JP2021158980A - Travel path setting device for field work vehicle, travel path setting method and program for setting travel path - Google Patents

Abstract

To set a travel path with less loss of time due to revolving and having preferable travel efficiency.SOLUTION: A travel path setting device comprises: a short passage presence determination unit 12A for, about a go-around travel path set along a contour of a field by a go-around travel path setting unit 11A, determining whether there is included a linear path shorter than a prescribed length, in once go-around step; and a path deformation unit 12B for, when it is determined that there is included a short path, omitting the short path, and deforming at least one of two linear paths coupled to both ends of the short path to couple the two linear paths. By setting a travel path in which the number of revolving performed on both ends of the short path, is reduced, when setting a travel path about a field having a shape in which there are many non-linear regions, relative to a rectangular field, a travel path with less loss of time due to revolving and having preferable travel efficiency, can be set.SELECTED DRAWING: Figure 3

Description

The present invention relates to a travel route setting device, a travel route setting method, and a travel route setting program for a field work vehicle, and in particular, a travel route of a field work vehicle capable of performing work in a field while automatically traveling. It is related to the technology to set.

Conventionally, the field work vehicle is equipped with a function of detecting the current position and orientation of the vehicle, and the field work vehicle is automatically driven along a travel route set in the field based on the sequentially detected current position and orientation. There is known an automatic traveling work system that allows a given work to be performed while allowing the vehicle to perform a given work (see, for example, Patent Document 1). Patent Document 1 includes a traveling path including a circular traveling path that orbits the outer peripheral region along each side of the outer shape of the field and a reciprocating traveling route that linearly reciprocates within the central region inside the outer peripheral region. The technology to set is disclosed. In particular, Patent Document 1 discloses a technique for generating a traveling path of a field having a recess in which an outer line is locally inserted inside.

That is, in the system described in Patent Document 1, when calculating a straight route in the central region inside the outer peripheral region, the straight route that passes through the outer peripheral region in the vicinity of the recess intersects with the outermost peripheral traveling route. It is judged whether or not, and if it does not intersect, the straight route is valid, and if it intersects, it is invalid. Then, when a large number of invalid linear paths occur because the recesses are deeply penetrated into the field and the blank area where the linear path is not formed becomes large due to this, a notification to that effect or the direction in which the linear path extends is indicated. Change and set the driving route.

However, although the technique described in Patent Document 1 discloses that a traveling route is set for a field that is not rectangular, there is a problem that the set traveling route is not always a route with good traveling efficiency. rice field. That is, the orbital traveling path set in the outer peripheral region is a route that changes the direction along the shape of the non-linear region in the non-linear region (refractive region that is not straight) in which the outer line of the field is not straight. It becomes. In particular, when a lap traveling path for performing lap traveling over a plurality of laps is set, it becomes necessary to change the direction along the shape of the non-linear region each time the lap is performed, and the number of times of the direction change increases.

Of the changes in direction, especially at the point where the connection angle between the straight paths (the angle formed by the two connected straight paths) becomes large, the field work vehicle stops the work machine, raises it, and turns back while moving in the direction of travel. After changing, it is necessary to lower the work equipment again and work while traveling along the next straight path from there (such a series of movements is called "turning movement" or simply "turning"). Therefore, as the number of turning operations increases, a large amount of time is lost and the traveling efficiency decreases. A decrease in running efficiency leads to a decrease in work efficiency. Therefore, it is desired to set a route with less time loss due to turning and good running efficiency.

In addition, in this specification, "connection" of a straight path means a case where two straight paths are connected to each other at their ends and a case where two straight paths are connected so as to intersect at a portion other than the ends. It shall include. At the point where the turn is performed, the field work vehicle turns back in order to minimize the occurrence of unworked areas, so that a traveling route that does not connect the two straight routes at the ends may be formed. be. The connection form at such a turning point will also be described as one aspect of “connection”.

JP-A-2018-116614

The present invention has been made to solve such a problem, and is a traveling path for a field having a shape in which a large number of non-linear regions are present as compared with a rectangular field formed by only four non-linear regions. The purpose is to make it possible to set a traveling route with less time loss due to turning and with good traveling efficiency.

In order to solve the above-mentioned problems, in the present invention, by connecting a plurality of straight paths, when setting a temporary traveling path for traveling in the field along the shape of the field, the outer circumference along the outer shape of the field is set. In the region, a lap traveling route for traveling one or more laps is set, and a reciprocating traveling route for linear reciprocating traveling is set in the central region inside the outer peripheral region. Further, in the present invention, it is determined whether or not a linear route shorter than a predetermined length is included in the lap stroke of the set temporary traveling route, and when it is determined that the short linear route is included, the said The short straight path is omitted, and the two straight paths are connected by deforming at least one of the two straight paths connected to both ends of the short straight path.

