JP2024089813A - Route generation method, route generation system, and route generation program - Google Patents

Abstract

[Problem] To provide a path generation method, a path generation system, and a path generation program that can appropriately divide an irregularly shaped work area and improve work efficiency. [Solution] A division processing unit 312 divides a work area into a plurality of divided areas according to the shape of the work area in which any of the interior angles is not a right angle. A generation processing unit 313 generates a target path corresponding to each of the plurality of divided areas. [Selected Figure] Figure 10

Description

The present invention relates to a technology for generating a target route for automatic driving of a work vehicle.

Conventionally, there is known a technology that divides a work area such as a farm field into multiple sections (divided areas), generates a target route corresponding to each of the multiple divided areas, and automatically drives a work vehicle along the target route in each divided area (see, for example, Patent Document 1).

JP 2021-083394 A

Incidentally, there are fields that are rectangular in shape, where all interior angles are right angles (rectangular fields), as well as irregularly shaped fields, where any interior angle is not a right angle (irregular fields). In the case of irregularly shaped fields, depending on the position and shape of the divided areas, it may not be possible to generate a target path appropriately, which may result in reduced work efficiency.

The object of the present invention is to provide a route generation method, route generation system, and route generation program that can appropriately divide irregularly shaped work areas and improve work efficiency.

The route generation method according to the present invention is a method for generating a target route for a work vehicle to travel, which divides a work area into a plurality of divided areas according to the shape of the work area in which any of the interior angles is not a right angle, and generates a target route corresponding to each of the plurality of divided areas.

The route generation system according to the present invention is a system for generating a target route for a work vehicle to travel, and includes a division processing unit and a generation processing unit. The division processing unit divides a work area into a plurality of divided areas according to the shape of the work area in which any of the interior angles is not a right angle. The generation processing unit generates a target route corresponding to each of the plurality of divided areas.

The route generation program of the present invention is a program for generating a target route for a work vehicle to travel, and causes one or more processors to execute the following operations: dividing a work area into multiple divided areas according to the shape of the work area in which any of the interior angles is not a right angle, and generating a target route corresponding to each of the multiple divided areas.

The present invention provides a route generation method, route generation system, and route generation program that can appropriately divide irregularly shaped work areas and improve work efficiency.

FIG. 1 is a block diagram showing the configuration of a traveling system according to an embodiment of the present invention. FIG. 2 is an external view showing the configuration of a combine harvester according to an embodiment of the present invention. FIG. 3 is a diagram showing an example of a farm field according to an embodiment of the present invention. FIG. 4 is a diagram showing an example of a target route according to an embodiment of the present invention. FIG. 5 is a diagram showing an example of a route pattern selection screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 6 is a diagram showing an example of a work direction setting screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 7 is a diagram showing an example of an intermediate division setting screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 8 is a diagram for explaining the division (intermediate division) process of the automatic driving area according to the embodiment of the present invention. FIG. 9 is a diagram illustrating an example of divided regions and a target route according to an embodiment of the present invention. FIG. 10 is a diagram showing another example of the divided areas and the target route according to the embodiment of the present invention. FIG. 11 is a flowchart showing an example of a procedure of a route generation process executed by the traveling system according to the embodiment of the present invention. FIG. 12 is a diagram for explaining the division (intermediate division) process of the automatic driving area according to the embodiment of the present invention. FIG. 13 is a diagram for explaining the division (intermediate division) process of the automatic driving area according to the embodiment of the present invention. FIG. 14 is a diagram showing another example of the divided areas and the target route according to the embodiment of the present invention. FIG. 15A is a diagram showing an example of a method for generating a target route according to an embodiment of the present invention. FIG. 15B is a diagram showing another example of a method for generating a target route according to an embodiment of the present invention. FIG. 15C is a diagram showing another example of a method for generating a target route according to an embodiment of the present invention. FIG. 16 is a diagram showing an example of a target route for a divided region according to an embodiment of the present invention. FIG. 17A is a diagram showing another example of divided regions according to an embodiment of the present invention. FIG. 17B is a diagram showing another example of the divided regions according to the embodiment of the present invention.

The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

A combine harvester 1 will be described as an example of a work vehicle of the present invention. As shown in FIG. 1, a traveling system 10 according to an embodiment of the present invention includes a combine harvester 1 and an operation terminal 3. The combine harvester 1 and the operation terminal 3 can communicate with each other via a communication network N1. For example, the combine harvester 1 and the operation terminal 3 can communicate with each other via a mobile phone line network, a packet line network, or a wireless LAN.

The combine harvester 1 is a work vehicle that performs agricultural work such as harvesting in a farm field (an example of a work area). The combine harvester 1 performs work while traveling, and transmits GNSS information from a GNSS antenna mounted on the combine harvester 1, i.e., the vehicle position of the combine harvester 1, to the operation terminal 3 as measurement point data.

The combine harvester 1 can also automatically travel along a preset target route. For example, the combine harvester 1 receives various setting information from the operation terminal 3 and automatically travels according to the setting information. The combine harvester 1 can also be manually traveled by manual steering by the person on board (worker, operator).

