling is not performed is performed in a state where the work implement 5 has been lifted. As shown in fig. 3, in the field H, the area registration unit 22 registers the work area R1 in the central portion thereof, and registers the non-work area R2 so as to surround the periphery of the work area R1.

The direction setting unit 24 is configured to: the traveling direction of the tractor 1 in the work area R1 is set. As shown in fig. 3, in the work area R1, the direction setting unit 24 sets the traveling direction X of the tractor 1 so that the tractor 1 travels reciprocally in the up-down direction of the field H, for example.

The path generation unit 23 is configured to generate a path including: a plurality of work paths P (see fig. 3) which are paths for the tractor 1 to perform autonomous work in the work area R1; and a plurality of connection paths Q (see fig. 4, 5, etc.) that are travel paths for autonomous travel of the tractor 1 in the non-work area R2 and connect the work paths P.

As shown in fig. 3, the path generating unit 23 generates the job path P so as to reach the job end position E (see fig. 3) from the job start position S (see fig. 3) in the job region R1. The route generation unit 23 generates: the tractor 1 is configured to travel back and forth as a work path P along the traveling direction X of the tractor 1 set by the direction setting unit 24 between one end side (side where the work start position S is set) and the other end side in the field H. The plurality of work paths P are generated in a state of being arranged in parallel at a constant interval on the entire work area R1.

The route generation unit 23 generates a connection route Q (see fig. 4, 5, etc.) for a non-work area R2a (see fig. 3) that is a ground in the non-work area R2, the ground being adjacent to both ends of the work area R1 in the traveling direction X of the tractor 1. The connection path Q is: a path for reversing the traveling direction X of the tractor 1 and connecting adjacent work paths P in the non-work area R2 a.

When the connection path Q is generated in the non-working area R2a, since the shape of the non-working area R2 is different depending on the shape of the field H, it is necessary to generate: a connection path Q corresponding to the shape of the non-work region R2. For example, as shown in fig. 3, since the field H has a parallelogram shape, the region registration unit 22 registers the parallelogram-shaped work region R1 in the center of the field H, and registers the non-work region R2 so as to surround the periphery of the work region R1. Thus, the non-work region R2 is: since the shape is inclined with respect to the traveling direction X of the tractor 1 in the work area R1, it is difficult to obtain a sufficient traveling distance in a direction orthogonal to the traveling direction X of the tractor 1 in the work area R1. Therefore, as shown in fig. 4, 5, and the like, the route generation unit 23 generates a route including the first turning route Q1, the straight route Q2, and the second turning route Q3 as the connection route Q, instead of generating a simple turning route. The straight path Q2 is set to: between the first turning path Q1 and the second turning path Q3. The first turning path Q1 is set to: the second turning path Q3 is set at a position closer to the front in the traveling direction of the tractor 1 than the straight path Q2 is: is located further toward the rear side in the traveling direction of the tractor 1 than the straight path Q2.

The generation of the connection path Q by the path generation unit 23 will be described below with reference to fig. 4 to 21. Fig. 4 to 21 show: a schematic diagram showing how 2 work paths P are extracted from among the plurality of work paths P in fig. 3 and the 2 work paths P are connected by using a connection path Q is shown. Fig. 4 and 5 show: the basic pattern of the connection path Q is shown in fig. 6 to 21, respectively: the connection path Q generated by the path generating unit 23, the path generating unit 23 is configured to: the connection path Q corresponding to various conditions can be generated.

In fig. 4 to 21, the work path P located on the left side in the drawing is: the leading work path P1 for the tractor 1 to perform autonomous work before autonomous travel on the connection path Q is also shown: a straight line (second straight line K2) extending along the preceding work path P1. The job path P located on the right side of the figure is: after autonomous traveling on the connection path Q, the following work path P2 for autonomous work by the tractor 1 is also shown: a straight line extending along the backward working path P2. In fig. 4 to 21, at least 2 circles, that is, the first circle E1 and the second circle E2, are indicated by broken lines, however, the first circle E1 is: a circle tangent to a straight line (second straight line K2) extending along the leading work path P1, the second circle E2 being: a circle tangent to a straight line extending along the backward working path P2.