Among the orbital traveling paths set by connecting a plurality of straight paths along the shape information of the field, where there is a straight path shorter than a predetermined length, turning can be performed at both ends of the short straight path. It is a place with sex. According to the present invention configured as described above, such a short straight path is omitted, and two straight paths connected to both ends of the short straight path are newly connected to set a circular traveling path. Therefore, it is possible to set a traveling route with a reduced number of turns. As a result, according to the present invention, when setting a traveling route for a field having a shape having many non-linear regions as compared with a rectangular field formed with only four non-linear regions, time loss due to turning is lost. It is possible to set a traveling route with less running efficiency.

It is a top view which shows the schematic appearance composition of the field work vehicle which mounts the traveling route setting device by this embodiment. It is a block diagram which shows the structural example of various electronic control devices mounted on the field work vehicle. It is a block diagram which shows the functional structure example of the traveling route setting apparatus by this Embodiment. It is a figure for demonstrating the provisional traveling route setting operation by the traveling route setting apparatus of this embodiment. It is a figure which shows an example of the 1st process which deforms a short circuit and a straight path connected to this short circuit. It is a figure which shows an example of the 1st process which deforms a short circuit and a straight path connected to this short circuit. It is a figure which shows an example of the 1st process which deforms a short circuit and a straight path connected to this short circuit. It is a figure which shows an example of the 2nd process which deforms a short circuit and a straight path connected to this short circuit. It is a figure which shows an example of the 2nd process which deforms a short circuit and a straight path connected to this short circuit. It is a figure which shows an example of the 2nd process which deforms a short circuit and a straight path connected to this short circuit. It is a figure for demonstrating an example of processing of a path deformation part. It is a flowchart which shows the operation example of the traveling route setting apparatus by this Embodiment. It is a figure for demonstrating that the short circuit is determined based on the length of a work process.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a plan view showing a schematic external configuration of a field work vehicle 100 on which a travel route setting device for a field work vehicle according to the present embodiment (hereinafter, simply referred to as a travel route setting device) is mounted. As shown in FIG. 1, the field work vehicle 100 is configured by connecting the work machine 2 to the rear of the vehicle body 1.

The field work vehicle 100 is an agricultural vehicle that travels by obtaining power from a power source provided in the vehicle body 1 and performs a given work by a work machine 2 provided behind the vehicle body 1. The power source is composed of, for example, an electric motor, an internal combustion engine, or the like. The given work is a so-called farm work, and may be any farm work that can be performed by the work machine 2 connected to the vehicle body 1, such as tilling, ridges, and sowing. The working machine 2 may be provided in front of the vehicle body 1.

FIG. 2 is a block diagram showing a configuration example of various electronic control devices mounted on the field work vehicle 100. As shown in FIG. 2, the field work vehicle 100 is equipped with a position / orientation detection device 110, a travel control device 120, and a work machine control device 130. Further, the field work vehicle 100 is provided with a route data storage unit 140. Further, the traveling route setting device 10 of the present embodiment is provided outside the field work vehicle 100.

The travel route setting device 10 is for setting a travel route that is a target route when the field work vehicle 100 automatically travels in the field. The specific configuration and operation of the traveling route setting device 10 will be described later. The travel route data (hereinafter referred to as route data) set by the travel route setting device 10 also includes data indicating at which location on the route the work machine 2 is operated and at which location the work machine 2 is stopped. include. This data is, for example, stopping the work machine 2 at a place where a U-turn is made on a reciprocating route.

The route data set by the travel route setting device 10 is stored in the route data storage unit 140. For example, the route data is transmitted from the traveling route setting device 10 to the field work vehicle 100 via the communication network and stored in the route data storage unit 140. The method of storing the route data in the route data storage unit 140 is not limited to the above-mentioned communication. For example, the route data may be transferred to the route data storage unit 140 via the removable storage medium in which the route data is stored and stored.

The position / direction detection device 110 detects the current position and direction of the field work vehicle 100, and can use known techniques such as a GPS receiver and an autonomous navigation sensor. The travel control device 120 controls travel along a travel route set by the travel route setting device 10 based on the current position and orientation of the field work vehicle 100 detected by the position / orientation detection device 110. The work machine control device 130 controls the operation (operation and stop) of the work machine 2.

The field work vehicle 100 configured as described above can perform a given work on the work machine 2 while traveling in the field according to a manual operation performed by an operator on the vehicle body 1 (). Manual driving mode). In this case, the travel control device 120 and the work machine control device 130 control the travel of the field work vehicle 100 and the operation of the work machine 2 according to the manual operation of the field work vehicle 100 by the operator.

Further, the field work vehicle 100 can perform a given work on the work machine 2 while traveling in the field according to an instruction from a remote controller (hereinafter, referred to as a remote controller) 200 operated by the worker (hereinafter, referred to as a remote controller). Remote control driving mode). In this case, the travel control device 120 and the work equipment control device 130 control the travel of the field work vehicle 100 and the operation of the work equipment 2 in response to an instruction from the remote controller 200 operated by the operator.