The operation terminal 3 is a mobile terminal capable of remotely operating the combine harvester 1, and is, for example, a tablet terminal, a notebook personal computer, a smartphone, etc. An operation device similar to the operation terminal 3 may be mounted on the combine harvester 1.

The operator can perform setting operations for various setting items on the operation terminal 3. The operation terminal 3 also displays information such as the work status and running status of the combine harvester 1 while it is running. The operator can grasp the work status and running status on the operation terminal 3.

Incidentally, there are rectangular fields (rectangular fields) in which all interior angles are right angles (including nearly right angles), as well as irregularly shaped fields (irregular fields) in which any of the interior angles are not right angles. Figure 3 shows an example of an irregularly shaped field F. Field F shown in Figure 3 has a quadrangle (trapezoid) shape consisting of an upper side SU2, a lower side SB2, a left side SL2, and a right side SR2, with the upper side SU2 and the lower side SB2 parallel to each other and the left side SL2 and the right side SR2 not parallel to each other. In addition, the left side SL2 is perpendicular to the upper side SU2 and the lower side SB2.

Inside the field F, an automatic driving area F1 is set in which the combine harvester 1 can travel automatically. The automatic driving area F1 is composed of an upper side SU1, a lower side SB1, a left side SL1, and a right side SR1, and has a quadrilateral (trapezoidal) shape in which the upper side SU1 and the lower side SB1 are parallel to each other and the left side SL1 and the right side SR1 are not parallel to each other. The left side SL1 is perpendicular to the upper side SU1 and the lower side SB1. The upper side SU1 and the upper side SU2 are parallel to each other, the lower side SB1 and the lower side SB2 are parallel to each other, the left side SL1 and the left side SL2 are parallel to each other, and the right side SR1 and the right side SR2 are parallel to each other. In other words, the shape of the field F and the shape of the automatic driving area F1 are similar to each other. Outside (around) the automatic driving area F1 in the field F, a headland area F2 is set where the combine 1 drives along the outer periphery (circular driving) and turns when moving between work paths.

For example, in the field F shown in FIG. 3, a "reciprocating mowing route" (an example of the second route pattern of the present invention) may be set for the automatic travel area F1, in which the combine harvester 1 performs mowing work while traveling back and forth along multiple parallel work routes. FIG. 4 shows an example of a target route Ra for reciprocating mowing. The target route Ra includes multiple parallel work routes R1 and a movement route R2 (non-work route) for moving from one work route R1 to the next work route R1. For example, as shown in FIG. 4, the combine harvester 1 performs mowing work from the outside to the inside in the left-right direction within the automatic travel area F1 according to the target route Ra. Here, with the travel method shown in FIG. 4, the distance traveled by the combine harvester 1 along the movement route R2 may be long, which may reduce work efficiency.

It is therefore conceivable to divide the automatic driving area F1 into multiple sections (divided areas) and generate a target route for each divided area to carry out work. However, in the case of an irregularly shaped field F as shown in FIG. 3, depending on the position and shape of the divided area, it may not be possible to generate a target route appropriately, which may result in reduced work efficiency. In response to this, the traveling system 10 according to this embodiment has a configuration that can appropriately divide the irregularly shaped field F (automatic driving area F1) and improve work efficiency, as described below. Specific configurations for realizing the above configuration will be described below for each of the combine harvester 1 and the operation terminal 3.

In the present invention, "right angle" and "vertical" include angles of 90 degrees ±α and mean approximately 90 degrees (substantially 90 degrees).

[Operation Terminal 3]
1, the operation terminal 3 is an information processing device including an operation control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34. The operation terminal 3 is, for example, a tablet terminal.

The communication unit 34 is a communication interface that connects the operation terminal 3 to the communication network N1 by wire or wirelessly and performs data communication in accordance with a predetermined communication protocol with one or more external devices such as a combine 1 via the communication network N1.

The operation display unit 33 is a user interface that includes a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit to register various setting information on the operation screen displayed on the display unit. The operator can also operate the operation unit to give automatic driving instructions to the combine harvester 1. Furthermore, the operator can grasp the driving status of the combine harvester 1 that is driving automatically in the field from the driving trajectory displayed on the operation terminal 3 while in a location away from the combine harvester 1.

The storage unit 32 is a non-volatile storage unit such as a HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various information. The storage unit 32 stores a route generation program for causing the operation control unit 31 to execute a route generation process (see FIG. 11) described later. For example, the route generation program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) provided in the operation terminal 3 and stored in the storage unit 32. The route generation program may be downloaded from a server (not shown) to the operation terminal 3 via the communication network N1 and stored in the storage unit 32. The storage unit 32 may also store work information transmitted from the combine harvester 1.

In addition, a dedicated application for automatically driving the combine harvester 1 is installed in the memory unit 32. The operation control unit 31 starts up the dedicated application to perform setting processing for various setting information related to the combine harvester 1, and to issue instructions for automatic driving to the combine harvester 1.

The operation control unit 31 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory for various processes executed by the CPU. The operation control unit 31 controls the operation terminal 3 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 32.