As shown in fig. 4 and 5, since there are 2 types of patterns as the connection path Q, the patterns will be described first.

When the path generator 23 generates the connection path Q, it can generate: a connection path Q of 2 patterns, that is, a forward turning pattern shown in fig. 4 and a backward turning pattern shown in fig. 5. In the forward turning pattern, as shown in fig. 4, the first turning path Q1 is a path along which the tractor 1 turns while advancing, the straight path Q2 following the first turning path Q1 is a straight path along which the tractor 1 advances after retreating, and the second turning path Q3 following the straight path Q2 is a path along which the tractor 1 turns while advancing. In the reverse turning pattern, as shown in fig. 5, the first turning path Q1 is a path for turning the tractor 1 while reversing, the straight path Q2 following the first turning path Q1 is a straight path for the tractor 1 to reversing and then advancing, and the second turning path Q3 following the straight path Q2 is a path for turning the tractor 1 while advancing. Thus, the forward turning pattern shown in fig. 4 and the reverse turning pattern shown in fig. 5 are configured to be different from each other in terms of whether the tractor 1 is traveling forward or reverse during turning in the first turning path Q1.

The connection paths Q shown in fig. 6 to 21 are generated by either one of the forward turning pattern shown in fig. 4 and the backward turning pattern shown in fig. 5. Fig. 6, 7, 10, 11, 14, 15, 18, and 19 show: a connection path Q generated by the forward turning pattern shown in fig. 4. Fig. 8, 9, 12, 13, 16, 17, 20, and 21 show: a connection path Q generated by the reverse turning pattern shown in fig. 5.

When the path generating section 23 generates the connection path Q, there are two cases: as shown in fig. 6 and the like, the angle α formed by the boundary line K1 (hereinafter, simply referred to as a first boundary line K1) between the working region R1 and the non-working region R2a and the straight line K2 (hereinafter, simply referred to as a second straight line K2) extending along the traveling direction X is an acute angle; as shown in fig. 7, the angle α formed by the first boundary line K1 and the second straight line K2 is an obtuse angle. In fig. 3, the angle α is an acute angle in the non-working region R2a adjacent to the working region R1 on the upper side, and the angle α is an obtuse angle in the non-working region R2a adjacent to the working region R1 on the lower side. The angle α formed by the first boundary line K1 and the second straight line K2 is: the angle on the side of the working path P (the backward working path P2) where the main work is performed next is the angle on the side of the working region R1.

Thus, the path generating unit 23 generates: the connection path Q is different between the case where the angle α formed by the first boundary line K1 and the second straight line K2 is an acute angle and the case where the angle α is an obtuse angle. Fig. 6, 8, 10, 12, 14, 16, 18, and 20 show: a connection path Q generated when an angle α formed by the first boundary line K1 and the second straight line K2 is an acute angle. Fig. 7, 9, 11, 13, 15, 17, 19, and 21 show: a connection path Q generated when an angle α formed by the first boundary line K1 and the second straight line K2 is an obtuse angle.

In the case of autonomous traveling of the tractor 1, as described above, the vehicle-side control portion 12 controls the brake device, or the speed doubling device, so that the tractor 1 can autonomously travel along a turning path of a small turning radius. Therefore, the path generating unit 23 is configured to: the connection path Q may be generated such that the turning radii of the first turning path Q1 and the second turning path Q3 are the same turning radius, or the connection path Q may be generated such that the turning radii of the first turning path Q1 and the second turning path Q3 are different turning radii.

