JP2022081791A - Travel route generation system, travel route generation method, and travel route generation program - Google Patents

Abstract

To provide a travel route generation system, a travel route generation method, and a travel route generation program that are able to generate a travel route in which an area where a work is left undone by a work machine is made less likely to occur, for a work vehicle that tows the work machine while offsetting the work machine to one of the right and left sides.SOLUTION: A control unit 21 acquires setting information including information on a traveling area, information on a work vehicle 4, and information on a work by the work vehicle 4. Based on the acquired setting information, the control unit 21 generates a first traveling route R0 composed of: a straight route Rs; a first turning route Rc1 turned at a first turning angle d1 in a first turning direction and continuing to the straight route Rs; and a turning route Rc2 turning at a second turning angle d2 in a second turning direction opposite to the first turning direction and continuing to the first turning route Rc1.SELECTED DRAWING: Figure 8

Description

The present invention relates to a travel route generation system for generating an autonomous travel route of a work vehicle, a travel route generation method, and a travel route generation program.

Conventionally, there is known a system capable of autonomously driving a work vehicle according to a preset autonomous travel route. For example, Patent Document 1 discloses an automatic steering system including a positioning unit and having an automatic steering function for automatically steering along a set target travel path and an artificial steering function for artificially steering.

Japanese Unexamined Patent Publication No. 2016-24541

By the way, it is possible to make the work machine perform a predetermined work by attaching the work machine to the work vehicle at an offset to the left or right side with respect to the work vehicle and traveling while towing the work machine. There is a work vehicle. For example, the tractor performs mowing work by traveling in the field while towing a trailer offset to one of the left and right sides.

In the configuration in which the work machine is towed by offsetting to the left or right side with respect to the work vehicle, there is a possibility that an unworked area (uncut portion) is generated between the current work process and the previous work process in the turning path. For example, when the work vehicle travels in a spiral shape from the outer circumference to the inner circumference in the field, the boundary between the current work process and the previous work process does not match in the turning path that turns at 90 degrees, and the work is not performed. Areas can arise.

An object of the present invention is a travel route generation system and a travel route generation method capable of generating a travel route in which an unworked area by the work machine is unlikely to occur in a work vehicle that is towed by offsetting the work machine to the left or right side. , And to provide a travel route generation program.

The travel route generation system according to the present invention is a system that generates a travel route for autonomously traveling a work vehicle that is towed by offsetting the work machine to the right or left in a predetermined travel area. The travel route generation system includes an acquisition processing unit and a generation processing unit. The acquisition processing unit acquires setting information including information on the traveling area, information on the work vehicle, and information on work by the work vehicle. Based on the setting information acquired by the acquisition processing unit, the generation processing unit includes a straight path, a first turning path following the straight path that turns at the first turning angle in the first turning direction, and the said. A first traveling path composed of a second turning path following the first turning path, which turns at a second turning angle in a second turning direction opposite to the first turning direction, is generated.

In the traveling route generation method according to the present invention, one or a plurality of processors autonomously generate a traveling route for a work vehicle to be towed by offsetting the work machine to the right or left in a predetermined traveling area. The method. The one or more processors execute the acquisition step and the generation step. The acquisition step acquires setting information including information about the traveling area, information about the work vehicle, and information about work by the work vehicle. The generation step includes a straight path, a first turning path following the straight path that turns at the first turning angle in the first turning direction, and the first turning path based on the setting information acquired by the acquisition step. A first traveling path composed of a second turning path following the first turning path, which turns at a second turning angle in a second turning direction opposite to the turning direction, is generated.

The travel route generation program according to the present invention is a program for generating a travel route for autonomously traveling a work vehicle that is towed by offsetting the work machine to the right or left in a predetermined travel area. The travel route generation program includes an acquisition step and a generation step. The acquisition step acquires setting information including information about the traveling area, information about the work vehicle, and information about work by the work vehicle. The generation step includes a straight path, a first turning path following the straight path that turns at the first turning angle in the first turning direction, and the first turning path based on the setting information acquired by the acquisition step. A first traveling path composed of a second turning path following the first turning path, which turns at a second turning angle in a second turning direction opposite to the turning direction, is generated.

According to the present invention, in a work vehicle that is towed by offsetting the work machine to one of the left and right sides, a travel route generation system and a travel route generation method capable of generating a travel route in which an unworked area by the work machine is unlikely to occur. , And a travel route generation program can be provided.

FIG. 1 is a diagram showing a configuration of a traveling route generation system according to an embodiment of the present invention. FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. FIG. 3 is a diagram showing an example of a traveling path of a work vehicle according to an embodiment of the present invention. FIG. 4 is a diagram showing an example of an unworked area generated by a conventional work vehicle. FIG. 5 is a diagram showing the positional relationship between the work vehicle and the work machine according to the embodiment of the present invention. FIG. 6A is a diagram showing the positional relationship between the work vehicle and the work machine when the work vehicle according to the embodiment of the present invention turns. FIG. 6B is a diagram showing the positional relationship between the work vehicle and the work machine when the work vehicle according to the embodiment of the present invention turns. FIG. 6C is a diagram showing the positional relationship between the work vehicle and the work machine when the work vehicle according to the embodiment of the present invention turns. FIG. 7A is a diagram showing a turning path of a work vehicle according to an embodiment of the present invention. FIG. 7B is a diagram showing a traveling route of a work vehicle according to an embodiment of the present invention. FIG. 8 is a diagram showing details of a turning path of a work vehicle according to an embodiment of the present invention. FIG. 9 is a diagram showing a traveling locus of wheels of a working machine according to an embodiment of the present invention. FIG. 10 is a flowchart showing an example of a procedure of a travel route generation process executed by the travel route generation system according to the embodiment of the present invention. FIG. 11A is a diagram showing a traveling locus of a trailer wheel corresponding to a turning radius of a tractor according to an embodiment of the present invention. FIG. 11B is a diagram showing a traveling locus of a trailer wheel corresponding to a turning radius of a tractor according to an embodiment of the present invention. FIG. 11C is a diagram showing a traveling locus of a trailer wheel corresponding to a turning radius of a tractor according to an embodiment of the present invention. FIG. 11D is a diagram showing a traveling locus of a trailer wheel corresponding to a turning radius of a tractor according to an embodiment of the present invention. FIG. 11E is a diagram showing a traveling locus of a trailer wheel corresponding to a turning radius of a tractor according to an embodiment of the present invention. FIG. 11F is a diagram showing a traveling locus of the wheels of the trailer corresponding to the turning radius of the tractor according to the embodiment of the present invention. FIG. 11G is a diagram showing a traveling locus of a trailer wheel corresponding to a turning radius of a tractor according to an embodiment of the present invention. FIG. 11H is a diagram showing a traveling locus of a trailer wheel corresponding to a turning radius of a tractor according to an embodiment of the present invention. FIG. 11I is a diagram showing a traveling locus of a trailer wheel corresponding to a turning radius of a tractor according to an embodiment of the present invention.