As shown in FIG. 1, the operation control unit 31 includes various processing units such as a setting processing unit 311, a division processing unit 312, a generation processing unit 313, and an output processing unit 314. The operation control unit 31 functions as the various processing units by executing various processes according to the control program with the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

The setting processing unit 311 sets various setting information for the combine harvester 1 to travel automatically. Specifically, the setting processing unit 311 sets field information related to the field. The field information includes, for example, the shape, size, and position information (coordinates, etc.) of the outermost periphery of the field, measurement point data constituting the outermost periphery of the field, and the shape, size, and position information (coordinates, etc.) of the work area in the field where work is performed (automatic travel area F1, headland area F2). The field information also includes the address of the field, the registration name and registration date of the field information, the registration name and registration date of the work area in the field, etc. The setting processing unit 311 accepts the registration operation of the field information by the operator and sets the field information.

The setting processing unit 311 also sets the discharge position. For example, the setting processing unit 311 registers the position information (coordinates) of the discharge position specified by the operator in association with the field. The setting processing unit 311 also sets the running speed (vehicle speed) of the combine harvester 1. For example, the operator can set the vehicle speed of the combine harvester 1. The setting processing unit 311 also sets well-known information such as the type of combine harvester 1 (maximum number of reaping rows), vehicle width, and vehicle length.

The setting processing unit 311 also sets the route pattern along which the combine harvester 1 works in the automatic travel area F1. For example, the setting processing unit 311 sets the route pattern in response to the setting operation of the worker. FIG. 5 shows an example of the route pattern selection screen D1. For example, the setting processing unit 311 displays, on the route pattern selection screen D1, a selectable route pattern of "reciprocating mowing" (an example of the second route pattern of the present invention) in which the combine harvester 1 performs mowing work while traveling back and forth along multiple parallel work paths, and a route pattern of "circumferential mowing" (an example of the first route pattern of the present invention) in which the combine harvester 1 travels in a circle along the sides of the work area (field F, automatic travel area F1, etc.).

In addition, on the route pattern selection screen D1, the operator can select a turning type. The turning types include a "standard type" in which the minimum turning radius is the state in which the combine harvester 1 can turn normally, a "tight maneuver type" in which the turning radius is smaller than the standard type, and a "soft type" in which the minimum turning radius is the state in which the combine harvester 1 can turn safely in adverse conditions (such as mud) with a turning radius larger than the standard type. The operator selects one of the turning types. In addition, on the route pattern selection screen D1, the operator can correct the turning radius when turning on the work route for reciprocating mowing and circular mowing.

The setting processing unit 311 also sets the working direction in which the combine harvester 1 works in the automatic travel area F1. For example, the setting processing unit 311 sets the working direction in response to the setting operation of the operator. FIG. 6 shows an example of a working direction setting screen D2. For example, the setting processing unit 311 displays the working direction corresponding to each side of the working area (field F, automatic travel area F1, etc.) of the combine harvester 1 in a selectable manner on the working direction setting screen D2. In the example shown in FIG. 6, the setting processing unit 311 displays four working directions (arrow lines) corresponding to the upper side SU1, lower side SB1, left side SL1, and right side SR1 (see FIG. 3) of the automatic travel area F1 in a selectable manner. FIG. 6 shows the operator selecting the working direction (X1 direction) corresponding to the left side SL1.

The division processing unit 312 divides (intermediately divides) the working area into a plurality of divided areas according to the shape (irregular shape) of the working area in which any of the interior angles is not a right angle. For example, the division processing unit 312 divides the automatic travel area F1 into a plurality of divided areas according to the shape of the irregular field F shown in FIG. 3. Note that intermediately dividing refers to, for example, dividing the work object (grain stalk) in the automatic travel area F1 into left and right by harvesting the work object at an intermediate position (intermediately dividing route). The division processing unit 312 sets the divided areas according to, for example, the setting operation of the operator. FIG. 7 shows an example of the intermediately dividing setting screen D3. For example, the division processing unit 312 displays, on the intermediately dividing setting screen D3, a number of times designation button K1 for designating the number of times of intermediate division and a number of times input field K2 for inputting the number of times of intermediate division. When the operator sets the number of times of intermediate division to "1 time", the division processing unit 312 divides the automatic travel area F1 with one dividing line to set two divided areas.

In addition, if the operator sets the number of intermediate divisions to "2 times," the division processing unit 312 divides the automatic driving area F1 with two division lines to set three divided areas. In the example shown in FIG. 7, the division processing unit 312 sets three divided areas with two division lines E1 and E2.

Here, when a pair of the multiple sides of the work area are parallel, the division processing unit 312 divides the work area into multiple divided areas by division lines perpendicular to the pair of sides. In the field F shown in FIG. 3, the upper side SU1 and the lower side SB1 of the automatic driving area F1 are parallel to each other, so the division processing unit 312 divides the automatic driving area F1 by division lines (division lines E1, E2) perpendicular to the upper side SU1 and the lower side SB1.

The division processing unit 312 also divides the work area into multiple divided areas by dividing lines parallel to the work direction in the work area. When the work direction is set to the X1 direction (e.g., a direction parallel to the left side SL1) as shown in FIG. 6, the division processing unit 312 divides the automatic driving area F1 by dividing lines parallel to the X1 direction (dividing lines E1, E2).