Fig. 6 to 13 show: a connection path Q generated by setting the turning radii of the first turning path Q1 and the second turning path Q3 to be the same turning radius. Fig. 14 to 21 show: a connection path Q generated by setting the turning radii of the first turning path Q1 and the second turning path Q3 to different turning radii. Fig. 6 to 9 show: the turning radius of the first turning path Q1 and the second turning path Q3 is set to be the turning radius when the vehicle turns without controlling the brake device or the speed multiplier. Fig. 10 to 13 show: the turning radius of the first turning path Q1 and the second turning path Q3 is set to be the turning radius when the brake device or the speed multiplier is controlled to turn. Fig. 14 to 17 show: the turning radius of the first turning path Q1 is set to the turning radius when the brake device or the speed multiplier is controlled to turn, and the turning radius of the second turning path Q3 is set to the turning radius when the brake device or the speed multiplier is not controlled to turn. Fig. 18 to 21 show: the turning radius of the first turning path Q1 is set to the turning radius when the brake device or the speed multiplier is not controlled to turn, and the turning radius of the second turning path Q3 is set to the turning radius when the brake device or the speed multiplier is controlled to turn.

As described above, the path generating unit 23 is configured to: the connection paths Q shown in fig. 6 to 21 can be generated as the connection paths Q. In the description of the connection paths Q shown in fig. 6 to 21, the connection paths Q are divided into 4 groups according to which of the forward turning pattern shown in fig. 4 and the backward turning pattern shown in fig. 5 is included and whether the angle formed by the first boundary line K1 and the second straight line K2 is an acute angle or an obtuse angle.

(first group)

A first group having an acute angle α (see fig. 6) formed by the first boundary line K1 and the second straight line K2, which belongs to the forward turning pattern shown in fig. 4, will be described. Belonging to this first group are connection paths Q shown in fig. 6, 10, 14, 18, respectively.

The connection path Q shown in fig. 6 will be described. The first turning path Q1 is: the tractor 1 is directed along the first circle E1 from the tangent point between the second straight line K2 (the extension line extending along the forward working path P1) and the first circle E1 toward the side close to the backward working path P2 while turning. Since the angle α formed by the first boundary line K1 and the second straight line K2 is an acute angle, the turning angle β on the first turning path Q1 is set to be an obtuse angle. The straight path Q2 is: a linear path is formed by temporarily reversing the tractor 1 toward the side away from the backward working path P2, and then reversing the tractor 1 toward the side closer to the backward working path P2, continuously from the end position of the first turning path Q1. The straight-line path Q2 is generated on a tangent line tangent to the first circle E1 and the second circle E2. In fig. 4 to 21, in order to easily understand the straight-line path Q2, the straight-line path Q2 is shown at a position slightly shifted from the tangent line tangent to the first circle E1 and the second circle E2. The straight-line path Q2 shown in fig. 6 is generated so as to be parallel to the first boundary line K1 and the outer periphery T of the field H, and is not orthogonal to the traveling direction X (second straight line K2) of the tractor 1. The second turning path Q3 is: the tractor 1 is directed along the second circle E2 from the end position of the straight path Q2 (the position where the straight path Q2 is tangent to the second circle E2) to turn while advancing toward the backward work path P2. Further, a linear path portion (a portion shown by a solid arrow in the figure) from a portion tangent to the second circle E2 to an intersection with the first boundary line K1 on a straight line extending along the backward work path P2 is also generated as the connection path Q.

Here, as described above, the first circle E1 is: since the circle tangent to the straight line (the second straight line K2) extending along the preceding work path P1 is generated along the first circle E1, the tractor 1 can perform autonomous operation (autonomous travel in a state of performing work by the work implement 5) on the preceding work path P1, and then perform autonomous travel (autonomous travel in a state of not performing work by the work implement 5) on the first turning path Q1. In addition, the second circle E2 is: since the circle tangent to the straight line extending along the backward working path P2 is generated along the second circle E2, the tractor 1 can perform autonomous working on the backward working path P2 immediately after performing autonomous driving on the second turning path Q3.

As shown in fig. 6 to 21, the path generating unit 23 generates the first turning path Q1 along the first circle E1 and generates the second turning path Q3 along the second circle E2, and therefore, in any of the connection paths Q shown in fig. 6 to 21, the tractor 1 can perform autonomous operation on the preceding work path P1, then perform autonomous operation on the first turning path Q1, and further, can perform autonomous operation on the following work path P2, after performing autonomous operation on the second turning path Q3.