The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

As shown in FIG. 1, the travel route generation system 1 according to the embodiment of the present invention includes an operation terminal 2 and a work vehicle 4. The operation terminal 2 and the work vehicle 4 can communicate with each other via the communication network N1. For example, the operation terminal 2 and the work vehicle 4 can communicate via a mobile phone line network, a packet line network, or a wireless LAN (Internet).

In the present embodiment, the case where the work vehicle 4 is a tractor will be described as an example. Further, the work vehicle 4 attaches the work machine 43 to the work vehicle 4 by shifting it to the left or right side (offset), and runs while towing the work machine 43 to perform a predetermined work on the work machine 43. It has a structure that can be made. The travel route generation system 1 is a system that generates a travel route for autonomously traveling a work vehicle 4 that is towed by offsetting the work machine 43 to the right or left in a predetermined travel area (field). In the present embodiment, the case where the working machine 43 is a trailer for mowing the grass in the field will be described as an example.

The work vehicle 4 is a so-called robot tractor having a configuration capable of autonomously traveling (automatic traveling) along a traveling route in a field F (see FIG. 3). For example, the work vehicle 4 can autonomously travel along a travel route generated in advance with respect to the field F based on the position information of the current position of the work vehicle 4 calculated by the positioning system (not shown). Is. Further, the work vehicle 4 travels in a spiral shape from the outer peripheral side to the inner peripheral side in the field F according to the traveling route (see FIG. 3). As shown in FIG. 3, when the work vehicle 10 travels in a predetermined area F1 on the inner peripheral side, the work machine 43 moves from the outside to the inside on two sides (vertical direction in FIG. 3) other than the headland. Perform reciprocating work toward. In this case, if the straight length of the headland exceeds the limit, mowing work cannot be performed on both sides (left and right in FIG. 3). (Traveling route R1) is repeatedly traveled. The travel route of the work vehicle 10 is not limited to the travel route shown in FIG. The field F is an example of the traveling area of the present invention.

Here, in the conventional technique, there is a possibility that an unworked area may occur between the current work process and the previous work process in the turning path of the traveling path. FIG. 4 shows a travel locus when the work vehicle 4 autonomously travels according to a travel route corresponding to the conventional system. Note that FIG. 4 shows a work vehicle 4 during work in the current work process. As shown in FIG. 4, when the work vehicle 4 travels on the outer peripheral side in the previous work process and then travels on the inner peripheral side in the current work process, the current work process and the previous work process are arranged in a turning path that turns 90 degrees. The boundaries do not match, resulting in an unworked area A1. Therefore, there arises a problem that work efficiency is lowered. On the other hand, according to the travel route generation system 1 according to the present embodiment, it is possible to generate a travel route in which the unworked area A1 by the working machine 43 is unlikely to occur. The travel route generation system 1 is an example of the travel route generation system of the present invention. Hereinafter, a specific configuration of the travel route generation system 1 will be described.

[Working vehicle 4]
As shown in FIGS. 1 and 2, the work vehicle 4 includes a vehicle control device 41, a traveling device 42, a work machine 43, a positioning device 44, and the like. The vehicle control device 41 is electrically connected to a traveling device 42, a working machine 43, a positioning device 44, and the like. The vehicle control device 41 and the positioning device 44 may be capable of wireless communication.

The vehicle control device 41 is a computer system including one or a plurality of processors and a storage memory such as a non-volatile memory and a RAM. Then, the vehicle control device 41 controls the operation of the work vehicle 4 in response to various user operations on the work vehicle 4. Further, the vehicle control device 41 executes the autonomous travel process of the work vehicle 4 based on the current position of the work vehicle 4 calculated by the positioning device 44 described later and the travel route generated in advance. The traveling route is stored in the work vehicle 4 or the operation terminal 2.

The traveling device 42 is a driving unit for traveling the work vehicle 4. As shown in FIG. 2, the traveling device 42 includes an engine 421, front wheels 422, rear wheels 423, a transmission 424, a front axle 425, a rear axle 426, a steering wheel 427, and the like. The front wheels 422 and the rear wheels 423 are provided on the left and right sides of the work vehicle 4, respectively. Further, the traveling device 42 is not limited to the wheel type having the front wheels 422 and the rear wheels 423, and may be a crawler type having crawlers provided on the left and right sides of the work vehicle 4.

The engine 421 is a drive source such as a diesel engine or a gasoline engine that is driven by using fuel supplied to a fuel tank (not shown). The traveling device 42 may include an electric motor as a drive source together with the engine 421 or in place of the engine 421. A generator (not shown) is connected to the engine 421, and electric power is supplied from the generator to electric parts such as a vehicle control device 41 provided in the work vehicle 4, a battery, and the like. The battery is charged by the electric power supplied from the generator. The electric parts such as the vehicle control device 41 and the positioning device 44 provided in the work vehicle 4 can be driven by the electric power supplied from the battery even after the engine 421 is stopped.

