JP2017204060A - Autonomous travelling route generation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous travelling route generation system that, when a work is implemented by skip travelling, even if the work suspends in the midst, can prevent a part where a portion subjected to the work and a portion non-subjected to the work alternately appear from extensively occurring.SOLUTION: An autonomous travelling route generation system generates an autonomous travelling route 93 allowing a tractor to autonomously travel for implementing a work with respect to a predetermined work area 91, and the autonomous travelling route generation system comprises: a work area division unit; and an autonomous travelling route generation unit. The work area division unit is configured to divide the work area 91 into a plurality of sections S, and the autonomous travelling route generation unit is configured to generate the autonomous travelling route 93 so as to include a plurality of work routes 93a arranged respectively in each section S divided by the work area division unit. The work area division unit is configured to enable a division of the work area 91 so as to be the number of basic unit routes (when the number of skips is 1, 5) mutually equal in the number of work routes 93a to be included in each section S.SELECTED DRAWING: Figure 11

Description

  The present invention relates to an autonomous travel route generation system that generates a travel route for autonomously traveling a work vehicle.

  2. Description of the Related Art Conventionally, an autonomous traveling system that autonomously travels a work vehicle according to a travel route generated in advance is known. Patent document 1 discloses this kind of autonomous traveling system. The agricultural work vehicle disclosed in Patent Document 1 receives radio waves transmitted from a GPS satellite, obtains position information of the body at a set time interval in a mobile communication device, and detects displacement information of the body from a gyro sensor and a direction sensor. Steering actuator, speed change means, elevating actuator, PTO on / off means, engine controller, etc. so that the aircraft travels along a preset route based on the position information, displacement information and direction information. And a control device as an automatic traveling means for automatically operating while controlling the vehicle.

JP, 2015-201155, A

  When an agricultural work vehicle performs an operation while autonomously running in a farm field, as disclosed in Patent Document 1, a plurality of linear work paths arranged at equal intervals are arranged from one end in the arrangement direction. It is widely performed to run and work one by one up to the other end. At this time, the agricultural work vehicle completes the work on a certain work route, then turns back at the edge of the farm field to reverse the traveling direction, and works on the work route adjacent to the work route.

  However, in such a travel route, when turning, the efficiency may be reduced due to the need for turning with back and forth turning due to circumstances such as the minimum turning radius of the work vehicle. Therefore, it is conceivable that the agricultural work vehicle travels so as to work on a work route that has been skipped by about one or two instead of a work route adjacent to the work route after completing a work on a certain work route ( Skip driving). As a traveling route of the agricultural work vehicle in this case, for example, with respect to a plurality of arranged working routes, it travels from one end of the arranged direction to one end of the working route and reaches the other end, After that, the vehicle is generated so as to return to the one side while traveling on the remaining work route (by skipping the already-worked work route).

  However, when the work is performed while skipping in a wide field, if the work is interrupted for some reason, a part where the work-finished part and the unworked part appear alternately may occur over a wide range. In this case, it becomes difficult to grasp each of the already-worked and unworked places in the field as a grouped area, and smooth resumption of work becomes difficult. In addition, when the soil environment changes due to rain or the like before and after the work is interrupted, parts having different work qualities are generated in a comb-like shape, and the subsequent work efficiency may be reduced.

  By the way, the structure which makes an agricultural work vehicle drive autonomously as mentioned above exhibits effects, such as labor saving, especially when an agricultural field is very large. However, for example, in a farm field that is so large that the work cannot be completed in one day, the interruption of the work as described above must be taken into consideration, and there remains room for improvement.

  The present invention has been made in view of the above circumstances. The purpose of the present invention is to alternately perform a work place and an unworked place even when the work is interrupted halfway when performing a work by skip traveling. An object of the present invention is to provide an autonomous travel route generation system that can prevent a portion that appears from occurring over a wide range.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to an aspect of the present invention, an autonomous travel route generation system having the following configuration is provided. That is, this autonomous travel route generation system generates a travel route for autonomously traveling a work vehicle in order to perform work on a predetermined work area. The autonomous traveling route generation system includes an area dividing unit and a route generating unit. The area dividing unit divides the work area into a plurality of sections. The route generation unit generates the travel route so as to include a plurality of travel routes arranged in each of the sections divided by the region dividing unit. The area dividing unit can divide the work area so that the number of the traveling roads included in each section has a predetermined value equal to each other.

  Thereby, even when performing work by skip running, it is possible to work sequentially from the end of the work area in units of divided small sections. Therefore, even when the work is interrupted in the middle, it is possible to keep the part where the worked part and the unworked part appear alternately in the work area within a small range in the section. Therefore, it is easy to clarify the place where the work has been completed, and the work can be resumed smoothly. In addition, even when the soil environment changes due to rain or the like before and after the work is interrupted, it is possible to prevent portions having different work qualities from occurring in a comb-like shape over a wide range.

  The autonomous traveling route generation system preferably has the following configuration. That is, the route generation unit sets an operation order based on a reference value for the plurality of travel routes. When there are a plurality of sections in which the number of travel paths included is equal to the predetermined value, the route generation unit sets the same work order for the travel paths corresponding to each other between the sections. To do.

  Thereby, since a fixed work order can be set for the travel route in units of sections, regular skip travel can be realized, and travel route generation processing can be simplified.

  The autonomous traveling route generation system preferably has the following configuration. That is, the area dividing unit includes a plurality of the work areas so as to form a first section and a second section when the number of the traveling paths included in the work area is not an integer multiple of the predetermined value. Divide into sections. The number of the travel paths included in the first section is equal to the predetermined value. The number of travel paths included in the second section is greater than the predetermined value.

  Thereby, since the division in which the number of the included travel paths is less than a predetermined value does not occur, it is possible to easily generate a travel route with skip travel.