The division processing unit 312 also divides the work area into a rectangular area and a non-rectangular area. In the field F shown in FIG. 3, in the automatic driving area F1, the left side SL1 is perpendicular to each of the upper side SU1 and the lower side SB1, and the right side SR1 is inclined relative to the left side SL1. Therefore, as shown in FIG. 8, the division processing unit 312 divides the work area into a rectangular area and a non-rectangular area (a triangular area in FIG. 8) by a division line E1 that passes through the intersection P1 between the right side SR1 and the upper side SU1 and is perpendicular to the lower side SB1. As a result, as shown in FIG. 8, the automatic driving area F1 is divided into a right-angled triangular area (division area F13) whose lower side has a length of L1, and a rectangular area (rectangle) whose lower side has a length of L2.

When the number of intermediate divisions is set to "2 times", the division processing unit 312 further divides the rectangular area with a bottom side length of L2. For example, as shown in FIG. 8, the division processing unit 312 divides the area into two rectangular areas of the same size by a division line E2 that passes through the position of (L2)/2 and is parallel to the left side SL1. As a result, the autonomous driving area F1 is divided into two rectangular divided areas F11 and F12 of the same size, and a triangular divided area F13 (non-rectangular area).

When the number of intermediate divisions is set to "1 time", the division processing unit 312 divides the work area into a rectangular area and a non-rectangular area by the division line E1. In other words, the division processing unit 312 divides the work area so that the non-rectangular area is generated with priority. For this reason, for example, the division processing unit 312 automatically sets a first division line at the position where the non-rectangular area is generated, and when dividing the rectangular area into smaller rectangular areas, sets a second division line at an equal position or at a position specified by the operator.

The generation processing unit 313 generates a target route for the combine harvester 1 to travel. Specifically, the generation processing unit 313 generates a target route for automatic or manual travel in the automatic travel area F1 based on each setting information such as the above-mentioned field information, route pattern, turning type, turning radius, discharge position, and divided area. The generation processing unit 313 also generates target routes corresponding to each of the multiple divided areas. For example, when a route pattern for "reciprocating mowing" is set (see FIG. 5) and the automatic travel area F1 is divided into three divided areas F11, F12, and F13 (see FIG. 7 and FIG. 8), the generation processing unit 313 generates a target route R11 for reciprocating mowing in the divided area F11, generates a target route R12 for reciprocating mowing in the divided area F12, and generates a target route R13 for reciprocating mowing in the divided area F13, as shown in FIG. 9. The generation processing unit 313 registers the target route Ra, which includes the generated target routes R11, R12, and R13, in association with the field F.

The output processing unit 314 outputs the setting information set by the setting processing unit 311 and the route data of the target route Ra generated by the generation processing unit 313 to the combine harvester 1. The output processing unit 314 also outputs work start instructions and work end instructions to the combine harvester 1 based on the operation of the operator.

When the operation control unit 31 receives the work start instruction operation from the operator, the output processing unit 314 outputs the work start instruction to the combine harvester 1. As a result, the control device 11 of the combine harvester 1 acquires the work start instruction from the operation terminal 3. When the control device 11 acquires the work start instruction, it starts the work and running of the combine harvester 1. For example, when the combine harvester 1 acquires the route data of the target route Ra shown in FIG. 9 and acquires the work start instruction, first, the operator performs the mowing work while traveling around the outer periphery of the headland area F2 of the field F by manual steering, and when the work in the headland area F2 is completed, the operator performs the mowing work while traveling along the route (middle division route) corresponding to the division line E2 in the automatic driving area F1 by manual steering. As a result, the division area F11 is separated from the automatic driving area F1. Thereafter, when the operator moves the combine harvester 1 to the work start position in the divided area F11 and issues an instruction to start automatic travel, the control device 11 causes the combine harvester 1 to perform harvesting work while automatically traveling within the divided area F11 along the target route R11 (see FIG. 9).

When work in the divided area F11 is completed, the operator performs the harvesting work while manually steering the combine harvester 1 along the path (middle divided path) corresponding to the dividing line E1 in the automatic driving area F1. This separates the divided area F12 from the automatic driving area F1. When the operator then moves the combine harvester 1 to the work start position in the divided area F12 and issues a command to start automatic driving, the control device 11 causes the combine harvester 1 to perform the harvesting work while automatically driving the combine harvester 1 along the target path R12 (see FIG. 9) within the divided area F12.

When work in the divided area F12 is completed, the operator moves the combine harvester 1 to the work start position in the divided area F13 and issues an instruction to start automatic travel. This causes the control device 11 to perform the harvesting work while automatically traveling the combine harvester 1 along the target route R13 (see FIG. 9) within the remaining divided area F13. The combine harvester 1 may also perform the harvesting work while automatically traveling along each intermediate route corresponding to the dividing lines E1 and E2.

When the operation control unit 31 receives the work stop instruction operation from the operator, the output processing unit 314 outputs the work stop instruction to the combine harvester 1. As a result, the control device 11 acquires the work stop instruction from the operation terminal 3. When the control device 11 acquires the work stop instruction, it stops the work and travel of the combine harvester 1. The combine harvester 1 may automatically travel across the entire field F from the work start position to the work end position.