The connection path Q shown in fig. 10 will be described. The connection path Q shown in fig. 10 is different from the connection path Q shown in fig. 6 in that: the turning radius of the first turning path Q1 and the second turning path Q3 is reduced, and the straight path Q2 is generated so as to be orthogonal to the traveling direction X (second straight line K2) of the tractor 1. Further, a linear path portion (a portion shown by a solid arrow in the figure) from a portion tangent to the second circle E2 to an intersection with the first boundary line K1 on a straight line extending along the backward work path P2 is also generated as the connection path Q.

As shown in fig. 2, the wireless communication terminal 2 includes an instruction unit 25, and the instruction unit 25 can instruct the path generation unit 23 to generate the straight path Q2 such that the path generation unit 23 is orthogonal to the straight path Q2 in the traveling direction X (second straight line K2) of the tractor 1. The connection path Q shown in fig. 10 shows: the instruction unit 25 instructs the route generation unit 23. Further, when the user operates the wireless communication terminal 2, the instruction unit 25 can instruct the route generation unit 23. As a result, the path generating unit 23 can generate the straight path Q2 so that the traveling direction X (the second straight line K2) of the tractor 1 and the straight path Q2 are not orthogonal to each other as shown in fig. 6 and the like, and can generate the straight path Q2 in which the traveling direction X (the second straight line K2) of the tractor 1 and the straight path Q2 are orthogonal to each other by a user operation and the like as shown in fig. 10.

The instruction unit 25 can instruct the path generation unit 23 such that the path generation unit 23 generates the straight path Q2 so that the traveling direction X (second straight line K2) of the tractor 1 is orthogonal to the straight path Q2 only when the angle α formed by the first boundary line K1 and the second straight line K2 is an acute angle, as shown in fig. 10. Thus, as shown in fig. 7 and the like, when the angle α formed by the first boundary line K1 and the second straight line K2 is an obtuse angle, the instruction unit 25 does not instruct the path generating unit 23 even when there is an operation by the user or the like.

The connection path Q shown in fig. 14 is different from the connection path Q shown in fig. 6 in that the turning radius of the first turning path Q1 is reduced, and the straight path Q2 is not parallel to the outer periphery T of the field H and the first boundary line K1, so that the angle of the straight path Q2 is different from that. Further, a linear path portion (a portion shown by a solid arrow in the figure) from a portion tangent to the second circle E2 to an intersection with the first boundary line K1 on a straight line extending along the backward work path P2 is also generated as the connection path Q.

The connection path Q shown in fig. 18 differs from the connection path Q shown in fig. 6 only in that: the turning radius of the second turning path Q3 is made smaller. Further, a linear path portion (a portion shown by a solid arrow in the figure) from a portion tangent to the second circle E2 to an intersection with the first boundary line K1 on a straight line extending along the backward work path P2 is also generated as the connection path Q.

(second group)

A second group, which belongs to the forward turning pattern shown in fig. 4 and in which the angle α (see fig. 7) formed by the first boundary line K1 and the second straight line K2 is an obtuse angle, will be described. Belonging to this second group are connection paths Q shown in fig. 7, 11, 15, and 19, respectively.

The connection path Q shown in fig. 7 is different from the connection path Q shown in fig. 6 of the first group in that: since the angle α formed by the first boundary line K1 and the second straight line K2 is an obtuse angle, the turning angle β at the first turning path Q1 is set to an acute angle. Further, a linear path portion (a portion shown by a solid arrow in the figure) from the intersection point with the first boundary line K1 to the point of contact with the first circle E1 on the second straight line K2 is also generated as the connection path Q.

The connection path Q shown in fig. 11 differs from the connection path Q shown in fig. 7 of the second group only in that: the turning radius of the first turning path Q1 and the second turning path Q3 is reduced. Further, a linear path portion (a portion shown by a solid arrow in the figure) from the intersection point with the first boundary line K1 to the point of contact with the first circle E1 on the second straight line K2 is also generated as the connection path Q.