Further, the field work vehicle 100 works while automatically traveling along a travel route preset in the field by the travel route setting device 10 based on the current position and orientation detected by the position / orientation detection device 110. It is also possible to perform a given operation on the machine 2 (automatic driving mode). In this case, the travel control device 120 and the work machine control device 130 control the travel of the field work vehicle 100 and the operation of the work machine 2 based on the route data stored in the route data storage unit 140.

FIG. 3 is a block diagram showing a functional configuration example of the traveling route setting device 10 according to the present embodiment. As shown in FIG. 3, the travel route setting device 10 of the present embodiment includes a temporary travel route setting unit 11 and a travel route deformation unit 12 as functional configurations. The temporary travel route setting unit 11 includes a circuit travel route setting unit 11A and a reciprocating travel route setting unit 11B as more specific functional configurations. Further, the traveling route deforming unit 12 includes a short-circuit existence / non-existence determining unit 12A and a route deforming unit 12B as more specific functional configurations. Further, the traveling route setting device 10 includes a route storage unit 15 as a storage medium. In the following, the setting of the traveling route of the field work vehicle 100 will be described, and the description of the operation control setting of the work machine 2 will be omitted.

The temporary travel route setting unit 11 and the travel route deformation unit 12 can be configured by any of hardware, DSP (Digital Signal Processor), and software. For example, when configured by software, the temporary travel route setting unit 11 and the travel route deformation unit 12 are actually configured to include a computer CPU, RAM, ROM, etc., and record RAM, ROM, hard disk, semiconductor memory, or the like. It is realized by operating the travel route setting program stored in the medium.

4 to 6 are diagrams for explaining the route setting operation by the traveling route setting device 10 of the present embodiment. FIGS. 4 to 6 show an example in which the traveling route of the field work vehicle 100 is set for a field having a shape in which a large number of non-linear regions are present as compared with a rectangular field. Hereinafter, the functions and operations of the temporary travel route setting unit 11 and the travel route deformation unit 12 will be described with reference to FIGS. 4 to 6.

The temporary travel route setting unit 11 sets a temporary travel route that travels in the field along the shape of the field by connecting a plurality of straight routes, and data of the set temporary travel route (hereinafter referred to as temporary route data). ) Is stored in the route storage unit 15. Here, it is assumed that the shape information of the field is preset in the traveling route setting device 10. FIG. 4 is a diagram for explaining the operation of the temporary travel route setting unit 11.

As shown in FIG. 4, the temporary travel route set by the travel route setting device 10 includes an orbital travel route for the field work vehicle 100 to orbit one or more laps along the outer peripheral region OCA of the field FD, and the field work vehicle. 100 is a connection with a reciprocating travel path for reciprocating over a plurality of strokes in the central region RTA inside the outer peripheral region OCA. In FIG. 4 and FIGS. 5 and 6 described below, the orbital travel route is indicated by a solid line and the reciprocating travel route is indicated by a dotted line so as to be visually distinguishable and easy to recognize. Here, in the case of a lap traveling route, one lap traveling is defined as one stroke, and in the case of a round-trip traveling route, one-way straight traveling is defined as one stroke. Both the orbital travel route and the reciprocating travel route are formed by connecting a plurality of straight routes. One straight route is a route from one turning point or turning point to the next turning point or turning point.

The orbital travel route setting unit 11A has a width of one stroke (hereinafter referred to as a stroke width) at each end point of the orbital stroke (that is, after each orbital run is completed) in the outer peripheral region OCA along the outer shape of the field FD. While offsetting the position by the amount of The reciprocating travel route setting unit 11B is linear in the central region RTA inside the outer peripheral region OCR while offsetting the position by the stroke width at each end point of the straight travel (that is, each time the one-way straight travel is completed). Set a round-trip travel route for round-trip travel.

Here, both the stroke width of the orbital travel route set in the outer peripheral region OCA and the stroke width of the reciprocating travel route set in the central region RTA are the widths on which the work machine 2 acts (work width: what is the work width? For example, in the case of tillage work, it means the width at which the soil is actually cultivated, and in the case of fertilizer application work, it means the width at which fertilizer is sprayed). It is assumed that the width information of the work machine 2 is preset in the traveling route setting device 10 or can be input by the user.

For example, as shown in FIG. 4, the traveling route setting device 10 sets a predetermined position of the field FD as the start position S of the automatic traveling, and sets the predetermined position (the position may be the same as or close to the start position, or may be separated from the start position. The end position G of the automatic running is set as the end position G of the automatic running. And set a temporary travel route to proceed to the end position G. Alternatively, a temporary travel route is set such that after traveling around the outer peripheral region OCA from the start position for one or more strokes along the outer shape of the field FD, the tentative travel route is reciprocated over a plurality of strokes in the central region RTA to advance to the end position. You may do so.