In another embodiment, the generation processing unit 313 may generate a target route for a non-rectangular area with a route pattern different from the route pattern set by the worker. For example, in the example shown in FIG. 9, if the length of the movement route R3 (non-work route) included in the target route R13 is equal to or longer than a predetermined length, the generation processing unit 313 does not generate a target route for the route pattern of "reciprocating mowing" in the divided area F13. In this case, as shown in FIG. 10, for example, the generation processing unit 313 generates a target route R13 for the route pattern of "circumferential mowing" for the divided area F13. This allows the movement route R3 to be omitted, thereby further improving work efficiency. The movement route R3 (non-work route) includes a straight route, a turning route, and a backward route where mowing work has been performed, and a straight route, a turning route, and a backward route where mowing work has not been performed. In this way, even if the operator selects a "reciprocating mowing" route pattern (see FIG. 5), the generation processing unit 313 may be configured not to set a reciprocating mowing target route in the divided area F13 if the length of the movement route R3 is equal to or longer than a predetermined length.

When generating a target route for a non-rectangular area using a route pattern different from the route pattern set by the worker, the generation processing unit 313 may display a message on the operation screen indicating that the target route will be generated using a route pattern different from the route pattern set by the worker, or may display a message inquiring whether or not to allow the target route to be generated using a route pattern different from the route pattern set by the worker.

In another embodiment, the generation processing unit 313 may not generate a target route for automatic driving for non-rectangular areas, but may recommend that the operator perform manual work using manual steering. For example, the operation control unit 31 displays a message recommending manual work on the operation screen at the stage of generating the target route or at the stage of starting work on the non-rectangular area. In this case, the generation processing unit 313 generates a target route only for rectangular areas.

The operation terminal 3 may be able to access an agricultural support service website (agricultural support site) provided by a server (not shown) via the communication network N1. In this case, the operation terminal 3 can function as an operation terminal for the server by executing a browser program by the operation control unit 31. The server is provided with each of the processing units described above and executes each process.

[Combine 1]
FIG. 2 shows an external view of the combine harvester 1 seen from the side. As shown in FIG. 1 and FIG. 2, the combine harvester 1 includes a threshing section 4, a sorting section 5, a straw waste processing section 6, a power section 8, a steering section 9, a control device 11, a memory section 12, a positioning unit 13, a traveling section 14, a reaping section 15, a storage section 16, a communication section 17, and the like. The combine harvester 1 is a so-called head-feeding type combine harvester. The combine harvester 1 travels by the traveling section 14, threshes the stalks harvested by the reaping section 15 in the threshing section 4, and sorts the grains in the sorting section 5 and stores them in the storage section 16. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 6. The combine harvester 1 drives the traveling section 14, the reaping section 15, the storage section 16, the threshing section 4, the sorting section 5, and the straw waste processing section 6 by the power supplied by the power section 8.

The traveling unit 14 is provided below the machine frame 29 and includes a pair of left and right crawler-type traveling devices 2 and a transmission (not shown). The traveling unit 14 rotates the crawlers of the crawler-type traveling devices 2 using power (e.g., rotational power) transmitted from the engine 27 of the power unit 8, causing the combine 1 to travel in the forward/backward direction and turn in the left/right direction. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 2, and can also change the speed of the rotational power.

The reaping unit 15 is provided in front of the travel unit 14 and performs reaping work on rows within the number of reaping rows. The reaping unit 15 is equipped with a divider 28, a raising device 20, a cutting device 23, and a conveying device 7. The divider 28 separates the culms in the field row by row and guides a predetermined number of culms within the number of reaping rows to the raising device 20. The raising device 20 raises the culms guided by the divider 28. The cutting device 23 cuts the culms raised by the raising device 20. The conveying device 7 conveys the culms cut by the cutting device 23 to the threshing unit 4.

The threshing section 4 is provided behind the reaping section 15. The threshing section 4 includes a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stalks transported from the transport device 7 of the reaping section 15 for threshing, and further transports the threshed stalks, i.e., waste straw, to the straw waste processing section 6. The threshing drum 19 threshes the stalks transported by the feed chain 18.

The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes an oscillating sorting device 21, an air blowing sorting device 22, a grain conveying device (not shown), and a straw chip discharge device (not shown). The oscillating sorting device 21 sifts the threshing grains that have fallen from the threshing section 4 to separate them into grains, straw chips, etc. The air blowing sorting device 22 further separates the threshing grains sorted by the oscillating sorting device 21 into grains, straw chips, etc. by blowing air. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the storage section 16. The straw chip discharge device discharges the straw chips, etc. sorted by the oscillating sorting device 21 and the air blowing sorting device 22 outside the machine.

The storage section 16 is provided to the right of the threshing section 4. The storage section 16 includes a storage tank (grain tank) 24 and a discharge device 25. The storage tank 24 stores the grains transported from the sorting section 5. The discharge device 25 is composed of an auger or the like at the discharge position, and discharges the grains stored in the storage tank 24 to a discharge area or a transport vehicle.