The conceptual diagram which shows a mode that a robot tractor performs autonomous driving | running | working and autonomous work along the autonomous driving path | route produced | generated in the agricultural field. The side view which shows the whole structure of the robot tractor which drive | works along the autonomous running route which the autonomous running route generation system which concerns on one Embodiment of this invention produced | generated. The top view of a robot tractor. The block diagram which shows the electrical structure of a robot tractor and a radio | wireless communication terminal. The figure which shows the example of a display of the work vehicle information input screen displayed on a radio | wireless communication terminal. The figure which shows the example of a display of the agricultural field information input screen displayed on a wireless communication terminal. The figure which shows the example of a display of the work information input screen displayed on a radio | wireless communication terminal. The flowchart which shows the process performed in an autonomous running route production | generation part, when producing | generating an autonomous running route. The figure which shows a mode that a some work path | route is arrange | positioned in a work area | region in order to produce | generate the autonomous running path | route which performs skip driving | running | working. The figure which shows the group which consists of a specific number of work path | routes used as the unit of work when performing skip driving | running | working. The figure which shows a mode that a work area | region is divided | segmented and a some division is produced | generated. The figure which shows a mode that a work area | region is divided | segmented and the some division containing the division of an exception whose number of work paths is larger than a specific number is produced | generated. The figure which shows a mode that the work order of the work route was determined. The figure which shows a mode that an autonomous running route is produced | generated based on the work order determined in FIG. The figure which shows the example which a tractor turns in multiple times in a non-working area | region. The figure which shows the example which a tractor performs turning and turning over several times in a non-working area | region.

  Next, embodiments of the present invention will be described with reference to the drawings. In the following, the same reference numerals are given to the same parts in the drawings, and redundant description may be omitted. In addition, names of members and the like corresponding to the same reference may be simply rephrased, or may be rephrased with a superordinate concept or a subordinate concept name.

  The present invention provides a travel route for autonomously traveling a work vehicle when one or a plurality of work vehicles are traveled in a predetermined field and all or part of the farm work is performed in the field. The present invention relates to an autonomous travel route generation system to be generated. In this embodiment, a tractor will be described as an example of a work vehicle. In addition to a tractor, a walk-type work machine in addition to a riding work machine such as a rice transplanter, a combiner, a civil engineering / architecture work device, a snowplow, etc. Is also included. In this specification, autonomous traveling means that the configuration related to traveling provided by the tractor is controlled by the control unit (ECU) of the tractor, and the tractor travels along a predetermined route. It means that the configuration related to the work of the tractor is controlled by the control unit, and the tractor performs the work along a predetermined route. On the other hand, manual travel / manual work means that each component included in the tractor is operated by an operator to perform travel / work.

  In the following description, a tractor that autonomously travels and works autonomously may be referred to as an “unmanned tractor” or a “robot tractor”, and a tractor that travels manually and is manually operated is referred to as a “manned tractor”. Sometimes. When a part of the farm work is performed by the unmanned tractor in the field, the remaining farm work is performed by the manned tractor. Performing farm work in a single farm with unmanned tractors and manned tractors may be referred to as cooperative work of farm work, follow-up work, accompanying work, and the like. The unmanned tractor and the manned tractor may have different configurations or may have a common configuration. When the configuration of unmanned tractor and manned tractor is the same, even an unmanned tractor can be operated (boarded) by an operator (that can be used as a manned tractor), or Even in such a case, it is possible for the operator to get off and run autonomously and work (that is, it can be used as an unmanned tractor). In addition to “performing agricultural work in a single field with unmanned vehicles and manned vehicles” as cooperative work of agricultural work, “agricultural work in different fields such as adjacent fields is performed simultaneously with unmanned vehicles and manned vehicles. To do "may be included.

  FIG. 1 is a conceptual diagram showing a state in which the robot tractor 1 performs autonomous traveling / autonomous work along an autonomous traveling route 93 generated in the agricultural field 90. FIG. 2 is a side view showing an overall configuration of the robot tractor 1 traveling along the autonomous traveling route 93 generated by the autonomous traveling route generating system 99 according to the embodiment of the present invention. FIG. 3 is a plan view of the robot tractor 1. FIG. 4 is a block diagram showing an electrical configuration of the robot tractor 1 and the wireless communication terminal 46.

  The autonomous traveling route generation system 99 according to the present embodiment generates an autonomous traveling route 93 for the robot tractor 1 to perform autonomous traveling / autonomous work in an agricultural field 90 as shown in FIG. The wireless communication terminal 46 shown in FIG. As shown in FIG. 4, the robot tractor 1 includes a control unit 4 that controls the travel and work of the robot tractor 1, and the wireless communication terminal 46 communicates with the control unit 4 by wireless communication. A predetermined signal related to autonomous traveling / autonomous work can be output to the tractor 1. Examples of signals output from the wireless communication terminal 46 to the control unit 4 include signals related to autonomous traveling / autonomous work routes, autonomous traveling / autonomous work start signals, stop signals, and end signals, but are not limited thereto.

  First, a robot tractor (hereinafter sometimes simply referred to as “tractor”) 1 will be described mainly with reference to FIGS. 2 and 3.

  The tractor 1 includes a traveling machine body (body portion) 2 that can autonomously travel on the farm field 90. The working machine 3 shown in FIGS. 2 and 3 is detachably attached to the traveling machine body 2. Examples of the work machine 3 include various work machines such as a tiller (management machine), a plow, a fertilizer machine, a mowing machine, and a seeding machine, and a desired work machine 3 is selected from these as required. And can be attached to the traveling machine body 2. The traveling machine body 2 is configured to be able to change the height and posture of the attached work machine 3.

  The structure of the tractor 1 is demonstrated with reference to FIG.2 and FIG.3. As shown in FIG. 2, the traveling machine body 2 of the tractor 1 has a front portion supported by a pair of left and right front wheels 7 and 7 and a rear portion supported by a pair of left and right rear wheels 8 and 8.

  A bonnet 9 is disposed at the front of the traveling machine body 2. The bonnet 9 accommodates an engine 10 that is a driving source of the tractor 1, a fuel tank (not shown), and the like. Although this engine 10 can be comprised, for example with a diesel engine, it is not restricted to this, For example, you may comprise with a gasoline engine. Further, an electric motor may be employed in addition to or instead of the engine 10 as a drive source.

  A cabin 11 for an operator to board is arranged behind the bonnet 9. Inside the cabin 11, there are mainly provided a steering handle 12 for an operator to steer, a seat 13 on which an operator can be seated, and various operating devices for performing various operations. However, the work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

  As the operation device, the monitor device 14 shown in FIG. 3, the throttle lever 15, the main transmission lever 27, the plurality of hydraulic operation levers 16, the PTO switch 17, the PTO transmission lever 18, the auxiliary transmission lever 19, and the work equipment lift switch 28 etc. can be mentioned as an example. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.