The connection path Q shown in fig. 15 is different from the connection path Q shown in fig. 7 in that the turning radius of the first turning path Q1 is smaller, and the straight path Q2 is not parallel to the outer periphery T of the field H and the first boundary line K1, so that the angle of the straight path Q2 is different from that. Further, a linear path portion (a portion shown by a solid arrow in the figure) from the intersection point with the first boundary line K1 to the point of contact with the first circle E1 on the second straight line K2 is also generated as the connection path Q.

The connection path Q shown in fig. 19 differs from the connection path Q shown in fig. 7 of the second group only in that: the turning radius of the second turning path Q3 is made smaller. A linear path portion (a portion shown by a solid arrow in the figure) extending from the intersection point with the first boundary line K1 to the point of contact with the first circle E1 on the second straight line K2, and a linear path portion (a portion shown by a solid arrow in the figure) extending from the point of contact with the second circle E2 to the intersection point with the first boundary line K1 on the straight line extending along the backward working path P2 are also generated as the connection path Q.

(third group)

A third group, which belongs to the reverse turning pattern shown in fig. 5 and in which the angle α (see fig. 8) formed by the first boundary line K1 and the second straight line K2 is an acute angle, will be described. Belonging to this third group are connection paths Q shown in fig. 8, 12, 16, and 20, respectively.

The connection path Q shown in fig. 8 will be described. The first turning path Q1 is: the tractor 1 is a path that turns while moving backward along the first circle E1 from the tangent point between the second straight line K2 (an extension line extending along the forward working path P1) and the first circle E1 toward the side away from the backward working path P2. Since the angle α formed by the first boundary line K1 and the second straight line K2 is an acute angle, the turning angle β on the first turning path Q1 is set to be an obtuse angle. The straight path Q2 is: the tractor 1 is directed to a linear path which is continued from the end position of the first turning path Q1 and which is advanced toward the side close to the backward working path P2. The straight-line path Q2 is generated on a tangent line tangent to the first circle E1 and the second circle E2, and is not orthogonal to the traveling direction X (second straight line K2) of the tractor 1. The second turning path Q3 is: the tractor 1 is directed from the end position of the straight path Q2 (the position where the straight path Q2 is tangent to the second circle E2), along the second circle E2, toward the backward working path P2, and turns while advancing. A linear path portion (a portion shown by a solid arrow in the figure) extending from the intersection point with the first boundary line K1 to the point of contact with the first circle E1 on the second straight line K2, and a linear path portion (a portion shown by a solid arrow in the figure) extending from the point of contact with the second circle E2 to the intersection point with the first boundary line K1 on the straight line extending along the backward working path P2 are also generated as the connection path Q.

The connection path Q shown in fig. 12 differs from the connection path Q shown in fig. 8 only in that: the turning radius of the first turning path Q1 and the second turning path Q3 is reduced. A linear path portion (a portion shown by a solid arrow in the figure) extending from the intersection point with the first boundary line K1 to the point of contact with the first circle E1 on the second straight line K2, and a linear path portion (a portion shown by a solid arrow in the figure) extending from the point of contact with the second circle E2 to the intersection point with the first boundary line K1 on the straight line extending along the backward working path P2 are also generated as the connection path Q.

The connection path Q shown in fig. 16 differs from the connection path Q shown in fig. 8 only in that: the turning radius of the first turning path Q1 is made smaller. A linear path portion (a portion shown by a solid arrow in the figure) extending from the intersection point with the first boundary line K1 to the point of contact with the first circle E1 on the second straight line K2, and a linear path portion (a portion shown by a solid arrow in the figure) extending from the point of contact with the second circle E2 to the intersection point with the first boundary line K1 on the straight line extending along the backward working path P2 are also generated as the connection path Q.

The connection path Q shown in fig. 20 differs from the connection path Q shown in fig. 8 only in that: the turning radius of the second turning path Q3 is made smaller. A linear path portion (a portion shown by a solid arrow in the figure) extending from the intersection point with the first boundary line K1 to the point of contact with the first circle E1 on the second straight line K2, and a linear path portion (a portion shown by a solid arrow in the figure) extending from the point of contact with the second circle E2 to the intersection point with the first boundary line K1 on the straight line extending along the backward working path P2 are also generated as the connection path Q.