The straw waste processing section 6 is provided behind the threshing section 4. The straw waste processing section 6 is equipped with a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste conveying device transports the straw transported from the feed chain 18 of the threshing section 4 to the straw waste cutting device. The straw waste cutting device cuts the straw transported by the straw waste conveying device and discharges it outside the machine.

The power unit 8 is provided above the running unit 14 and in front of the storage unit 16. The power unit 8 has an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the running unit 14, the reaping unit 15, the storage unit 16, the threshing unit 4, the sorting unit 5, and the straw waste processing unit 6.

The control unit 9 is provided above the power unit 8. Around the driver's seat where the operator sits, the control unit 9 is provided with operating tools for controlling the travel of the combine harvester 1, such as a handle for instructing the rotation of the combine harvester 1 body, and a main speed change lever and a sub-speed change lever for instructing changes in the forward and reverse speed of the combine harvester 1. Manual travel of the combine harvester 1 is performed by the travel unit 14, which receives operation of the handle, main speed change lever, and sub-speed change lever of the control unit 9. The control unit 9 also has mechanisms for operating the harvesting work by the harvesting unit 15, the threshing work by the threshing unit 4, the discharge work by the discharge device 25 of the storage unit 16, etc.

The positioning unit 13 acquires the vehicle position of the combine harvester 1 using a satellite positioning system such as GPS. For example, the positioning unit 13 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires the position information of the positioning unit 13, i.e., the vehicle position of the combine harvester 1 (measurement point data), based on the positioning signal.

The communication unit 17 (see FIG. 1) is a communication interface that connects the combine 1 to the communication network N1 by wire or wirelessly and executes data communication with an external device such as the operation terminal 3 via the communication network N1 according to a predetermined communication protocol.

The storage unit 12 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 12 stores control programs such as an automatic driving program for causing the control device 11 to execute automatic driving processing. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the combine 1 via the communication network N1 and stored in the storage unit 12. The storage unit 12 also stores various setting information acquired from the operation terminal 3.

The control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory for various processes executed by the CPU. The control device 11 controls the combine harvester 1 by executing the various control programs stored in advance in the ROM or the storage unit 12 by the CPU.

Specifically, as shown in FIG. 1, the control device 11 includes various processing units such as a driving processing unit 111. The control device 11 functions as the various processing units by executing various processes according to the automatic driving program with the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing multiple processors to function as the processing units.

The driving processing unit 111 automatically drives the combine harvester 1 according to the target route Ra set for the field F. Specifically, the driving processing unit 111 acquires various setting information set for the field F and route data of the target route Ra from the operation terminal 3. For example, the driving processing unit 111 acquires the vehicle position of the combine harvester 1 from the positioning unit 13 during the harvesting operation, and controls the power unit 8, the driving unit 14, and the harvesting unit 15 so that the combine harvester 1 performs automatic driving and harvesting operation along the work route based on the vehicle position and the work route included in the target route Ra. Also, for example, the driving processing unit 111 controls the operation of the power unit 8, the driving unit 14, and the harvesting unit 15 in response to manual steering by the operator to perform manual driving and harvesting operation. In addition, during the discharge operation, the driving processing unit 111 acquires the vehicle position of the combine harvester 1 from the positioning unit 13, and controls the power unit 8 and the driving unit 14 so that the combine harvester 1 automatically travels along the discharge route based on the vehicle position and the discharge route included in the target route Ra.

In the example shown in Figures 9 and 10, the driving processing unit 111 causes the combine 1 to perform automatic driving and mowing work in the divided area F1 according to the target route R11 in the divided area F11, then to perform automatic driving and mowing work in the divided area F12 according to the target route R12, and finally to perform automatic driving and mowing work in the divided area F13 according to the target route R13.

In addition, the control device 11 controls the vehicle speed of the combine harvester 1 according to preset setting information or the operator's operation.

[Route generation process]
Hereinafter, an example of the route generation process executed by the traveling system 10 will be described with reference to FIG.

The present invention can be understood as an invention of a route generation method that executes one or more steps included in the route generation process. One or more steps included in the route generation process described here may be omitted as appropriate. The steps in the route generation process may be executed in a different order as long as the same action and effect is achieved. Furthermore, although an example is described here in which the control device 11 executes each step in the route generation process, another embodiment can also be considered as a route generation method in which one or more processors execute each step in the route generation process in a distributed manner.

In step S1, the operation control unit 31 registers various setting information. Specifically, the operation control unit 31 sets and registers field information about the field F, vehicle information about the combine 1, work information about the work, route information about the target route (route pattern, turning type, work direction, etc.) based on the setting operation of the worker. For example, the operation control unit 31 sets the route pattern and turning type in response to the selection operation of the worker on the route pattern selection screen D1 shown in FIG. 5. Also, for example, the operation control unit 31 sets the work direction in response to the selection operation of the worker on the work direction setting screen D2 shown in FIG. 6.