The travel path deformation unit 12 transforms the temporary travel route set by the temporary travel route setting unit 11. Here, whether or not the temporary travel route is in a predetermined state is determined by the short-circuit existence / non-existence determination unit 12A, and when the temporary travel route is in a predetermined state, the temporary travel route is deformed by the route deformation unit 12B. When the temporary travel route is deformed by the travel route deformation unit 12, the travel route data stored in the route storage unit 15 after the deformation is stored in the route data storage unit 140 of the field work vehicle 100. It becomes data. When the temporary travel route is not deformed by the travel route deformation unit 12, the temporary route data set by the temporary travel route setting unit 11 is stored as it is in the route data storage unit 140 of the field work vehicle 100. It becomes.

The short-circuit existence / non-existence determination unit 12A determines whether or not a straight route (hereinafter referred to as a short-circuit) shorter than a predetermined length is included in the lap stroke of one lap for the lap travel route set by the lap travel route setting unit 11A. do. When the short-circuit existence / non-existence determination unit 12A determines that the short-circuit is included, the route deformation unit 12B omits the short-circuit and deforms at least one of the two straight paths connected to both ends of the short-circuit. Performs a process of connecting two straight paths.

As described above, each of the plurality of straight routes constituting the orbital traveling route is a route from one turning point or turning point to the next turning point or turning point. Therefore, in the circuit traveling route set by connecting a plurality of straight routes along the outer shape of the field by the temporary traveling route setting unit 11, where a short circuit exists, turning is performed at both ends of the short circuit. There is a possibility of being struck. If such a short road exists, the turn is performed a plurality of times within a relatively short distance, and the number of turns increases, which is not preferable in terms of running efficiency. If the purpose is to set a circuit route that reduces the number of turns at as many points as possible, it is necessary not to make the value of the predetermined length used as a threshold value too small when determining whether or not the road is a short circuit. be.

On the other hand, when the short-circuit presence / absence determination unit 12A determines that the short-circuit is a short-circuit, the short-circuit is omitted by the path deformation unit 12B, and at least one of the two straight paths connected to the short-circuit is deformed, so that the short-circuit exists. Due to the deformation, the traveling route of the place where the circuit was made is no longer a route that follows the outer shape of the field. In this case, if the degree of deformation of the orbital travel path in a certain orbital stroke increases, the overlap with the orbital travel path set on the outside thereof increases, which is also not preferable. If the purpose is to set a circuit traveling route of a plurality of strokes so as not to cause duplication of traveling as much as possible, it is necessary not to make the value of the predetermined length too large.

Therefore, the predetermined length used as the threshold value when the short-circuit existence / non-existence determination unit 12A determines whether or not the short-circuit is a short-circuit is not determined by the point that the number of turns is reduced by the deformation of the circuit traveling path to improve the traveling efficiency and the deformation of the circuit traveling path. It is set to an appropriate value in consideration of both the point that the work area is not generated. For example, the total length of the field work vehicle 100, the stroke width, the front overhang (distance from the center of the front wheel axle to the front end of the vehicle body 1), the rear overhang (distance from the center of the rear wheel axle to the rear end of the work machine 2), the short road and its connection. It is possible to set a value of a predetermined length in advance by performing a simulation using the angle with the straight path to be performed as a parameter.

In the example of FIG. 4, a lap traveling route for performing three laps orbiting along the outer shape of the field is set by the temporary traveling route setting unit 11, and at two locations on the innermost orbiting route, a short-circuit existence / non-existence determination unit is used. An example in which the short-circuit PT10 and PT20 are determined to be present by 12A is shown. Hereinafter, the process of deforming the short-circuit paths PT10 and PT20 and the straight path connected to the short-circuit paths PT10 and PT20 by the path deforming unit 12B will be sequentially described with reference to FIGS. 5 and 6.

5A to 5C are diagrams showing an example of a process of deforming the short circuit PT10 and the linear path connected to the short circuit PT10. Hereinafter, for convenience of explanation, this is referred to as a first process. FIG. 5A is an enlarged view of the vicinity of the short-circuit PT10 in the temporary travel route set by the temporary travel route setting unit 11. 5B and 5C show the execution process of the deformation process of the orbital traveling path by the path deformation unit 12B.

First, as shown in FIG. 5B, the path deformation unit 12B omits (deletes) the short circuit PT10. Next, as shown in FIG. 5C, the path deforming portion 12B extends the two linear paths PT11 and PT12 connected to both ends of the omitted short-circuit PT10, respectively, thereby extending the two linear paths PT11 and PT12, respectively. The two linear paths PT11 and PT12 are connected in the deformed state. As a result, a total of two turns were required, one when moving from the straight path PT11 to the short path PT10 and another when moving from the short path PT10 to the straight path PT12 (FIG. 5A). Is transformed into a circular traveling path (FIG. 5C) that can be transferred from the straight path PT11 to the straight path PT12 in one turn.