(fourth group)

A fourth group, which belongs to the reverse turning pattern shown in fig. 5 and in which the angle α (see fig. 9) formed by the first boundary line K1 and the second straight line K2 is an obtuse angle, will be described. Belonging to this fourth group are connection paths Q shown in fig. 9, 13, 17, and 21, respectively.

The connection path Q shown in fig. 9 will be described. The route generation unit 23 generates: the first turning path Q1, the straight path Q2, the second turning path Q3, and the intermediate turning path Q4 serve as the connection path Q. The intermediate turning path Q4 is set between the first turning path Q1 and the straight path Q2. The first turning path Q1 is: the tractor 1 is a path that turns while moving backward along the first circle E1 from the tangent point between the second straight line K2 (an extension line extending along the forward working path P1) and the first circle E1 toward the side away from the backward working path P2. The intermediate turning path Q4 is: a path which is continuous with the tangent point between the first circle E1 and the third circle E3, and along the third circle E3, the tractor 1 turns while retreating toward the side away from the backward travel path P2. Here, the radius of the third circle E3 is the same as the radius of the first and second circles E1 and E2, and is a circle tangential to the first circle E1. The straight path Q2 is: the tractor 1 is directed to a linear path that is continuous with the end position of the intermediate turning path Q4 and that is advanced toward the side close to the backward working path P2. The straight-line path Q2 is generated on a tangent line tangent to the third circle E3 and the second circle E2, and is not orthogonal to the traveling direction X (second straight line K2) of the tractor 1. The second turning path Q3 is: the tractor 1 is directed from the end position of the straight path Q2 (the position where the straight path Q2 is tangent to the second circle E2), along the second circle E2, toward the backward working path P2, and turns while advancing. A linear path portion (a portion shown by a solid arrow in the figure) extending from the intersection point with the first boundary line K1 to the point of contact with the first circle E1 on the second straight line K2, and a linear path portion (a portion shown by a solid arrow in the figure) extending from the point of contact with the second circle E2 to the intersection point with the first boundary line K1 on the straight line extending along the backward working path P2 are also generated as the connection path Q.

On the connection path Q shown in fig. 13, the first turning path Q1 is: the tractor 1 is a path that turns while backing off from the tangent point between the second straight line K2 (an extension line extending along the forward working path P1) and the first circle E1 along the first circle E1 toward a side away from the backward working path P2. The straight path Q2 is: the tractor 1 is temporarily moved backward toward the side away from the backward working path P2 in succession to the end position of the first turning path Q1, and then the tractor 1 is moved forward toward the side close to the backward working path P2. The straight-line path Q2 is generated on a tangent line tangent to the first circle E1 and the second circle E2, and is not orthogonal to the traveling direction X (second straight line K2) of the tractor 1. The second turning path Q3 is: the tractor 1 is directed from the end position of the straight path Q2 (the position where the straight path Q2 is tangent to the second circle E2), along the second circle E2, toward the backward working path P2, and turns while advancing. In addition, a linear path portion (a portion indicated by a solid arrow in the figure) from the intersection point with the first boundary line K1 to the point tangent to the first circle E1 is also generated as the connection path Q in the second straight line K2 quotient.

The connection path Q shown in fig. 17 differs from the connection path Q shown in fig. 13 only in that: the turning radius of the second turning path Q3 is made larger. Further, a linear path portion (a portion shown by a solid arrow in the figure) from the intersection point with the first boundary line K1 to the point of contact with the first circle E1 on the second straight line K2 is also generated as the connection path Q.

The connection path Q shown in fig. 21 differs from the connection path Q shown in fig. 13 only in that: the turning radius of the first turning path Q1 is made larger. A linear path portion (a portion shown by a solid arrow in the figure) extending from the intersection point with the first boundary line K1 to the point of contact with the first circle E1 on the second straight line K2, and a linear path portion (a portion shown by a solid arrow in the figure) extending from the point of contact with the second circle E2 to the intersection point with the first boundary line K1 on the straight line extending along the backward working path P2 are also generated as the connection path Q.