The driving force of the engine 421 is transmitted to the front wheels 422 via the transmission 424 and the front axle 425, and is transmitted to the rear wheels 423 via the transmission 424 and the rear axle 426. Further, the driving force of the engine 421 is also transmitted to the working machine 43 via the PTO shaft 411. When the work vehicle 4 autonomously travels, the traveling device 42 performs the traveling operation in accordance with the command of the vehicle control device 41.

The working machine 43 is, for example, a mower, a tiller, a plow, a fertilizer applicator, a sowing machine, or the like, and is removable from the working vehicle 4. As a result, the work vehicle 4 can perform various operations using each of the work machines 43. In the present embodiment, the case where the working machine 43 is a mower will be described as an example.

The work machine 43 may be supported in the work vehicle 4 so as to be able to move up and down by an elevating mechanism (not shown). The vehicle control device 41 can control the elevating mechanism to elevate and lower the working machine 43. For example, the vehicle control device 41 lowers the work machine 43 when the work vehicle 4 moves forward in the work target area of the field F, and raises the work machine 43 when the work vehicle 4 moves backward.

The handle 427 is an operation unit operated by the user (operator) or the vehicle control device 41. For example, in the traveling device 42, the angle of the front wheels 422 is changed by a hydraulic power steering mechanism (not shown) or the like in response to the operation of the steering wheel 427 by the vehicle control device 41, and the traveling direction of the work vehicle 4 is changed.

In addition to the steering wheel 427, the traveling device 42 includes a shift lever (not shown), an accelerator, a brake, and the like operated by the vehicle control device 41. Then, in the traveling device 42, the gear of the transmission 424 is switched to a forward gear, a back gear, or the like according to the operation of the shift lever by the vehicle control device 41, and the traveling mode of the work vehicle 4 is switched to forward or reverse. .. Further, the vehicle control device 41 operates the accelerator to control the rotation speed of the engine 421. Further, the vehicle control device 41 operates the brake and uses an electromagnetic brake to brake the rotation of the front wheels 422 and the rear wheels 423.

The positioning device 44 is a communication device including a control unit 441, a storage unit 442, a communication unit 443, a positioning antenna 444, and the like. For example, the positioning device 44 is provided above the cabin 48 on which the operator is boarded, as shown in FIG. Further, the installation location of the positioning device 44 is not limited to the cabin 48. Further, the control unit 441, the storage unit 442, the communication unit 443, and the positioning antenna 444 of the positioning device 44 may be dispersedly arranged at different positions in the work vehicle 4. As described above, the battery is connected to the positioning device 44, and the positioning device 44 can operate even when the engine 421 is stopped. Further, as the positioning device 44, for example, a mobile phone terminal, a smartphone, a tablet terminal, or the like may be substituted.

The control unit 441 is a computer system including one or more processors and a storage memory such as a non-volatile memory and a RAM. The storage unit 442 is a program for causing the control unit 441 to execute the positioning process, and a non-volatile memory for storing data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, is read by a predetermined reading device (not shown), and is stored in the storage unit 442. The program may be downloaded from the server (not shown) to the positioning device 44 via the communication network N1 and stored in the storage unit 442.

The communication unit 443 connects the positioning device 44 to the communication network N1 by wire or wirelessly, and executes data communication according to a predetermined communication protocol with an external device such as a base station server via the communication network N1. Communication interface.

The positioning antenna 444 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

The control unit 441 calculates the position of the work vehicle 4 based on the GNSS signal received from the satellite by the positioning antenna 444. For example, when the work vehicle 4 autonomously travels in the field F and the positioning antenna 444 receives radio waves (transmission time, orbit information, etc.) transmitted from each of the plurality of satellites, the control unit 441 performs positioning. The distance between the antenna 444 and each satellite is calculated, and the position (latitude and longitude) of the work vehicle 4 is calculated based on the calculated distance. Further, the control unit 441 calculates the position of the work vehicle 4 by using the correction information corresponding to the base station (reference station) close to the work vehicle, which is a real-time kinematic method (RTK-GPS positioning method, hereinafter "RTK method"". Positioning by) may be performed. In this way, the work vehicle 4 autonomously travels by using the positioning information by the RTK method.

FIG. 5 is a diagram showing the relationship between the mounting positions of the work vehicle 4 and the work machine 43. As shown in FIG. 5, the working machine 43 includes a rotary blade 431 that performs mowing work. The work machine 43 is configured as an offset type work machine (offset type mower) capable of performing mowing work in a state where the rotary blade 431 is offset to the left or right with respect to the work vehicle 4. .. FIG. 5 shows a state in which the working machine 43 provided with the rotary blade 431 is offset to the right in the traveling direction (forward direction) with respect to the working vehicle 4. The work machine 43 is provided with a hydraulic cylinder (offset actuator), and by driving this hydraulic cylinder, the rotary blade 431 can be offset to the opposite side (left side in the traveling direction) of FIG. 5, or the work vehicle 4 It may be possible to move it directly behind.

In FIG. 5, reference numeral C1 indicates a central axis in the left-right direction of the work vehicle 4, reference numeral P1 indicates a point offset from the positioning antenna 444 to the opposite side (reverse direction) of the traveling direction by a distance L2, and reference numeral P2 indicates a point. It is a point (hitch point) offset from P1 by a distance L3 in the reverse direction, and indicates the joint position of the hitch bar 411. Further, reference numeral L1 indicates a horizontal distance from the central axis C1 of the work vehicle 4 to the central axis C4 of the work machine 43, that is, an offset distance of the work machine 43 with respect to the work vehicle 4.

Further, the reference numeral C2 indicates the wheel center axis of the working machine 43, and the reference numeral L4 indicates the distance (wheelbase) from the hitch point P2 to the center axis C2. Reference numeral L5 indicates the outer width of the rotary blade 431 and corresponds to the work width of the mowing work. Reference numeral L6 indicates the distance (tread) between the centers of the left wheel 432 and the right wheel 433 of the working machine 43.