6A to 6C are diagrams showing an example of a process of deforming the short circuit PT20 and the linear path connected to the short circuit PT20. Hereinafter, for convenience of explanation, this is referred to as a second process. FIG. 6A is an enlarged view of the vicinity of the short-circuit PT20 in the temporary travel route set by the temporary travel route setting unit 11. 6B and 6C show the execution process of the orbital traveling path deformation process by the path deformation unit 12B.

First, as shown in FIG. 6B, the path deformation unit 12B omits (deletes) the short circuit PT20. Next, as shown in FIG. 6C, the path deforming portion 12B was connected to one end point ND22 of the two linear paths PT21 and PT22 connected to both ends ND21 and ND22 of the omitted short-circuit PT201. By tilting and expanding and contracting the one linear path PT22, the two linear paths PT21 and PT22 are connected in a deformed state of the one linear path PT22. Here, tilting the straight path PT22 means rotating the straight path PT22 with the end point ND23 on the opposite side of the short path PT20 as a fulcrum. Further, the expansion and contraction of the straight path PT22 means that the end point on the opposite side of the tilted straight path PT22 from the fulcrum ND23 (the end point ND22 connected to the short path PT20) is connected to the end point ND21 of another straight path PT21. It means stretching or contracting so as to do.

By performing such a process, a total of two turns were required before the deformation, once when moving from the straight path PT21 to the short path PT20 and once when moving from the short path PT20 to the straight path PT22. The traveling path (FIG. 6A) is transformed into a circular traveling path (FIG. 6C) that can be moved from the straight path PT21 to the straight path PT22 in one turn.

There is also a method of connecting the two linear paths PT21 and PT22 by tilting and expanding / contracting the linear path PT21. However, in this way, the tilted straight path PT21 moves in a direction deviating from the straight path PT31 of the orbital traveling path on the outer side thereof, so that an unworked area may occur. On the other hand, when the straight path PT22 is tilted and expanded / contracted, the tilted straight path PT21 moves in a direction approaching the straight path PT32 of the orbital traveling path on the outer side thereof, so that an unworked area is unlikely to occur. Therefore, of the two linear paths PT21 and PT22 connected to both ends ND21 and ND22 of the omitted short-circuit PT20, the linear path PT22 that approaches the outer orbital traveling path when tilted is tilted and expanded / contracted. preferable.

The above second process can be simplified as follows. That is, the path deforming portion 12B first omits (deletes) the short-circuit PT20 as shown in FIG. 6B. Next, the path deforming unit 12B connects one linear path PT22 connected to one end point ND22 of the short path PT20 to the end point ND23 on the opposite side of the short path PT20 and the other end point ND21 of the short path PT20 (another end point ND21). The two linear paths PT21 and 22 are connected in a deformed state by replacing the one linear path PT22 with a linear path that short-circuits the end point of the linear path PT21.

When the short-circuit existence / non-existence determination unit 12A determines that the short-circuit is included, the route deformation unit 12B executes either the first process or the second process. Here, a predetermined determination criterion is set as to which process is to be executed, and one of the processes is executed according to the determination criterion. For example, when two straight paths connected to both ends of a short circuit are extended, it is determined whether or not they can be connected at an intersection, and if they can be connected at an intersection, the first process is performed, and if they cannot be connected, the second process is performed. It is possible to set a judgment standard such as.

Even if the two straight paths can be connected at an intersection when they are extended, if the intersection is outside the field, neither the first treatment nor the second treatment is executed. This is because when the first process is executed, the travel path becomes practically impossible to travel, and when the second process is executed, an unworked area may be generated. Alternatively, even if two straight paths are extended and can be connected at an intersection, neither the first process nor the second process is executed when the intersection is outside the orbiting path one outside. It may be. When the second process is executed, an unworked area may be generated, and when the first process is executed, an overlapping traveling area is generated, and in that area, the operation of the work machine 2 is stopped during either running. This is because treatment may be required.

When the lap traveling route having two or more laps is set by the lap traveling route setting unit 11A, the short-circuit existence / non-existence determination unit 12A laps one lap in the order from the outermost lap stroke to the inner lap stroke. Whether or not a short circuit is included in the process is determined for each lap process. Then, the route deforming unit 12B executes either the first process or the second process according to the above-mentioned determination criteria for each of the circuit strokes determined to include the short circuit (the first process depending on how the intersections are connected). And neither of the second processing may be executed).

The short-circuit existence / non-existence determination unit 12A and the route deformation unit 12B may be processed as follows. That is, when the lap traveling route setting unit 11A sets the lap traveling route having two or more laps, the short-circuit existence / non-existence determination unit 12A makes one lap in the order from the outermost lap stroke to the inner lap stroke. Whether or not a short circuit is included in the lap process is sequentially determined for each lap process. Then, when a short circuit is found in a certain lap stroke, the determination process is stopped, and the determination process is omitted for the lap stroke inside the short circuit.