On the connection path Q shown in fig. 6 and 7, the path generation unit 23 sets the turning radius of the first turning path Q1 and the turning radius of the second turning path Q3 to the same turning radius. The route generation unit 23 makes the distance W2 between the straight route Q2 and the outer periphery T of the non-work region R2a shorter than the distance W1 between the straight route Q2 and the first boundary line K1. Thus, the straight-going path Q2 can be generated by: as far as possible from the first boundary line K1, it is possible to obtain: the larger turning radius of the second turning path Q3 immediately following the straight path Q2 or the travel distance to the start end position of the backward work path P2 can ensure a time for adjusting the position, posture, or the like of the tractor 1, and thus the autonomous work on the backward work path P2 can be started in a state where the position, posture, or the like of the tractor 1 is stabilized.

On the connection path Q shown in fig. 14 to 17, the path generating unit 23 sets the first turning radius V1 of the first turning path Q1 and the second turning radius V2 of the second turning path Q3 to different turning radii from each other. The path generating unit 23 sets the second turning radius V2 to be longer than the first turning radius V1. This can obtain: the second turning radius V2, which is larger and is the second turning path Q3, can ensure time for adjusting the position, posture, or the like of the tractor 1, and thus autonomous work on the backward work path P2 can be started in a state where the position, posture, or the like of the tractor 1 is stabilized.

As described above, the path generating unit 23 can generate different connection paths Q according to various conditions, but, for example, the connection paths Q shown in fig. 6 to 21 may be displayed on the display unit of the wireless communication terminal 2, and any one of the connection paths Q shown in fig. 6 to 21 may be selected by a user operating the wireless communication terminal 2.

The route generation unit 23 may set 2 turning radii as the turning radii of the first turning route Q1 and the second turning route Q3, but the turning radii are not limited to 2 turning radii, and may be set to 3 or more turning radii.

Industrial applicability

The present invention is applicable to various route generation systems including a route generation unit that generates a travel route for autonomous travel of a work vehicle.

Symbol description

1. Tractor (working vehicle)

22. Region registering unit

23. Route generation unit

24. Direction setting part

25. Indication part

K1 Boundary line between working area and non-working area (first boundary line)

K2 A straight line (second straight line) extending along a traveling direction of the tractor in the work area

P job path

Q connection path

Q1 first turning path

Q2 straight path

Q3 second turning path

R1 working area

R2 non-working area

T periphery of non-working area

V1 first turning radius of first turning path

Second turning radius of V2 second turning path

Direction of travel of X tractor

Claims

1. A path generating system, characterized in that,

the path generation system includes a path generation unit that generates a travel path for autonomous travel of a work vehicle, the travel path including a plurality of work paths for autonomous work of the work vehicle and a connection path that connects the work paths to each other,

When the working path is not orthogonal to the outer periphery of the field, the path generating unit may generate a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path as the connection path, and may generate the straight path parallel to the outer periphery of the field.

2. The path generation system of claim 1, wherein,

when the first turning path is forward, the path generation unit may generate the first turning path and the second turning path so that the turning directions of the first turning path and the second turning path are in the same direction.

3. The path generation system of claim 1, wherein,

when the first turning path is a reverse direction, the path generation unit may generate the first turning path and the second turning path so that turning directions of the first turning path and the second turning path are different from each other.

4. A path generating system according to any one of claim 1 to 3, wherein,

The route generation system includes a display unit that displays the plurality of connection routes generated by the route generation unit,

the display unit displays a plurality of the connection paths in a selectable manner.

5. A path generating system, characterized in that,

the path generating unit may generate, as the connection path, a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path,

the route generation unit may generate the first turning route so that the work vehicle travels from a start position of the first turning route toward an opposite side of a backward travel route in which the work vehicle performs autonomous work after autonomous travel on the connection route.

6. A path generating system, characterized in that,

the route generation unit may generate, as the connection route, a route including a first turning route, a second turning route, and a straight route set between the first turning route and the second turning route, and may generate the straight route so that the work route and the straight route do not intersect orthogonally, and the connection route does not protrude outside the work target area.