Here, the reference numeral C0 is an axis orthogonal to the central axis C2 and coincides with the central axis C1 in FIG. When the work vehicle 4 turns, the central axis C1 forms an angle (steer angle) corresponding to the turning motion with respect to the central axis C0 (see FIGS. 6A to 6C). The wheelbase L4 indicates a constant vertical distance from the hitch point P2 on the central axis C0 to the central axis C2.

When the work vehicle 4 travels on a straight traveling route, the work vehicle 4 and the work machine 43 maintain the positional relationship shown in FIG. 5 and travel. On the other hand, when the working machine 43 travels on the turning path, the working vehicle 4 and the working machine 43 change to the positional relationship shown in FIG. FIG. 6A shows the positional relationship between the work vehicle 4 and the work machine 43 when the steer angle of the trailer of the work machine 43 is d1, and FIG. 6B shows the position of the trailer steer angle of d2 (where d2> d1). The positional relationship between the work vehicle 4 and the work machine 43 is shown, and FIG. 6C shows the positional relationship between the work vehicle 4 and the work machine 43 when the steer angle of the trailer is d3 (where d3> d2). There is.

As shown in FIG. 7A, the work vehicle 4 according to the present embodiment has a first turning angle d1 (for example, 135 degrees) in the first turning direction (for example, right direction) in the first turning path Rc1 following the straight path Rs. Turn (first turn) and turn (second turn) in the second turn direction (for example, left direction) at the second turn angle d2 (for example, 45 degrees) in the second turn path Rc2 following the first turn path Rc1. , Go straight on the straight path Rs following the second turning path Rc2. That is, the traveling path according to the present embodiment includes the straight path Rs, the first turning path Rc1 following the straight path Rs that turns in the first turning direction at the first turning angle d1, and the direction opposite to the first turning direction. It is composed of a second turning path Rc2 following the first turning path Rc1 and a straight path Rs following the second turning path Rc2, which turns in the second turning direction of the above at a second turning angle d2. The solid line shown in FIG. 7A shows the traveling route of the work vehicle 4 (tractor). The same applies to the following figures.

Here, the first turning angle d1 is not limited to 135 degrees, and may be any angle within a predetermined range with respect to 135 degrees. Further, the second turning angle d2 is not limited to 45 degrees, and may be an angle within a predetermined range with respect to 45 degrees. That is, it is preferable that the first turning angle d1 is approximately 135 degrees and the second turning angle d2 is approximately 45 degrees. The first turning angle d1 is an example of the first turning angle of the present invention, and the second turning angle d2 is an example of the second turning angle of the present invention.

FIG. 7B shows an example of a traveling route in the field F. As shown in FIG. 7B, in the outer peripheral path Ra, the working machine 43 performs cutting work on four sides. As a result, it is possible to work on the entire circumference of the outer peripheral path Ra. The operator may be able to set and register the overlap amount between work processes by using the operation terminal 2. Further, the operator may be able to set and register the number of routes for which the cutting work is performed on four sides of the outer peripheral route Ra and the number of routes for which the cutting work is performed on the two sides by the operation terminal 2.

On the other hand, in the inner peripheral path Rb, as shown in FIG. 7B, the working machine 43 performs reciprocating work from the outside to the inside on two sides other than the headland. Further, if the straight length of the headland exceeds the limit, the mowing work cannot be performed on both sides. Therefore, the mowing work is performed only in one direction on one side, and the other side runs in the existing work area. In that case, since the trailer's wheel traveling locus does not have to be rectangular, it is not necessary to specify the turning method.

It should be noted that switching between traveling on the outer peripheral route Ra and traveling on the inner peripheral route Rb may be selectable from the following two types of methods. The first method is a method of continuing the outer peripheral running until the straight length required for creating the outer peripheral path Ra cannot be obtained. In this case, only one direction on the left and right sides is the inner peripheral path Rb. The second method is a method of continuing to run on the outer circumference until the straight length of the headland required for performing the work on the headland cannot be obtained. In this case, reciprocating work from the left and right ends to the inward to the limit point is performed.

By the way, in the traveling path shown in FIG. 7A, it is desirable that the turning path inside the outermost circumference includes the straight path Rc3 between the first turning path Rc1 and the second turning path Rc2. As a result, it is possible to further reduce the uncut portion (unworked area A1) of the corner portion. FIG. 8 shows an example of a turning path including the straight path Rc3. In FIG. 8, the traveling route shown by the dotted line indicates the traveling route on the outermost circumference (the traveling route on the outermost circumference), and the traveling route shown by the solid line indicates the inner route inside the outermost circumference. In the inner path, as shown by the solid line in FIG. 8, the work vehicle 4 has a first turning angle d1 (for example, 135 degrees) in the first turning direction (for example, to the right) in the first turning path Rc1 following the straight path Rs. ) To make a turn (first turn), go straight on the straight path Rc3 having a straight distance E1 following the first turn path Rc1, and in the second turn path Rc2 following the straight path Rc3, in the second turn direction (for example, to the left). It makes a turn (second turn) at a second turn angle d2 (for example, 45 degrees), and goes straight on the straight path Rs following the second turn path Rc2. The straight path Rc3 is an example of the first straight path of the present invention.

That is, the traveling path according to the present embodiment includes a straight path Rs, a first turning path Rc1 following the straight path Rs that turns at the first turning angle d1 in the first turning direction, and a first turning in the outermost peripheral path. It is configured to include a second turning path Rc2 following the first turning path Rc1 and a straight path Rs following the second turning path Rc2, which turns in the second turning direction opposite to the direction at the second turning angle d2. To. Further, the traveling path according to the present embodiment includes a straight path Rs, a first turning path Rc1 following the straight path Rs that turns at the first turning angle d1 in the first turning direction, and a first turning path in the inner path. A straight path Rc3 having a predetermined straight distance E1 following Rc1 and a second turn path Rc2 following the straight path Rc3 that turns at a second turn angle d2 in a second turn direction opposite to the first turn direction. It is configured to include a straight path Rs following the second turning path Rc2.