The route deformation unit 12B executes either the first process or the second process according to the above-mentioned determination criteria for the orbital process in which the short circuit is first found (depending on how the intersections are connected, the first process and the second process). Neither may be executed). Further, for the lap stroke inside the lap stroke in which the short circuit is first found, the lap travel route is set so as to circulate along the deformed shape of the lap stroke. FIG. 7 is a diagram showing an example of processing in this case. In FIG. 7, a lap traveling route for performing four laps orbiting along the outer shape of the field is set by the provisional traveling route setting unit 11, and if the short circuit PT10 exists in the third orbital process from the outermost circumference, the presence or absence of the short circuit exists. An example determined by the determination unit 12A is shown.

In this case, the route deformation unit 12B executes the first process as shown in FIGS. 5A to 5C for the third circuit stroke from the outermost circumference where the short circuit PT10 is found by the short circuit existence / non-existence determination unit 12A. Further, the short-circuit existence / non-existence determination unit 12A does not perform the determination process for the fourth circuit stroke inside the third circuit stroke. Further, the path deforming unit 12B sets a lap traveling path formed so as to circulate along the shape of the deformed third lap stroke for the fourth lap stroke. For example, a lap traveling route is set so as to lap in parallel with the third lap stroke with a stroke width.

In the fourth orbital stroke inside the third orbital stroke in which the short-circuit PT10 was discovered, it is clear that the linear path of the portion facing the short-circuit PT10 is always shorter than the predetermined length. By omitting the determination process and simplifying the process of the route deforming unit 12B, it is possible to execute the process of the traveling route deforming unit 12 more simply.

As described above, when the circuit traveling path including the short circuit is deformed, the shape of the outer peripheral region OCA is deformed. In this case, the shape of the central region RTA is also deformed as the outer peripheral region OCA is deformed. The route deformation unit 12B further reciprocates the reciprocating travel path set by the temporary travel route setting unit 11 with respect to the deformed central region RTA along the shape of the deformed central region RTA. Transforms into a path that has been created.

FIG. 8 is a flowchart showing an operation example of the traveling route setting device 10 according to the present embodiment configured as described above. The flowchart shown in FIG. 8 starts when the setting of the traveling route is instructed by the operation of the traveling route setting device 10 by the user.

First, the temporary travel route setting unit 11 sets a temporary travel route that travels in the field along the shape of the field FD by connecting a plurality of straight routes (step S1). At this time, the temporary travel route setting unit 11 sets the orbital travel route for one or more laps in the outer peripheral region OCA by the lap travel route setting unit 11A, and the reciprocating travel route setting unit 11B sets the reciprocating travel of a plurality of strokes in the central region RTA. Set the route.

Next, the short-circuit existence / non-existence determination unit 12A designates one lap stroke in the order from the outermost lap stroke to the inner lap stroke (step S2), and the short-circuit is included in the lap travel route of the lap stroke. (Step S3). Here, if it is determined that the short circuit is not included, the process proceeds to step S8. On the other hand, when it is determined that the short circuit is included, the path deformation unit 12B determines whether or not the two straight paths connected to both ends of the short circuit can be connected at an intersection when the two straight paths are extended (step S4).

Here, when it is determined that the intersection can be connected, the path deforming portion 12B further determines whether or not the intersection is a place in the field (step S5). Then, when it is determined that the intersection is in the field, the route deformation unit 12B executes the first process for the orbital traveling path of the orbital stroke (step S6). After that, the process proceeds to step S8. On the other hand, if it is determined that the intersection is outside the field, the process proceeds to step S8.

In step S4, when it is determined that the two straight paths connected to both ends of the short circuit cannot be connected at the intersection when the two straight paths are extended, the path deforming portion 12B is the second with respect to the orbital traveling path of the orbital stroke. The process is executed (step S7). After that, the process proceeds to step S8. In step S8, the travel route setting device 10 determines whether or not the above processing has been executed for all the orbital travel routes of the orbital stroke of one or more laps set by the orbital travel route setting unit 11A.

Here, if there is an unprocessed lap stroke, the short-circuit existence / non-existence determination unit 12A specifies one inner lap stroke (step S9), and then returns to step S3 to execute the same processing as described above. Then, when the unprocessed orbital stroke disappears, the temporary travel path setting unit 11 sets the central region RTA deformed by the outer peripheral region OCA deformed by the processing by the travel path deformation unit 12 as described above. The reciprocating travel path is transformed into a path formed so as to reciprocate along the shape of the deformed central region RTA (step S10). As a result, the processing of the flowchart shown in FIG. 8 is completed.