  The monitor device 14 is configured to display various information of the tractor 1. The throttle lever 15 is an operating tool for setting the output rotational speed of the engine 10. The main transmission lever 27 is an operating tool for changing the traveling speed of the tractor 1 in a stepless manner. The hydraulic operation lever 16 is an operation tool for switching and operating a hydraulic external take-off valve (not shown). The PTO switch 17 is an operating tool for switching the transmission / cutoff of power to a PTO shaft (power take-off shaft) (not shown) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates to drive the work implement 3, while when the PTO switch 17 is in the OFF state, the power to the PTO shaft is cut off. Thus, the PTO shaft does not rotate and the work machine 3 is stopped. The PTO speed change lever 18 is used to change the power input to the work machine 3, and specifically, is an operating tool for changing speed of the rotational speed of the PTO shaft. The auxiliary transmission lever 19 is an operating tool for switching the gear ratio of the traveling auxiliary transmission gear mechanism in the transmission 22. The work implement raising / lowering switch 28 is an operating tool for raising and lowering the height of the work implement 3 attached to the traveling machine body 2 within a predetermined range.

  As shown in FIG. 2, a chassis 20 of the tractor 1 is provided at the lower part of the traveling machine body 2. The chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

  The body frame 21 is a support member at the front portion of the tractor 1 and supports the engine 10 directly or via a vibration isolation member. The transmission 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheel 8.

  As shown in FIG. 4, the tractor 1 includes a control unit 4 for controlling the operation of the traveling machine body 2 (forward, reverse, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.). . The control unit 4 includes a CPU, a ROM, a RAM, an I / O, and the like (not shown), and the CPU can read various programs from the ROM and execute them. The controller 4 is electrically connected to a controller for controlling each component (for example, the engine 10 and the like) included in the tractor 1 and a wireless communication unit 40 that can wirelessly communicate with other wireless communication devices. ing.

  As the controller, the tractor 1 includes at least an engine controller 61, a vehicle speed controller 62, a steering controller 63, and a lift controller 64. Each controller can control each component of the tractor 1 in accordance with an electrical signal from the control unit 4.

  The engine controller 61 controls the rotational speed of the engine 10. Specifically, the engine 10 is provided with a governor device 41 including an unillustrated actuator that changes the rotational speed of the engine 10. The engine controller 61 can control the rotational speed of the engine 10 by controlling the governor device 41.

  The vehicle speed controller 62 controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with a transmission 42 which is, for example, a movable swash plate type hydraulic continuously variable transmission. The vehicle speed controller 62 can change the gear ratio of the transmission 22 and realize a desired vehicle speed by changing the angle of the swash plate of the transmission 42 by an actuator (not shown).

  The steering controller 63 controls the turning angle of the steering handle 12. Specifically, a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering handle 12. With this configuration, when the tractor 1 travels (as an unmanned tractor) on a predetermined route, the control unit 4 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. Then, a control signal is output to the steering controller 63 so that the obtained rotation angle is obtained. The steering controller 63 drives the steering actuator 43 based on the control signal input from the control unit 4 and controls the rotation angle of the steering handle 12.

  The lift controller 64 controls the lift of the work machine 3. Specifically, the tractor 1 includes an elevating actuator 44 composed of a hydraulic cylinder or the like in the vicinity of a three-point link mechanism that connects the work machine 3 to the traveling machine body 2. With this configuration, the elevating controller 64 drives the elevating actuator 44 based on the control signal input from the control unit 4 to appropriately elevate the work implement 3 so that the work implement 3 can perform farm work at a desired height. It can be performed. By this control, the work machine 3 can be supported at a desired height such as a retreat height (a height at which farm work is not performed) and a work height (a height at which farm work is performed).

  A plurality of controllers such as the engine controller 61 described above controls each unit such as the engine 10 based on a signal input from the control unit 4. Therefore, it can be grasped that the control unit 4 substantially controls each unit.

  The tractor 1 including the control unit 4 as described above controls various parts of the tractor 1 (the traveling machine body 2, the work implement 3, and the like) by the control unit 4 when the operator gets into the cabin 11 and performs various operations. Thus, the farm work can be performed while traveling in the farm field 90. In addition, the tractor 1 according to the present embodiment can autonomously travel and work based on a predetermined control signal output from the wireless communication terminal 46 without the operator getting on the tractor 1. .

  Specifically, as shown in FIG. 4 and the like, the tractor 1 has various configurations for enabling autonomous traveling and autonomous work. For example, the tractor 1 has a configuration such as a positioning antenna 6 necessary for acquiring position information of itself (the traveling machine body 2) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel on the agricultural field 90.

  Next, the configuration of the tractor 1 for enabling autonomous traveling will be described in detail. Specifically, as shown in FIGS. 2 and 4, the tractor 1 of the present embodiment includes a positioning antenna 6, a radio communication antenna 48, a storage unit 55, and the like. In addition to these, the tractor 1 may be provided with an inertial measurement unit (IMU) that can specify the posture (roll angle, pitch angle, yaw angle) of the traveling machine body 2.

  The positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 2, the positioning antenna 6 is disposed on the upper surface of the roof 29 of the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information calculation unit 49 shown in FIG. The position information calculation unit 49 calculates the position information of the traveling machine body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as, for example, latitude / longitude information. The position information detected by the position information calculation unit 49 is input to the control unit 4 and used for autonomous traveling.

  In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and other positioning systems are used as long as high-accuracy position coordinates are obtained. May be. For example, it is conceivable to use a relative positioning method (DGPS) or a geostationary satellite type satellite navigation augmentation system (SBAS).

  The wireless communication antenna 48 receives a signal from the wireless communication terminal 46 operated by an operator or transmits a signal to the wireless communication terminal 46. As shown in FIG. 1, the radio communication antenna 48 is disposed on the upper surface of the roof 29 provided in the cabin 11 of the tractor 1. A signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is subjected to signal processing by the wireless communication unit 40 shown in FIG. 4 and then input to the control unit 4. A signal transmitted from the control unit 4 or the like to the wireless communication terminal 46 is subjected to signal processing by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

  The storage unit 55 stores a travel route (path) that is a route for causing the tractor 1 to autonomously travel, and stores a transition (travel locus) of the position of the traveling tractor 1 (strictly speaking, the positioning antenna 6). Can be. In addition, the storage unit 55 stores various information necessary for the tractor 1 to autonomously travel and work.