Further, in the present embodiment, as shown in FIG. 8, in the inner route inside the outermost peripheral route, the axle center C3 of the rear wheel 423 of the work vehicle 4 (tractor) is in the unworked area A2 of the previous work process. The turning operation is started on condition that the end portion (upper end portion H1 in FIG. 8) of the work vehicle 4 in the traveling direction is exceeded. For example, the work vehicle 4 starts the first turning in the first turning direction (for example, to the right) at the first turning angle d1 when the axle center C3 exceeds the upper end portion H1. That is, the first turning path Rc1 in the current work process may start at the axle center C3 of the rear wheel 423 of the work vehicle 4 after the end of the work vehicle 4 in the unworked area A2 of the previous work process in the traveling direction. desirable.

Further, in the present embodiment, the straight-ahead distance E1 of the straight-ahead path Rc3 included in the turning path of the inner path is set based on the positional relationship between the unworked area A2 and the work vehicle 4 and the work machine 43. The unworked area A2 can be calculated by a well-known technique in the traveling route generation process for generating the traveling route. Further, the positional relationship between the work vehicle 4 and the work machine 43 includes, for example, at least one of the offset distance L1, the offset distance L3, the wheelbase L4, the work width L5, and the tread L6 of the work machine 43 shown in FIG. Is done. Further, the traveling route is set so that the work width of the previous work process and the work width of the current work process overlap by a predetermined distance (for example, 30 cm). The predetermined distance is preferably 1/3 or more of the working width L5.

According to the traveling path according to the present embodiment, it is possible to prevent uncut corners (unworked area A1 in FIG. 4) particularly in the turning path. For example, FIG. 9 shows an example of the traveling locus of the wheels 432 and 433 of the working machine 43 (trailer). In FIG. 9, the dotted line indicates the traveling locus of the left wheel 432, and the solid line indicates the traveling locus of the right wheel 433. According to the traveling locus of the right wheel 433, it can be seen that the direction is changed in a rectangular shape at the corner portion (the portion surrounded by the dotted line). It can be seen that the right wheel 433 changes direction while moving in the front-rear direction at the corner portion. As a result, the work vehicle 4 can perform the work in a rectangular shape by performing a pivot turn (reliable turn) centered on the right wheel 433. Here, FIGS. 6A to 6C show the position of the turning center S1 of the working machine 43 corresponding to the first turning angle d1 of the working vehicle 4. As shown in FIGS. 6A to 6C, it can be seen that as the first turning angle d1 becomes larger, the turning center S1 moves in the direction opposite to the offset direction (center axis C0 side). The turning characteristics of the working vehicle 10 and the working machine 43 enable the working machine 43 to make a pivot turn, for example, when the turning center S1 is located between the wheels 432 and 433 (between the treads L6).

The travel path on which the work vehicle 4 travels is generated by, for example, an operation terminal 2. The work vehicle 4 acquires the travel route from the operation terminal 2 and performs work by the work machine 43 while traveling in the field F according to the travel route.

[Operation terminal 2]
As shown in FIG. 1, the operation terminal 2 is an information processing device including a control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, and the like. The operation terminal 2 may be composed of a mobile terminal such as a tablet terminal or a smartphone.

The communication unit 24 connects the operation terminal 2 to the communication network N1 by wire or wirelessly, and data communication according to a predetermined communication protocol with one or more external devices such as a work vehicle 4 via the communication network N1. Is a communication interface for executing.

The operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. The operator (user) can operate the operation unit to register various information (work vehicle information, field information, work information, etc., which will be described later) on the operation screen displayed on the display unit. .. Further, the operator can operate the operation unit to give an autonomous traveling instruction to the work vehicle 4. Further, the operator can grasp the traveling state of the working vehicle 4 autonomously traveling in the field F according to the traveling route R0 from the traveling locus displayed on the operation terminal 2 at a place away from the working vehicle 4. ..

The storage unit 22 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 22 stores a control program such as a travel route generation program for causing the control unit 21 to execute a travel route generation process (see FIG. 10) described later. For example, the travel route generation program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a reading device (not shown) such as a CD drive or a DVD drive included in the operation terminal 2. It is stored in the storage unit 22. The travel route generation program may be downloaded from the server (not shown) to the operation terminal 2 via the communication network N1 and stored in the storage unit 22. Further, the storage unit 22 stores work information (cutting amount, harvesting amount, etc.) transmitted from the work vehicle 4.

Further, a dedicated application for autonomously traveling the work vehicle 4 is installed in the storage unit 22. The control unit 21 activates the dedicated application to set various information about the work vehicle 4, generate a travel route of the work vehicle 4, and give an autonomous travel instruction to the work vehicle 4.

As shown in FIG. 1, the control unit 21 of the operation terminal 2 according to the present embodiment includes a vehicle setting processing unit 211, a field setting processing unit 212, a work setting processing unit 213, a generation processing unit 214, an output processing unit 215, and the like. Including various processing units of. The control unit 21 functions as the various processing units by executing various processing according to the traveling route generation program on the CPU. Further, a part or all of the processing unit may be composed of an electronic circuit. The travel route generation program may be a program for causing a plurality of processors to function as the processing unit.

The vehicle setting processing unit 211 sets information (hereinafter, referred to as work vehicle information) regarding the work vehicle 4 (tractor). The vehicle setting processing unit 211 refers to the model of the work vehicle 4, the position where the positioning antenna 444 is attached in the work vehicle 4, the type of the work machine 43, the size and shape of the work machine 43, and the work vehicle 4 of the work machine 43. Information such as the position, the vehicle speed and engine rotation speed during work of the work vehicle 4, the vehicle speed and engine rotation speed during turning of the work vehicle 4 is stored by the operator performing an operation registered in the operation terminal 2. ..

The vehicle setting processing unit 211 can set the effective width (work width L5 shown in FIG. 5) in the left-right direction in which the work is performed by the rotary blade 431 as the size of the work machine 43. Further, when the working machine 43 is an offset type working machine, the vehicle setting processing unit 211 offsets the rotary blade 431 with respect to the working vehicle 4 (left direction or) as a position of the working machine 43 with respect to the working vehicle 4. (Right direction) and the offset distance L1 (see FIG. 5) in the left-right direction when performing offset work can be set.