As described in detail above, in the present embodiment, when a temporary traveling route for traveling in the field is set along the shape of the field by connecting a plurality of straight paths, an outer peripheral region along the outer shape of the field is set. In the OCA, a lap travel route for traveling one or more laps is set, and in the central region RTA inside the outer peripheral region OCA, a reciprocating travel route for linear reciprocating travel is set. In the present embodiment, it is further determined whether or not a straight route (short route) shorter than a predetermined length is included in the lap stroke of the set temporary travel route, and when it is determined that the short route is included. , The short circuit is omitted, and at least one of the two linear paths connected to both ends of the short circuit is deformed so that the two straight paths are connected.

According to the present embodiment configured in this way, the short circuit included in the orbital travel path is omitted, and the two straight paths connected to both ends of the short circuit are newly connected to set the orbital travel path. Therefore, it is possible to set a traveling route with a reduced number of turns. As a result, according to the present embodiment, when setting a traveling route for a field having a shape having many non-linear regions as compared with a rectangular field formed with only four non-linear regions, the time required for turning It is possible to set a traveling route with little loss and good traveling efficiency.

In the above embodiment, an example of determining whether or not a linear path shorter than a predetermined length is included in one round of the circuit has been described, but the present invention is not limited to this. For example, it may be determined whether or not a linear path whose work process length that can be actually worked by the work machine 2 is shorter than a predetermined length is included. FIG. 9 is a diagram for explaining that the short circuit is determined based on the length of the work process. FIG. 9A shows the rear overhang (distance from the center of the rear wheel axle to the rear end of the work machine 2) of the field work vehicle 100. FIG. 9B shows a work process WT10 that is subsequently set in consideration of an overhang.

Since the field work vehicle 100 has a rear overhang area, there may be an unworked area in which the work machine 2 cannot work when turning. In order to reduce this unworked area, immediately after turning, the work machine 2 is stopped and the work machine 2 is moved backward, and then the work machine 2 is operated to move forward and work is performed. In the case of the example of FIG. 9B, after turning backward immediately after turning from the straight path PT11 to the short path PT10, while working with the work machine 2 until just before starting the turn toward the next straight path PT12. Drive forward. Immediately before turning from the short circuit PT10 to the straight path PT12, an unworked area is generated by the length of the rear overhang. The work process WT10 in this case is shown in FIG. 9 (b). The short-circuit existence / non-existence determination unit 12A may determine whether or not the length of the work process WT10 is shorter than the predetermined length.

Further, in the above embodiment, a configuration is shown in which a travel route setting device 10 is provided separately from the field work vehicle 100, and the route data set by the travel route setting device 10 is stored in the route data storage unit 140 of the field work vehicle 100. However, the present invention is not limited to this. For example, the traveling route setting device 10 may be provided in the field work vehicle 100.

Further, in the above embodiment, an example in which the shape information of the field is preset in the traveling route setting device 10 has been described, but the present invention is not limited to this. For example, in the case where the field work vehicle 100 is provided with the travel route setting device 10, the field work vehicle 100 may acquire the shape information of the field by teaching traveling around the outer periphery of the field.

When obtaining the shape information of the field by the teaching run, the worker first manually drives the field work vehicle 100 to orbit the outer circumference of the field, and at that time, the own vehicle acquired by the position / orientation detection device 110. The shape and position of the field are recognized from the position information. Then, the data indicating the shape and position of the field recognized by this teaching run is stored in the route storage unit 15. The travel route setting device 10 sets a travel route, which is a target route when the field work vehicle 100 automatically travels, with the inside of the teaching traveled area as a target region for automatic travel.

In addition, the above embodiments are merely examples of embodiment of the present invention, and the technical scope of the present invention should not be construed in a limited manner. That is, the present invention can be implemented in various forms without departing from its gist or its main features.

10 Travel route setting device 11 Temporary travel route setting unit 11A Circular travel route setting unit 11B Round-trip travel route setting unit 12 Travel route deformation unit 12A Short-circuit presence / absence determination unit 12B Route deformation unit 15 Route storage unit

Claims (9)