  As shown in FIG. 2, the wireless communication terminal 46 is configured as a tablet personal computer. The operator can check the information by referring to the information displayed on the display 37 of the wireless communication terminal 46. Further, the operator operates the hardware key 38 disposed in the vicinity of the display 37 and a touch panel (not shown) disposed so as to cover the display 37 to control the tractor 1 with the control unit 4 of the tractor 1. A control signal (for example, an emergency stop signal) can be transmitted. Note that the wireless communication terminal 46 is not limited to a tablet-type personal computer, but can be configured by, for example, a notebook-type personal computer. Alternatively, when a manned tractor is caused to travel along with the unmanned tractor 1 in order to perform the above-described cooperative work, the monitor device mounted on the manned tractor can be a wireless communication terminal.

  The tractor 1 configured as described above can perform farm work by the work implement 3 while traveling autonomously along a route on the field based on an instruction of an operator using the wireless communication terminal 46.

  Specifically, the operator can form the autonomous traveling route 93 shown in FIG. 1 and the like by making various settings using the wireless communication terminal 46. The autonomous traveling route 93 is configured as a series of routes in which a linear or broken line working route 93a for performing farm work and an arc-shaped non-working route 93b that connects the ends of the working route 93a are alternately connected. The Then, the information on the autonomous traveling route 93 generated as described above on the wireless communication terminal 46 side is input (transferred) to the storage unit 55 electrically connected to the control unit 4 of the tractor 1 to perform a predetermined operation. By doing so, the tractor 1 can be controlled by the control unit 4 to allow the tractor 1 to perform autonomous traveling and autonomous work along the autonomous traveling route 93.

  Below, mainly with reference to FIG. 4, the structure of the radio | wireless communication terminal 46 provided with the autonomous running route production | generation system 99 is demonstrated in detail.

  As illustrated in FIG. 4, the wireless communication terminal 46 includes a control unit 71, a display (display unit) 37, a communication unit 72, a work vehicle information setting unit 51, an agricultural field information setting unit 52, and a work information setting unit. 53, a work area dividing unit (area dividing unit) 54, and an autonomous traveling route generating unit (route generating unit) 47.

  Specifically, like the control unit 4 of the tractor 1, the control unit 71 of the wireless communication terminal 46 is configured as a computer including a CPU, ROM, RAM, I / O, etc. (not shown). Various programs can be read from the ROM and executed. The ROM stores an appropriate program for causing the tractor 1 to perform autonomous traveling and autonomous work. And by cooperation of above-mentioned software and hardware, the wireless communication terminal 46 is changed into the communication part 72, the work vehicle information setting part 51, the farm field information setting part 52, the work information setting part 53, the work area | region division part 54, and autonomous It can be operated as the travel route generation unit 47 or the like.

  The communication unit 72 is for performing communication with the tractor 1 side. The control unit 71 of the wireless communication terminal 46 communicates with the control unit 4 of the tractor 1 through the communication unit 72, thereby transmitting the information on the autonomous travel route 93 generated by the autonomous travel route generation unit 47 to the tractor 1 side. it can. In addition, the control unit 71 of the wireless communication terminal 46 can instruct the tractor 1 to start and stop autonomous traveling by transmitting a control signal to the tractor 1 side using the communication unit 72. When the tractor 1 is traveling autonomously, the control unit 71 of the wireless communication terminal 46 can receive the state (position, travel speed, etc.) of the tractor 1 from the tractor 1 side and display it on the display 37. .

  The work vehicle information setting unit 51 is for setting information related to the tractor 1 (hereinafter sometimes referred to as work vehicle information). The work vehicle information setting unit 51 includes the model of the tractor 1, the size of the tractor 1, the position where the positioning antenna 6 is attached to the tractor 1, the type of the work machine 3, the size and shape of the work machine 3, and the work machine 3 The contents designated by the operator by appropriately operating the wireless communication terminal 46 can be stored.

  The farm field information setting unit 52 is for setting information related to the farm field 90 (hereinafter also referred to as farm field information). The farm field information setting unit 52 can store the contents designated by the operator operating the wireless communication terminal 46 with respect to the position and shape of the farm field 90, the start position and the end position to be autonomously run, the work direction, and the like. As shown in FIG. 1, the work direction refers to a work area 91 that is an area excluding a non-work area 92 (such as a headland and a non-cultivated land) from the farm field 90 while performing work on the work machine 3. It means the direction in which the tractor 1 travels.

  As for the position and shape information of the farm field 90, for example, the operator rides on the tractor 1 and operates so as to make one turn along the outer circumference of the farm field, and records the transition of the position information of the positioning antenna 6 at that time. Can be obtained automatically. However, the position and shape of the farm field 90 are based on a polygon obtained by the operator operating the wireless communication terminal 46 while designating a map on the display 37 and specifying a plurality of points on the map. It can also be acquired.

  The work information setting unit 53 is for setting information (hereinafter, also referred to as work information) regarding how the work is specifically performed. The work information setting unit 53 includes, as work information, the presence / absence of cooperative work between the robot tractor 1 and the manned tractor, the number of skips (reference value) that is the number of work paths 93a to be skipped when the tractor 1 turns on the headland, The width of the headland and the width of the non-cultivated land can be set.

  The work area dividing unit 54 divides the work area 91 into a plurality of sections S as shown in FIG. 11 and the like when the autonomous traveling route 93 with skip traveling is generated in the autonomous traveling route generating unit 47. Is. The section S generated by this division is a unit of work for performing skip traveling. Details of the division of the work area 91 will be described later.

  The autonomous traveling route generating unit 47 shown in FIG. 4 is for generating an autonomous traveling route 93 that is a route for allowing the tractor 1 to autonomously travel. The autonomous traveling route generation unit 47 generates and stores the autonomous traveling route 93 of the tractor 1 based on the information set by the work vehicle information setting unit 51, the farm field information setting unit 52, and the work information setting unit 53. Can do.