As shown in FIG. 5, the offset distance L1 can be defined as a distance in the left-right direction between the reference point P2 (hitch point) appropriately set in the work vehicle 4 and the central axis C4 of the work machine 43. .. The reference point P2 can be arbitrarily set as a point representing the position of the work vehicle 4, but it is preferable to set the reference point P2 so as to be located at the center in the left-right direction of the work vehicle 4. The central axis C4 of the working machine 43 is preferably set so as to be located at the center of the rotary blade 431 in the left-right direction. If the connection position of the work machine 43 with respect to the work vehicle 4 is not the center in the left-right direction of the work vehicle 4, the connection position (the center of the connection position when connected at a plurality of positions) is used as the reference point instead of the reference point P2. , The distance in the left-right direction between the reference point and the central axis C4 may be defined as the offset distance L1. Further, the mounting position of the positioning antenna 444 may or may not coincide with the reference point P2 of the work vehicle 4.

The field setting processing unit 212 sets information (hereinafter, referred to as field information) regarding the field F (an example of the traveling area of the present invention). The field setting processing unit 212 stores information such as the position and shape of the field F, the start position and end position to be autonomously traveled, the work direction, and the like by performing an operation of registering the information on the user terminal 3.

The working direction means a direction in which the work vehicle 4 is driven while working with the work machine 43 in the work area which is the area excluding the non-work area such as the headland and the non-cultivated land from the field F.

For the information on the position and shape of the field F, for example, the operator gets on the work vehicle 4 and operates so as to make one round around the outer circumference of the field F, and records the transition of the position information of the positioning antenna 444 at that time. By doing so, it can be acquired automatically. However, the position and shape of the field F are based on the polygon obtained by the operator operating the operation terminal 2 and designating a plurality of points on the map while the map is displayed on the operation terminal 2. You can also get it. The region specified by the position and shape of the acquired field F is a region (referred to as a traveling region) in which the work vehicle 4 can travel.

The work setting processing unit 213 sets information (hereinafter, referred to as work information) regarding how the work is specifically performed. As work information, the work setting processing unit 213 skips, which is the presence or absence of cooperative work between the work vehicle 4 (unmanned tractor) and the manned work vehicle 4, and the number of work routes to be skipped when the work vehicle 4 turns on the headland. The number, the width of the headland, the width of the non-cultivated land, etc. can be set.

The vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213 are examples of the acquisition processing unit of the present invention. That is, the acquisition processing unit of the present invention acquires the setting information including the field information, the work vehicle information, and the work information.

The generation processing unit 214 generates a travel route R0, which is a route for autonomously traveling the work vehicle 4, based on the setting information. The traveling route R0 is a traveling route in which the work vehicle 4 is spirally traveled from the outside to the inside in the field F. The generation processing unit 214 can generate and store the travel path R0 of the work vehicle 4 based on the setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213. ..

The travel path R0 is composed of a travel path on the outermost circumference and a travel route on the inner side of the outermost circumference. Specifically, as shown in FIG. 8, the outermost traveling path R0 includes a straight path Rs and a first turning path Rc1 following the straight path Rs that turns at the first turning angle d1 in the first turning direction. , The second turning path Rc2 following the first turning path Rc1 and the straight path Rs following the second turning path Rc2, which turn at the second turning angle d2 in the second turning direction opposite to the first turning direction. It is composed. Further, the traveling path R0 inside the outermost circumference is the straight path Rs, the first turning path Rc1 following the straight path Rs that turns at the first turning angle d1 in the first turning direction, and the first turning path Rc1. A straight path Rc3 having a predetermined straight path E1 following the straight path Rc3, and a second turn path Rc2 following the straight path Rc3 that turns at a second turn angle d2 in the second turn direction opposite to the first turn direction. It is composed of a straight path Rs following a turning path Rc2. The outermost travel path R0 corresponds to the first travel path of the present invention, and the innermost travel path R0 corresponds to the second travel path of the present invention.

In this way, the generation processing unit 214 generates the outermost traveling path R0 and the innermost traveling path R0 on different traveling paths. Further, the outermost traveling path R0 and the innermost traveling path R0 include a turning path for turning the working machine 43 in a rectangular shape in the field F. As a result, the working machine 43 makes a pivot turn in which the wheel on the first turning direction side of the working machine 43 (for example, the right wheel 433) turns around the rotation center in the turning path. The generation processing unit 214 is an example of the generation processing unit of the present invention.

In the process of generating the travel path R0 by the generation processing unit 214, the work width L5 of the work machine 43 and the work width L5 of the work machine 43 partially overlap between the work paths adjacent to each other in the work area. Whether it is possible (if possible, the upper limit of the overlap width), the size and shape of the non-working area (in other words, the width of the headland and the width of the non-cultivated land), when the work vehicle 4 turns in the non-working path. The number of work routes to be skipped is taken into consideration. Further, when the unmanned tractor and the manned tractor perform cooperative work, the positional relationship between the unmanned tractor and the manned tractor, the width of the working machine of the manned tractor, and the like are taken into consideration in the process of generating the traveling path R0.

The output processing unit 215 outputs the information of the travel path R0 generated by the generation processing unit 214 to the work vehicle 4. Further, the control unit 21 can instruct the work vehicle 4 to start and stop autonomous traveling by transmitting a control signal to the work vehicle 4 via the communication unit 24. Further, when the work vehicle 4 is autonomously traveling, the control unit 21 can receive the state (position, traveling speed, etc.) of the work vehicle 4 from the work vehicle 4 and display it on the operation terminal 2.

The operation terminal 2 may be able to access the website (agricultural support site) of the agricultural support service provided by the server (not shown) via the communication network N1. In this case, the browser program is executed by the operation terminal 20 and the control unit 21, so that the server can function as an operation terminal. Then, the server includes each of the above-mentioned processing units and executes each process.