Next, in step S2, the operation control unit 31 determines whether or not it is necessary to divide the field F. Specifically, the operation control unit 31 determines that it is necessary to divide the field F when the worker selects "Specify number of intermediate divisions" on the intermediate division setting screen D3 shown in FIG. 7, and determines that it is not necessary to divide the field F when the worker selects "No intermediate division". In another embodiment, the operation control unit 31 may determine that it is necessary to divide the field F when the shape of the field F is not rectangular, that is, when the field F is an irregularly shaped field. The operation control unit 31 may also determine that it is necessary to divide the field F based on the shape of the field F and the work direction. For example, the operation control unit 31 may determine that it is necessary to divide the field F when the shape of the field F is such that a pair of sides opposing each other in a direction perpendicular to the work direction are not parallel to each other, and may determine that it is not necessary to divide the field F when the shape of the field F is such that a pair of sides opposing each other in a direction perpendicular to the work direction are parallel to each other.

When the operation control unit 31 determines that it is necessary to divide the field F (S2: Yes), it transitions the process to step S3, and when it determines that it is not necessary to divide the field F (S2: No), it transitions the process to step S5.

In step S3, the operation control unit 31 sets a division position (intermediate division position, intermediate division path) that divides the field F. Specifically, the operation control unit 31 sets the division position so that the work area is divided into a rectangular area and a non-rectangular area.

For example, in the automatic driving area F1 in the field F shown in FIG. 3, the operation control unit 31 sets the division position at the position of a straight line (division line E1) that passes through the intersection P1 between the right side SR1 and the upper side SU1 and is perpendicular to the lower side SB1, as shown in FIG. 8. In addition, the operation control unit 31 sets the division position at a position half the length of the side (extending in a direction perpendicular to the work direction) of the rectangular area in the automatic driving area F1 when the side is equal to or longer than a predetermined length. In the example shown in FIG. 8, the operation control unit 31 sets the division position at the position of a straight line (division line E2) that passes through the center position of half the length ((L2)/2) of the upper side SU1 and is perpendicular to the upper side SU1 and the lower side SB1. In another embodiment, the operation control unit 31 may set the division position at a position specified by the operator. Note that the operation control unit 31 may be configured not to set the division position when the side (extending in a direction perpendicular to the work direction) of the rectangular area is less than a predetermined length.

Next, in step S4, the operation control unit 31 sets the divided areas. Specifically, the operation control unit 31 divides the field F into a rectangular area and a non-rectangular area based on the division positions set in step S3, and sets the rectangular divided areas and the non-rectangular divided areas.

For example, in the example shown in FIG. 8, the operation control unit 31 divides the automatic driving area F1 by dividing lines E1 and E2 to set two rectangular divided areas F11 and F12 and a triangular divided area F13.

Next, in step S5, the operation control unit 31 generates a target route Ra along which the combine harvester 1 will travel. Specifically, the operation control unit 31 generates a target route Ra along which the combine harvester 1 will travel automatically in the automatic travel area F1 based on the above-mentioned setting information. For example, as shown in FIG. 9, the operation control unit 31 generates a target route R11 for reciprocating mowing in the divided area F11, generates a target route R12 for reciprocating mowing in the divided area F12, and generates a target route R13 for reciprocating mowing in the divided area F13. As another example, as shown in FIG. 10, the operation control unit 31 generates a target route R11 for reciprocating mowing in the divided area F11, generates a target route R12 for reciprocating mowing in the divided area F12, and generates a target route R13 for circular mowing in the divided area F13.

If the field F (automatic driving area F1) is not divided (S2: No), the operation control unit 31 generates one target route Ra (target route for reciprocating mowing or circular mowing) for the automatic driving area F1.

The operation control unit 31 registers the generated target route Ra in association with the field F. In addition, when the operation control unit 31 receives an instruction to start automatic driving from the operator, it outputs route data of the generated target route Ra to the combine harvester 1.

The operation control unit 31 executes the route generation process as described above. The operation control unit 31 executes the route generation process for each field, and is capable of registering route data for the target route for each field.

As described above, the traveling system 10 according to this embodiment is a system that generates a target route for traveling the combine harvester 1. The traveling system 10 also divides the work area into multiple divided areas according to the shape of the work area (irregularly shaped field) in which any of the interior angles is not a right angle, and generates target routes corresponding to each of the multiple divided areas. Specifically, the traveling system 10 divides the work area into a rectangular area and a non-rectangular area, and generates a first target route corresponding to the rectangular area and a second target route corresponding to the non-rectangular area.

According to the above configuration, for example, the automatic driving area F1 can be divided into multiple areas and work can be performed for each divided area, thereby shortening the distance traveled along the non-work path (travel path). This improves work efficiency. Furthermore, by dividing the automatic driving area F1 into rectangular areas and non-rectangular areas, target paths suitable for each of the rectangular areas and non-rectangular areas can be generated separately. For example, a target path for back-and-forth mowing can be generated for the rectangular areas, and a target path for circular mowing can be generated for the non-rectangular areas (see FIG. 10). This further improves work efficiency in each divided area.