  As shown in FIG. 1, the autonomous traveling path 93 includes a work path 93 a disposed in the work area 91 and a non-work path 93 b disposed in the non-work area 92. In the process in which the autonomous travel route generation unit 47 generates the autonomous travel route 93, the work width of the work implement 3 and the work width of the work implement 3 partially overlap between the work routes 93 a adjacent to each other in the work area 91. (When possible, the upper limit value of the overlapping width), the size and shape of the non-working area 92 (in other words, the width of the headland and the width of the non-cultivated land), and the non-working path when the tractor 1 is in the headland The number of work paths 93a to skip when turning in 93b (the number of skips) is taken into consideration. In the case where cooperative work is performed between the unmanned tractor 1 and the manned tractor, the positional relationship between the unmanned tractor 1 and the manned tractor, the work width of the work machine of the manned tractor, and the like are taken into consideration in the generation process of the autonomous traveling route 93. .

  Next, the setting in the wireless communication terminal 46 for generating the autonomous traveling route 93 will be described with reference to FIGS. FIG. 5 is a diagram illustrating a display example of the work vehicle information input screen 81 displayed on the wireless communication terminal 46. FIG. 6 is a diagram illustrating a display example of the field information input screen 82 displayed on the wireless communication terminal 46. FIG. 7 is a diagram illustrating a display example of the work information input screen 83 displayed on the wireless communication terminal 46.

  When the operator performs a predetermined operation on the wireless communication terminal 46, the control unit 71 controls to display the work vehicle information input screen 81 shown in FIG. 5 on the display 37.

  On the work vehicle information input screen 81, information (the work vehicle information) related to the traveling machine body 2 and the work machine 3 attached to the traveling machine body 2 can be input. Specifically, the work vehicle information input screen 81 includes the model of the tractor 1, the size of the tractor 1, the mounting position of the positioning antenna 6 with respect to the traveling machine body 2, the type of the work machine 3, and the work width W of the work machine 3. Fields for inputting the distance from the rear end of the three-point link mechanism (the rear end of the lower link) to the rear end of the work machine 3 are arranged.

  The operator performs settings by operating the wireless communication terminal 46 and inputting a numerical value in a text box arranged in each column of the work vehicle information input screen 81 or selecting from a drop-down box list. . Thereby, various information regarding the traveling machine body 2 and the work machine 3 can be set.

  The work vehicle information specified by the operator on the work vehicle information input screen 81 is stored in the work vehicle information setting unit 51. When the input of the work vehicle information is completed, the control unit 71 controls the display 37 to display the farm field information input screen 82 as shown in FIG.

  On the farm field information input screen 82, information (the farm field information) regarding the farm field 90 on which the traveling machine body 2 travels can be input. Specifically, on the farm field information input screen 82, a plane display unit 88 that graphically indicates the position and shape of the farm field 90 and the start and end positions of autonomous traveling is arranged. Further, on the farm field information input screen 82, “designation” and “reset” buttons are arranged for the outer periphery of the farm field 90, the autonomous running start position, the autonomous running end position, and the work direction, respectively.

  Note that the buttons on the field information input screen 82 and the like are all configured as virtual buttons displayed on the display 37, and the operator touches the position of the touch panel corresponding to the display area of the buttons with a finger. Can do.

  When the “designation” button of “field outer periphery” is operated, the wireless communication terminal 46 switches to the field shape recording mode. In this field shape recording mode, when the operator gets on and operates the tractor 1 and makes one turn along the outer periphery of the field 90, the position of the field 90 is determined based on the transition of the position information of the positioning antenna 6 at that time. And the shape is acquired (calculated). Thereby, the position and shape of the agricultural field 90 can be designated.

  The control unit 71 of the wireless communication terminal 46 graphically displays the obtained position and shape of the farm field 90 on the plane display unit 88 of the farm field information input screen 82 as shown in FIG. When it is desired to redo the designation of the position and shape of the field 90, the contents designated so far can be discarded by operating the “reset” button, and the “designation” button can be operated again.

  Instead of specifying the position and shape of the farm field 90 by actually running the tractor 1 in the farm field 90 as described above, for example, a map is displayed on the display 37 of the wireless communication terminal 46, and the map is displayed on the map. When the operator designates a plurality of points, the position and shape of the polygon identified by the so-called closed graph can be designated as the position and shape of the field 90 so that the lines connecting the designated points do not intersect.

  When the “designation” button of “work start position” is operated, the operator autonomously travels an appropriate point with the designated position and shape of the farm field 90 displayed on the plane display unit 88 as shown in FIG. Can be specified as the start position. A start position mark F1 is displayed at the designated start position. The operation of the “reset” button is the same as described above.

  When the “designation” button of “work end position” is operated, an appropriate point can be designated as the autonomous travel end position, as in the “designation” button of “work start position”. An end position mark F2 is displayed at the designated end position. The operation of the “reset” button is the same as described above.

  The farm field information designated by the operator on the farm field information input screen 82 is stored in the farm field information setting unit 52. When the input of the farm field information is completed, the control unit 71 controls the display 37 to display a work information input screen 83 as shown in FIG.

  On the work information input screen 83, specific work information (the work information) can be input. Specifically, the work information input screen 83 includes the presence / absence of cooperative work between the robot tractor 1 and the manned tractor, the pattern when the manned tractor cooperates, and the manned tractor when the manned tractor cooperates. Columns for inputting the work width, the number of skips of the robot tractor 1, the work width overlap allowable amount in the adjacent work path 93a, the headland width, the width of the non-cultivated land, and the like.

  In the column of “Presence / absence of cooperative work of manned tractors”, the robot tractor 1 is autonomously run to perform farming work (without accompanying manned tractors), or the autonomously running robot tractor 1 and the manned tractor (operator It is possible to select whether to perform farming work (with accompanying tractor) by accompanying the tractor (boarding tractor).

  In the case of “with accompanying”, select the position pattern of the manned tractor with respect to the robot tractor 1 in the “cooperative work pattern” field from any of right behind, left diagonally behind, and right diagonally behind the robot tractor 1. Is possible. In the “work width of manned tractor” field, the work width of the manned tractor (the effective width on which the work is performed by the work implement) can be input.

  A drop-down list box is arranged in the “robot tractor skip count” column, and a list of numerical values that can be set as the skip count is selectably displayed by the drop-down operation. The operator can designate how many work routes 93a are to be skipped by selecting one from the list. In the present embodiment, the skip number SN can be set by selecting one of 0, 1, or 2. When skipping is not desired, zero may be selected as the skip number SN.