[Traveling route generation processing]
Hereinafter, an example of the traveling route generation process executed by the control unit 21 of the operation terminal 2 will be described with reference to FIG. For example, the travel route generation process is started by the control unit 21 when the control unit 21 receives an instruction from the operator to generate the travel route R0 of the work vehicle 4.

It should be noted that the present invention is to invent the traveling route generation method in which the control unit 21 executes a part or all of the traveling route generation processing, or to cause the control unit 21 to execute a part or all of the traveling route generation method. It may be regarded as an invention of a traveling route generation program. Further, the traveling route generation process may be executed by one or a plurality of processors.

In step S1, the control unit 21 acquires various setting information for generating a traveling route. Specifically, the control unit 21 acquires the work vehicle information, the field information, and the work information registered by the operator. Step S1 is an example of the acquisition step of the present invention.

Next, in step S2, the control unit 21 starts a process of generating the travel path R0 of the work vehicle 4.

Specifically, in step S3, the control unit 21 generates the outermost traveling path R0. For example, the control unit 21 turns the straight path Rs in the first turning direction (for example, to the right) at the first turning angle d1, the first turning path Rc1 following the straight path Rs, and the direction opposite to the first turning direction. A run composed of a second turning path Rc2 following the first turning path Rc1 and a straight path Rs following the second turning path Rc2, which turns in the second turning direction (for example, to the left) at the second turning angle d2. A route R0 (an example of the first traveling route of the present invention) is generated (the traveling route shown by the dotted line in FIG. 8).

Next, in step S4, the control unit 21 generates a travel path R0 inside the outermost circumference. For example, the control unit 21 has a predetermined turn path Rs, a first turn path Rc1 following the straight path Rs, and a predetermined turn path Rc1 following the straight path Rs, which turns in the first turn direction (for example, to the right) at the first turn angle d1. A straight path Rc3 having a straight path E1 and a second turn path Rc2 following the straight path Rc3 that turns at a second turn angle d2 in a second turn direction (for example, to the left) opposite to the first turn direction. , Generates a travel path R0 (an example of the second travel path of the present invention) composed of a straight path Rs following the second turn path Rc2 (travel path shown in the practice of FIG. 8). In steps S3 and S4, the control unit 21 sets the first turning angle d1 to 135 degrees and the second turning angle d2 to 45 degrees. Further, in step S4, the control unit 21 sets the straight-ahead distance E1 of the straight-ahead path Rc3 based on the positional relationship between the unworked area A2 and the work vehicle 4 and the work machine 43. Steps S2 to S4 are examples of the generation steps of the present invention.

Next, in step S5, the control unit 21 stores the generated information on the travel path R0 in the storage unit 22 and outputs it to the work vehicle 4.

In the traveling route generation process, the control unit 21 has a step of registering the outer shape of the field F and a traveling path (straight path Rs, first turning angle d1, first turning) of the outer peripheral region (outermost circumference) of the field F. The step of calculating the path Rc1, the second turning angle d2, the second turning path Rc2, the straight path Rs, etc., and the traveling path in the inner peripheral region (straight path Rs, the first turning angle d1, the first turning path Rc1, straight). Even if the step of calculating the distance E1, the straight path Rc3, the second turning angle d2, the second turning path Rc2, the straight path Rs, etc.) and the step of outputting the calculated outer and inner traveling paths are executed. good.

As described above, the travel route generation system 1 according to the present embodiment autonomously causes the work vehicle 4 to be towed by offsetting the work machine 43 to the right or left in a predetermined travel region (field F). It is a system that generates a traveling route R0 for the purpose. The travel route generation system 1 acquires setting information including information on the field F, information on the work vehicle 4, and information on work by the work vehicle 4, and based on the acquired setting information, the straight route Rs and The first turning path Rc1 following the straight path Rs, which turns in the first turning direction at the first turning angle d1, and the second turning direction d2 in the direction opposite to the first turning direction, turn at the second turning angle d2. A first traveling path R0 composed of a second turning path Rc2 following the first turning path Rc1 is generated. As a result, as shown in FIG. 9, the working machine 43 can cut the work target (crops, etc.) in the field F into a rectangular shape and turn it, so that the corners are left uncut (unworked area A1 shown in FIG. 4). ) Can be prevented.

Further, the traveling route generation system 1 further includes a straight path Rs, a first turning path Rc1 that turns in the first turning direction at the first turning angle d1, and a first turning path based on the acquired setting information. A second traveling path R0 composed of a straight path Rc3 having a predetermined straight running distance E1 following Rc1 and a second turning path Rc2 following the straight path Rc3 that turns at the second turning angle d2 in the second turning direction. To generate. The first travel path R0 corresponds to the outermost travel path, and the second travel path R0 corresponds to the innermost travel path. As a result, it is possible to more reliably prevent the occurrence of uncut corner portions (unworked area A1 shown in FIG. 4).

[Discussion]
Hereinafter, the result of considering the above-mentioned method of generating the travel path R0 will be described.

In general, when the working machine 43 (trailer) travels on a turning path, it is desirable to perform a pivot turn (reliable turning) centered on the wheel on the turning direction side (here, the right wheel 433).

In order for the trailer to realize the pivot turn, the turning radius of the work vehicle 4 (tractor) needs to be a specific value according to the wheelbase L4 (see FIG. 5). 11A to 11I show, as an example, the traveling loci of the wheels of the trailer corresponding to the turning radii r1 to r9 of the tractor when the wheelbase L4 is 5 m. Note that r1 indicates a turning radius of 1 m, and r2 indicates a turning radius of 2 m. In each figure, the dotted line shows the traveling locus of the right wheel 433 of the trailer, and the solid line shows the traveling locus of the left wheel 432 of the trailer. As shown in FIGS. 11A to 11C, when the turning radius of the tractor is r1 to r3 (1m to 3m), it can be seen that the trailer is moving backward because the turning radius is too small. Further, as shown in FIGS. 11G to 11I, when the turning radius of the tractor is r7 to r9 (7m to 9m), the turning radius is too large and the trailer turns in a large turn without making a pivot turn. You can see that. Therefore, when the turning radius of the tractor is 1 m to 3 m and 7 m to 9 m, there arises a problem that an unworked area A1 is generated or work efficiency is lowered. On the other hand, as shown in FIGS. 11D to 11F, when the turning radius of the tractor is r4 to r6 (4 m to 6 m), it can be seen that the pivot turn is appropriately performed.