It is a traveling route setting device that sets the traveling route of a field work vehicle so that a given work can be performed while automatically traveling along a traveling route set in the field.
By connecting a plurality of straight routes, a temporary travel route setting unit that sets a temporary travel route that travels in the field along the shape of the field, and a temporary travel route setting unit.
It is provided with a travel path deformation unit that deforms the temporary travel route set by the temporary travel route setting unit.
The above temporary travel route setting unit
In the outer peripheral region along the outer shape of the field, the orbital travel route setting unit for setting the orbital travel route for traveling one or more laps along the outer shape of the field, and
In the central region inside the outer peripheral region, a reciprocating travel route setting unit for setting a reciprocating travel route for linear reciprocating travel is provided.
The above-mentioned traveling path deformation part is
With respect to the orbital travel route set by the orbital travel route setting unit, a short-circuit existence or non-existence determination unit for determining whether or not a straight route shorter than a predetermined length is included in the orbital stroke of one lap is provided.
When it is determined by the short-circuit existence / non-existence determination unit that the short straight path is included, the short straight path is omitted and at least one of the two straight paths connected to both ends of the short straight path is deformed. A traveling route setting device including a route deforming portion for connecting the above two straight routes. The path deforming portion omits the short linear path and extends the two linear paths connected to both ends of the short linear path, respectively, so that the two linear paths are deformed and the two straight paths are deformed. The traveling route setting device according to claim 1, wherein a straight route is connected. The path deformation portion omits the short straight path, and of the two straight paths connected to both ends of the short straight path, one straight path connected to one end point of the short straight path is used. The traveling route setting device according to claim 1, wherein the two linear paths are connected in a deformed state by tilting and expanding and contracting. The path deformation portion omits the short straight path, and of the two straight paths connected to both ends of the short straight path, one straight path connected to one end point of the short straight path is used. , The one straight line is replaced with a straight path that short-circuits between the end point on the opposite side of the short straight path and the end point of the one straight path connected to the other end point of the short straight path. The traveling route setting device according to claim 1, wherein the two straight routes are connected in a deformed state. When a lap travel route having two or more laps is set by the lap travel route setting unit,
The short-circuit existence / non-existence determination unit determines for each lap stroke whether or not the short straight path is included in the lap stroke according to the order from the outermost lap stroke to the inner lap stroke.
The path deforming portion omits the short linear path for each of the orbital strokes determined to include the short linear path, and at least one of the two linear paths connected to both ends of the short linear path is used. The traveling route setting device according to any one of claims 1 to 4, wherein the process of deforming is executed. When a lap travel route having two or more laps is set by the lap travel route setting unit,
The short-circuit existence / non-existence determination unit sequentially determines whether or not the short straight path is included in one lap in the order from the outermost lap stroke to the inner lap stroke for each lap stroke.
The path deforming portion omits the short linear path for the orbital stroke initially determined to include the short linear path, and selects at least one of the two linear paths connected to both ends of the short linear path. Claims 1 to 4 include executing a process of deforming, and setting a lap traveling path formed so as to lap along the shape of the deformed lap stroke for the lap stroke inside the deformed stroke. The traveling route setting device according to any one of the above items. The short-circuit existence / non-existence determination unit determines whether or not a straight path shorter than a predetermined length is included in the one-lap circuit, but instead, the work process length is included in the one-lap circuit. The traveling route setting device according to any one of claims 1 to 6, wherein it is determined whether or not a straight route shorter than a predetermined length is included. It is a traveling route setting method for setting the traveling route of a field work vehicle so that a given work can be performed while automatically traveling along a traveling route set in the field.
A first step in which the temporary travel route setting unit of the computer sets a temporary travel route to travel in the field along the shape of the field by connecting a plurality of straight routes.
The traveling route deforming unit of the computer has a second step of transforming the temporary traveling route set by the temporary traveling route setting unit.
The first step above is
In the outer peripheral region along the outer shape of the field, the orbital travel route setting step for setting the orbital travel route for traveling one or more laps along the shape of the field, and
In the central region inside the outer peripheral region, it has a reciprocating travel route setting step for setting a reciprocating travel route for linear reciprocating travel.
The second step above is
With respect to the orbital travel route set in the orbital travel route setting step, a short-circuit existence or non-existence determination step for determining whether or not a straight route shorter than a predetermined length is included in the orbital stroke of one lap is provided.
When it is determined in the short-circuit existence / non-existence determination step that the short straight path is included, the short straight path is omitted and at least one of the two straight paths connected to both ends of the short straight path is deformed. A method for setting a travel route of a field work vehicle, which comprises a route deformation step for connecting the two straight routes according to the above. By connecting a plurality of straight routes to the traveling route of the field work vehicle capable of performing a given work while automatically traveling along the traveling route set in the field, the inside of the field It is a travel route setting program for setting a travel route to travel on.
A temporary travel route setting means for setting a temporary travel route to travel in the field along the shape of the field by connecting a plurality of straight routes, and a temporary travel route set by the temporary travel route setting means. To make the computer function as a means of transforming the travel path
The above temporary travel route setting means
In the outer peripheral region along the outer shape of the field, the orbital travel route setting means for setting the orbital travel route for traveling one or more laps along the outer shape of the field, and in the central region inside the outer peripheral region, a straight line. It has a reciprocating travel route setting means for setting a reciprocating travel route for reciprocating travel.
The above-mentioned orbital travel route setting means
With respect to the orbital travel route set by the orbital travel route setting means, a short-circuit existence or non-existence determination means for determining whether or not a straight route shorter than a predetermined length is included in the orbital stroke of one lap, and a short-circuit existence or non-existence determination means. When it is determined that the short straight path is included, the short straight path is omitted and at least one of the two straight paths connected to both ends of the short straight path is deformed to deform the two straight paths. A program for setting a travel route of a field work vehicle, which comprises a route deforming means for connecting routes.

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