  In the “work width overlap allowance” column, when the work widths may partially overlap between the adjacent work paths 93a, an upper limit value of the overlap width can be input. If no overlap is allowed, enter zero in this field.

  In the “headland width” column, for example, a value equal to or larger than the lower limit value of the headland width calculated in advance based on the size of the work implement 3 attached to the unmanned tractor 1 is set. be able to.

  In the column of “width of non-cultivated land”, an appropriate value can be set in consideration of working while rotating around the outer periphery of the field 90 by manual travel after the end of autonomous travel.

  When the operator inputs all the input fields of the work information input screen 83 and operates the “Generate Autonomous Travel Route” button, the autonomous travel route generation unit 47 generates the autonomous travel route 93 and the autonomous travel route 93 Is stored in the work area dividing unit 54. The generated autonomous traveling route 93 is appropriately displayed on the display 37 for confirmation, and the autonomous traveling route 93 can be confirmed by the operator operating the “OK” button (not shown).

  After the autonomous traveling route 93 is determined, the control unit 71 controls the display 37 to display a route data transfer screen (not shown). On this route data transfer screen, the operator can transfer the data of the autonomous traveling route 93 generated by the autonomous traveling route generation unit 47 to the tractor 1 side by radio, for example, and store the data in the storage unit 55 provided in the tractor 1. .

  When the data of the autonomous traveling route 93 is input to the tractor 1, the operator can instruct the tractor 1 to start autonomous traveling by appropriately operating the wireless communication terminal 46. When the start of autonomous traveling is instructed, the tractor 1 autonomously travels according to the autonomous traveling route 93 transmitted from the wireless communication terminal 46 to the tractor 1 and performs autonomous work.

  Next, specific processing performed by the autonomous traveling route generation unit 47 when generating the autonomous traveling route 93 will be described with reference to FIGS. 8 to 14. FIG. 8 is a flowchart illustrating processing performed by the autonomous traveling route generation unit 47 when the autonomous traveling route generation unit 47 is generated. FIG. 9 is a diagram illustrating a state in which a plurality of work routes 93a are arranged in the work area 91 in order to generate an autonomous travel route 93 that performs skip travel. FIG. 10 is a diagram showing a group composed of a specific number of work routes 93a, which are units of work when skipping is performed. FIG. 11 is a diagram illustrating a state in which the work area 91 is divided and a plurality of sections S are generated. FIG. 12 is a diagram illustrating a state in which the work area 91 is divided and a plurality of sections S and SE including an exceptional section SE in which the number of work paths 93a is greater than a specific number are generated. FIG. 13 is a diagram illustrating a state where the work order of the work path 93a is determined. FIG. 14 is a diagram illustrating how the autonomous traveling route 93 is generated based on the work order determined in FIG. 13.

  When the “Generate Autonomous Travel Route” button is operated on the work information input screen 83 shown in FIG. 7, first, the shape of the farm field 90 set on the farm field information input screen 82 and the work information input screen 83 are set. Based on the width of the headland and the width of the non-cultivated land, the work area 91 and the non-work area 92 are determined. Thereafter, the process of FIG. 8 is started, and the autonomous travel route generation unit 47 arranges the work routes 93a at intervals in the work area 91 (step S101). Each work path 93a is arranged along the work direction set on the field information input screen 82 in FIG. In addition, the interval at which the work path 93a is arranged takes into account the work width W of the work machine 3 so that work work of the work machine 3 with respect to the work area 91 does not occur and work efficiency is improved. Determined. Note that the number of columns (number) of work paths 93a arranged in the work area 91 can be calculated based on the size of the work area 91, the work width W of the work implement 3, and the overlap allowance. In this step, the number of columns of the work path 93a to be arranged may be calculated without arranging the work path 93a in the work area 91, and the process may proceed to step S102.

  Next, the autonomous travel route generation unit 47 acquires information on the skip number SN of the robot tractor 1 (input on the work information input screen 83) set by the work information setting unit 53, and the skip number SN is 1. It is determined whether or not the above is true (step S102).

  If the number of skips SN is 0 as a result of the determination in step S102, the autonomous travel route generation unit 47 travels the work route 93a sequentially (without skipping) from one end in the direction in which the work routes 93a are arranged. Then, an autonomous travel route 93 that reaches the other end is generated (step S103), and the process ends. Thereby, the autonomous traveling route 93 without skip is generated.

  If the number of skips SN is 1 or more as a result of the determination in step S102, the autonomous travel route generation unit 47 has the number of work routes 93a (work route number TP) in the work area 91 equal to or greater than the basic unit route number BP. Whether or not (step S104).

  Here, the basic unit path number BP will be described. That is, the skip travel in the robot tractor 1 of the present embodiment is performed in units of groups each including a specific number of work paths 93a arranged adjacent to each other. Once skip traveling for a certain group is started, skip traveling is not performed for other groups until work is completed for all work routes 93a belonging to that group.

  For example, when the skip number SN is 1, as shown in FIG. 10A, five (five columns) work paths 93a arranged adjacent to each other are considered. In the following description, each work path 93a may be referred to as an alphabet such as A, B, C, D, E from the side close to the starting position of autonomous driving. When performing skip traveling for this group, the tractor 1 travels A, skips one and travels C, and skips one and travels E. Then, the direction to fly is reversed once, and it skips two more than usual, and runs B. After that, the direction of flight is further reversed and the vehicle travels D. As described above, by performing work in the order of A, C, E, B, and D, the work can be completed for the five work paths 93a while generally following the set skip number SN (ie, 1). it can.

  When the skip number SN is 2, as shown in FIG. 10B, seven work paths 93a arranged adjacent to each other are considered. In the following description, each work path 93a may be referred to as an alphabet such as A, B, C, D, E, F, and G from the side closer to the autonomous travel start position. When performing the skip traveling for this group, the tractor 1 travels A and then skips two to travel D and then skips two and travels G. Thereafter, the direction of flight is once reversed, and three more than the set number are skipped, and the vehicle travels C. Next, run in F with the direction of flight reversed. After that, the direction of flight is reversed, and three more than the set number are skipped, and the vehicle travels B. Then, the direction to fly is reversed and drive E. As described above, by working in the order of A, D, G, C, F, B, and E, the work is performed on the seven work paths 93a while generally following the set skip number SN (ie, 2). Can be completed.