From the above, the travel path generation system 1 has a straight path Rs, a first turn path Rc1 that turns at the first turn angle d1 in the first turn direction, and a second turn angle in the second turn direction in the outermost travel path. A first traveling path R0 composed of a second turning path Rc2 that turns at d2 is generated, and in the traveling path inside the outermost circumference, a straight path Rs, a first turning path Rc1, and a straight path Rc3 having a straight distance E1. , And the second traveling path R0 composed of the second turning path Rc2. Further, in the traveling route generation system 1, in the traveling route inside the outermost circumference, when the axle center C3 of the rear wheel 423 of the tractor exceeds the upper end portion H1 (see FIG. 8), the first turning in the first turning direction is performed. The first turning path Rc1 that turns at the angle d1 is generated. Further, the traveling route generation system 1 sets the turning radius of the tractor to 4 m to 6 m (see FIGS. 11D to 11F). As a result, it is possible to prevent the occurrence of uncut corners (unworked area A1 shown in FIG. 4) while realizing an appropriate pivot turn.

Further, FIGS. 6A to 6C show the position of the turning center S1 of the trailer corresponding to the first turning angle d1 of the tractor. As shown in FIGS. 6A to 6C, it can be seen that as the first turning angle d1 becomes larger, the turning center S1 moves in the direction opposite to the offset direction.

From these facts, in order for the trailer to realize the pivot turn, it is a condition that the turning center S1 is located between the wheels 432 and 433 (between the tread L6).

1: Travel route generation system 2: Operation terminal 4: Work vehicle 41: Vehicle control device 42: Travel device 43: Work machine 44: Positioning device 211: Vehicle setting processing unit 212: Field setting processing unit 213: Work setting processing unit 214 : Generation processing unit 215: Output processing unit Rs: Straight path Rc1: First turning path Rc2: Second turning path Rc3: Straight path (first straight path)
d1: First turning angle d2: Second turning angle

Claims (11)

A travel route generation system that generates a travel route for autonomously driving a work vehicle that is towed by offsetting the work machine to the right or left in a predetermined travel region.
An acquisition processing unit that acquires setting information including information on the traveling area, information on the work vehicle, and information on work by the work vehicle.
Based on the setting information acquired by the acquisition processing unit, the straight path, the first turning path following the straight path that turns in the first turning direction at the first turning angle, and the first turning direction are A generation processing unit that generates a first traveling path composed of a second turning path following the first turning path that turns at a second turning angle in the second turning direction in the opposite direction.
Travel route generation system. The generation processing unit further, based on the setting information acquired by the acquisition processing unit, turns in the straight path and the first turn in the first turn direction at the first turn angle, and the first turn following the straight path. A path, a first straight path having a predetermined straight-ahead distance following the first turn path, and a second turn path following the first straight path that turns in the second turn direction at the second turn angle. Generate a configured second travel path,
The travel route generation system according to claim 1. The straight-ahead distance is set based on the work area in which the work vehicle works and the positional relationship between the work vehicle and the work machine.
The travel route generation system according to claim 2. The positional relationship between the work vehicle and the work machine includes the offset distance of the work machine to the right or left with respect to the work vehicle, the distance from the work vehicle to the work machine, the work width of the work machine, and the work width of the work machine. Including at least one of the center-to-center distances of the wheels of the work equipment,
The travel route generation system according to claim 3. The first traveling path and the second traveling path include a turning path for turning the work machine in a rectangular shape in the traveling area.
The travel route generation system according to any one of claims 2 to 4. The working machine turns around the wheel on the first turning direction side of the working machine as a rotation center in the turning path.
The travel route generation system according to claim 5. The traveling route is a traveling route that causes the work vehicle to travel from the outside to the inside in the traveling region.
The first travel route corresponds to the outermost travel route in the travel region, and the second travel route corresponds to the innermost travel route in the travel region.
The travel route generation system according to any one of claims 2 to 6. The first turning angle is 135 degrees and the second turning angle is 45 degrees.
The travel route generation system according to any one of claims 2 to 7. The first turning path in the current work process starts from the axle center of the rear wheel of the work vehicle after the end of the work vehicle in the unworked area of the previous work process in the traveling direction.
The travel route generation system according to any one of claims 1 to 8. A travel route generation method in which one or more processors generate a travel route for autonomously traveling a work vehicle that is towed by offsetting the work machine to the right or left in a predetermined travel region.
The one or more processors
An acquisition step for acquiring setting information including information on the traveling area, information on the work vehicle, and information on work by the work vehicle.
Based on the setting information acquired by the acquisition step, the straight path, the first turning path following the straight path that turns at the first turning angle in the first turning direction, and the opposite to the first turning direction. A generation step for generating a first traveling path composed of a second turning path following the first turning path, which turns at a second turning angle in the second turning direction in the direction, and a generation step.
How to generate a travel route to execute. A travel route generation program that generates a travel route for autonomously driving a work vehicle that is towed by offsetting the work machine to the right or left in a predetermined travel region.
An acquisition step for acquiring setting information including information on the traveling area, information on the work vehicle, and information on work by the work vehicle.
Based on the setting information acquired by the acquisition step, the straight path, the first turning path following the straight path that turns at the first turning angle in the first turning direction, and the opposite to the first turning direction. A generation step for generating a first traveling path composed of a second turning path following the first turning path, which turns at a second turning angle in the second turning direction in the direction, and a generation step.
A travel route generation program for causing one or more processors to execute.

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