  To explain the above, the basic unit route number BP means the number of work routes 93a in a basic unit (group) for completing work by skip traveling. When the skip number SN is 1, the basic unit path number BP is 5, and when the skip number SN is 2, the basic unit path number BP is 7. When generalized, the basic unit path number BP is represented by 2 (SN + 1) +1 with respect to the skip number SN.

  Therefore, step S104 substantially means determining whether or not the number of work paths 93a arranged in step S101 is sufficient to form at least one of the above groups.

  If it is determined in step S104 that the work path number TP is less than the basic unit path number BP, it means that none of the above groups can be formed. Therefore, the control unit 71 controls the display 37 to display a message indicating that the autonomous traveling route 93 cannot be generated with the set skip number SN (step S105), and the process is terminated.

  If it is determined in step S104 that the work route number TP is equal to or greater than the basic unit route number BP, the autonomous traveling route generation unit 47 determines whether the work route number TP is an integer multiple of the basic unit route number BP. (Step S106).

  If it is determined in step S106 that the work route number TP is an integer multiple of the basic unit route number BP, the autonomous traveling route generation unit 47 divides the work area 91 in the direction in which the work routes 93a are arranged, and thereby creates a plurality of sections. S is generated (step S107). This division is performed so that the number of work paths 93a included in each section S is equal to the number of basic unit paths BP. In FIG. 11, when the skip number SN is 1 (the number of basic unit paths BP is 5), the work area 91 in which 15 work paths 93a are arranged is divided, and each has 5 work paths 93a. An example of forming three sections S is shown. However, when the work path number TP is equal to the basic unit path number BP, it is not necessary to divide, so one section S is generated in the entire work area 91.

  Even if the number of work routes TP is different from an integer multiple of the basic unit route number BP in the determination of step S106, the autonomous traveling route generation unit 47 divides the work area 91 in the direction in which the work routes 93a are arranged, A partition S is generated (step S108). This division is based on the principle that the number of work paths 93a included in each section S is equal to the number of basic unit paths BP, except that only one section SE includes work paths included in the section SE. The number 93a is set to exceed the basic unit path number BP. In FIG. 12, when the skip number SN is 1 (the basic unit path number BP is 5), the work area 91 in which the 16 work paths 93a are arranged is divided, and each has 5 work paths 93a. An example is shown in which two sections (first section) S and one exceptional section (second section) SE having six work paths 93a are formed. This exceptional section SE is preferably arranged at the end in the direction in which the work paths 93a are arranged, that is, at the end close to the end of the autonomous travel. When the work path number TP is less than twice the basic unit path number BP, it is not necessary to divide, so one (exception) section SE is generated in the entire work area 91.

  When one or a plurality of sections S are generated, the autonomous traveling route generation unit 47 exceeds the (basic) section S in which the number of work routes 93a is equal to the basic unit route number BP and the basic unit route number BP (exception). The autonomous traveling route 93 is generated so that the tractor 1 travels on the work route 93a in accordance with a predetermined work order for both of the sections SE) (step S109).

  The above work order is the order of A, C, E, B, and D described above when the number of work paths 93a is equal to the number of basic unit paths BP (in principle) and the skip number SN is 1. When the skip number SN is 2, it means the order of A, D, G, C, F, B, E described above. FIG. 13 shows how the work order of the work path 93a is determined when the skip number SN is 1 and the work area 91 is divided as shown in FIG. In FIG. 13, the circled numbers attached to the respective work paths 93a indicate the determined work order.

  By generating the autonomous traveling route 93 (as shown in FIG. 14) so as to travel the work route 93a arranged in each section S according to the above order, a fine skip traveling pattern with the section S as a unit. Is repeated. That is, skip traveling is performed according to the skip traveling pattern for the section S closest to the autonomous traveling start position, and when the operation of the section S is completed, skip traveling is performed for the adjacent section S according to the skip traveling pattern. . By performing autonomous running / autonomous work while repeating the above, even if the work is interrupted in the middle, it is possible to keep the part where the worked part and the unworked part appear alternately in a small range in the section S. it can.

  Note that the section (exception section) SE in which the number of work paths 93a exceeds the basic unit path number BP preferably has a work order similar to the work order in the basic section S, but the work path 93a is skipped. The autonomous traveling route 93 may be generated so as to travel along the work route 93a in an appropriate work order, considering the number to be performed to some extent.

  Through the above processing, the autonomous traveling route 93 suitable for work involving skip traveling can be generated. FIGS. 11 to 14 show the case where the skip number SN is 1, but when the skip number SN is 2, the basic unit path number BP is also equal to that shown in FIG. 10B. It can be generated in the same manner as described above except that the work order is A, D, G, C, F, B, and E.

  As described above, the autonomous travel route generation system 99 according to the present embodiment generates the autonomous travel route 93 that causes the tractor 1 to travel autonomously in order to perform work on a predetermined work area 91. The autonomous travel route generation system 99 includes a work area dividing unit 54 and an autonomous travel route generation unit 47. The work area dividing unit 54 divides the work area 91 into a plurality of sections S. The autonomous traveling route generation unit 47 generates the autonomous traveling route 93 so as to include a plurality of work routes 93 a arranged in each of the sections S divided by the work area dividing unit 54. The work area dividing unit 54 can divide the work area 91 so that the number of work paths 93a included in each section S is equal to the basic unit path number BP.

  Thereby, even when performing work by skip running, it is possible to work sequentially from the end of the work area 91 with the divided small sections S as a unit. Therefore, even when the work is interrupted in the middle, the portion where the work completed place and the unworked place appear alternately in the work area 91 can be kept within a small range in the section S. Therefore, it is easy to clarify the place where the work has been completed, and the work can be resumed smoothly. In addition, even when the soil environment changes due to rain or the like before and after the work is interrupted, it is possible to prevent portions having different work qualities from occurring in a comb-like shape over a wide range.

  Moreover, in the autonomous traveling route generation system 99 of the present embodiment, the autonomous traveling route generation unit 47 sets the work order based on the skip number SN for the plurality of work routes 93a. When there are a plurality of sections S in which the number of work routes 93a included is equal to the number of basic unit routes BP, the autonomous traveling route generation unit 47, as shown in FIG. The same work order is set for the path 93a.

  Thereby, since a fixed work order can be set for the work route 93a in units of sections S, regular skip traveling can be realized, and the generation processing of the autonomous traveling route 93 can be simplified. .

  Further, in the autonomous traveling route generation system 99 of the present embodiment, the work area dividing unit 54, as shown in FIG. 12, when the number of work routes 93a included in the work area 91 is not an integer multiple of the basic unit route number BP. In addition, the operation is performed so as to form a principle section S in which the number of work paths 93a included is equal to the basic unit path number BP and an exceptional section SE in which the number of work paths 93a included is greater than the basic unit path number BP The area 91 is divided into a plurality of sections S and SE.

  As a result, there are no sections in which the number of work routes 93a included is less than the basic unit route number BP, so that the autonomous traveling route 93 with skip traveling can be easily generated.

  Next, with reference to FIGS. 15 and 16, an example will be described in which the tractor 1 requires a plurality of turning and turning operations in the non-work area 92 depending on the shapes of the farm field 90 and the work area 91. FIG. 15 is a diagram illustrating an example in which the tractor 1 performs a plurality of turns in the non-work area 92. FIG. 16 is a diagram illustrating an example in which the tractor 1 performs a plurality of turns and turns in the non-work area 92.

  In the farm field 90p shown in FIG. 15, a non-working area 92 has a crank-shaped portion with continuous L-shaped paths. When the non-work path 93b that connects the end points of the work path 93a for which the work order is determined passes through the portion, the non-work path 93b is placed in the non-work area 92 (that is, the tractor 1 is in the work area 91). It is generated in anticipation of a predetermined margin, so that it does not enter or get out of the field 90p. At this time, the turning radius R of the traveling machine body 2 is considered in the L-shaped road portion. In the example of FIG. 15, since the non-working area 92 has a crank-shaped portion, two extra turns are required in the non-working area 92 compared to the field 90 shown in FIG. 14.

  Further, even in the farm field 90p similar to FIG. 15, it may be necessary to pass through the crank-shaped portion immediately after entering the non-work path 93b from the work path 93a as shown in FIG. At this time, even if the turning on the L-shaped road is performed immediately after entering the non-work path 93b, the traveling machine body 2 or the work machine 3 protrudes outside the farm field 90p. In this case, as shown in FIG. 16, the non-work route 93 b is generated as a route accompanied by turning the traveling machine body 2 back and forth in addition to turning of the L-shaped portion.

  As described above, when the non-work area 92 is indefinite, the autonomous travel route generation unit 47 generates the non-work route 93b so as to involve turning and turning as necessary, thereby appropriately performing skip travel. Can do.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  In the above embodiment, the basic unit path number BP is a numerical value represented by 2 (SN + 1) +1 with respect to the skip number SN, but may be changed to another numerical value. That is, the basic unit path number BP is represented by M (SN + 1) +1 (M is a natural number of 2 or more).

  In the above embodiment, the skip number SN can be selected from 1 or 2. However, a configuration in which a numerical value of 3 or more can be selected as necessary may be adopted.

  The order (work order) of the work paths 93a for performing work is not limited to the example shown in FIG. 10, but can be changed as appropriate.

  As a result of the determination in step S102, when the skip number SN is 0, the autonomous travel route generation unit 47 generates the autonomous travel route 93 without dividing the work area 91, but the work area 91 is divided. On the above, the autonomous traveling route 93 may be generated.

  In step S105 shown in FIG. 8, instead of displaying a message, the autonomous traveling route described in the problem to be solved by the above-described invention (performing a simple skip traveling) may be generated. Alternatively, when the work route number TP is less than the basic unit route number BP, the user is prompted to change the skip number SN to 0. When the user changes the skip number SN to 0, the process proceeds to step S103, and the user skips. When the number SN is not changed to 0, the process may proceed to step S105.

  By the way, when the work area 91 is divided into a plurality of sections S or into a plurality of sections S and a single section SE as shown in FIG. 13 and FIG. For example, the work order with respect to each section is set in order from the section close to the start position, and when the work is completed for a specific section, the work is performed in the section adjacent to the section. However, the work order for each section is not limited to this, and an arbitrary order may be set.

  In the above embodiment, the non-working area 92 is determined based on the width of the headland and the width of the non-cultivated land set on the work information input screen 83, and the remaining area excluding the non-working area 92 from the field 90 A work area 91 is defined. However, the method of setting the work area 91 is not limited to the above. For example, the operator designates an arbitrary point of the farm field 90 displayed on the flat display unit 88 on the farm field information input screen 82 described above, and the work area 91 and The non-work area 92 may be set.

  In the above embodiment, the work area dividing unit 54 and the autonomous traveling route generating unit 47 constituting the autonomous traveling route generating system 99 are provided on the wireless communication terminal 46 side. However, part or all of the work area dividing unit 54 and the autonomous traveling route generating unit 47 may be provided on the tractor 1 side.

1 Tractor (work vehicle)
47 Autonomous driving route generation unit (route generation unit)
54 Work area dividing section (area dividing section)
91 Work area (travel area)
93 Autonomous travel route (travel route)
93a Work route (travel route)
99 Autonomous driving route generation system BP Number of basic unit routes (predetermined value)
S section SE exception section SN number of skips (reference value)

Claims (3)

An autonomous travel route generation system for generating a travel route for autonomously traveling a work vehicle to perform work on a predetermined work area,
An area dividing unit for dividing the work area into a plurality of sections;
A route generating unit that generates the travel route so as to include a plurality of travel routes arranged in each of the sections divided by the region dividing unit;
With
The area dividing unit can divide the work area so that the number of the traveling paths included in each section becomes a predetermined value equal to each other. The autonomous travel route generation system according to claim 1,
The route generation unit sets a work order based on a reference value for the plurality of travel routes,
When there are a plurality of sections in which the number of travel paths included is equal to the predetermined value, the route generation unit sets the same work order for the travel paths corresponding to each other between the sections. An autonomous travel route generation system characterized by: The autonomous travel route generation system according to claim 1 or 2,
When the number of the traveling roads included in the work area is not an integral multiple of the predetermined value, the area dividing unit,
A first section in which the number of travel paths included is equal to the predetermined value;
A second section in which the number of travel paths included is greater than the predetermined value;
An autonomous travel route generation system, wherein the work area is divided into a plurality of sections so as to form a circle.

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