[Other embodiments]
The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

For example, if the shape of the field F is as shown in Figure 12, where the right side SR2 is not perpendicular to the upper side SU2 and the lower side SB2, and the right side SR1 of the automatic driving area F1 is not perpendicular to the upper side SU1 and the lower side SB1, and the left side SL2 is not perpendicular to the upper side SU2 and the lower side SB2, and the left side SL1 of the automatic driving area F1 is not perpendicular to the upper side SU1 and the lower side SB1, the operation control unit 31 divides the field F into one rectangular area and two non-rectangular areas by a division line E1 that passes through the intersection P1 between the right side SR1 and the upper side SU1 and is perpendicular to the lower side SB1, and a division line E2 that passes through the intersection P2 between the left side SL1 and the upper side SU1 and is perpendicular to the lower side SB1. As a result, as shown in FIG. 12, the automatic driving area F1 is divided into two right-angled triangular divided areas F11 and F13, and one rectangular divided area F12.

For example, if the shape of the field F is as shown in Figure 13, the operation control unit 31 divides the field F into one rectangular area and two non-rectangular areas using a division line E1 that passes through the intersection P1 between the right side SR1 and the top side SU1 and is perpendicular to the bottom side SB1, and a division line E2 that passes through the intersection P3 between the left side SL1 and the bottom side SB1 and is perpendicular to the top side SU1. As a result, as shown in Figure 13, the automatic driving area F1 is divided into two right-angled triangular divided areas F11 and F13 and one rectangular divided area F12.

In another embodiment, the operation control unit 31 may generate a target route pattern for a reciprocating movement parallel to the dividing line dividing the work area in a portion of the non-rectangular area where the length of the work path is equal to or greater than a predetermined length, and may generate a target route pattern for a reciprocating movement parallel to the dividing line dividing the work area in a portion of the non-rectangular area where the length of the work path is less than the predetermined length. For example, as shown in FIG. 14, in the portion A1 of the divided area F13, which is a non-rectangular area, the length of each work path R30 is equal to or greater than a predetermined length, and in the portion A2 of the divided area F13, the length of each work path R30 is less than the predetermined length. In this case, if the combine harvester 1 travels in a reciprocating movement in the portion A2, the turning operation becomes frequent, and the work efficiency decreases. Therefore, for the portion A2, the operation control unit 31 generates a target route R32 (one-way work route) for the portion A2, in which the combine harvester 1 travels while moving forward on the work path R30 and then moves backward after the work on the work path R30 to move to the next work path R30. In contrast, in section A1, moving backwards like in section A2 reduces work efficiency, so a target route R31 for normal back-and-forth mowing is generated.

In another embodiment, the operation control unit 31 may generate a target route for traveling in the row direction (planting direction) in a non-rectangular area. For example, as shown in FIG. 15A, when the row direction is the X3 direction, the operation control unit 31 generates a target route for circular mowing that travels along the X3 direction for the divided area F13. For example, as shown in FIG. 15B, when the row direction is the X4 direction, the operation control unit 31 generates a target route for reciprocating mowing or unidirectional travel that travels along the X4 direction for the divided area F13.

For example, as shown in Figure 15C, when the row direction includes a mixture of X3 direction parts and X4 direction parts, the operation control unit 31 generates a target route for circular mowing and a target route for reciprocating mowing or one-way travel for the divided area F13. For example, as shown in Figure 16, the generation processing unit 313 generates a target route for circular mowing for the outer periphery part of the divided area F13, generates a target route for circular mowing that omits the lateral work route for the part inside the periphery, and generates a target route for one-way travel for the part further inside.

In another embodiment, when the combine harvester 1 is in manual driving mode, the operation control unit 31 may display the division position on the operation screen when the operator manually drives the intermediate division path. In other words, the target path of the present invention is not limited to a target path for automatic driving, but may be a target path that the operator can confirm during manual driving.

In another embodiment, when the length of the movement path R2 in the rectangular divided areas F11 and F12 is equal to or greater than a predetermined length, the operation control unit 31 may be configured to generate a target path for circular mowing for the divided areas F11 and F12 even if the worker has selected the "reciprocating mowing" route pattern. Alternatively, the operation control unit 31 may display a message prompting the worker to select the "reciprocating mowing" route pattern.

In another embodiment, when the length of the movement path R2 in a rectangular divided area is equal to or greater than a predetermined length, the operation control unit 31 may present the operator with the number of intermediate divisions (recommended number of intermediate divisions) that will result in the length being less than the predetermined length.

In another embodiment, the operation control unit 31 may divide the work area when the work area has a shape in which a pair of sides facing each other in a direction perpendicular to the work direction are not parallel to each other. For example, in the field F shown in FIG. 3, when the work direction is the X1 direction (see FIG. 6), the automatic driving area F1 has a shape in which the left side SL1 and the right side SR1 facing each other in a direction perpendicular to the X1 direction are not parallel to each other (see FIG. 8). In this case, the operation control unit 31 divides the automatic driving area F1 into a plurality of divided areas. In contrast, in the field F shown in FIG. 3, when the work direction is the X2 direction (see FIG. 6), the automatic driving area F1 has a shape in which the upper side SU1 and the lower side SB1 facing each other in a direction perpendicular to the X2 direction are parallel to each other. In this case, the operation control unit 31 does not divide the automatic driving area F1. When the work direction is the X2 direction, the operation control unit 31 generates a target route for reciprocating mowing or circular mowing, for example, in the entire automatic driving area F1.

In addition, when the working direction is the X2 direction, the operation control unit 31 may divide the automatic driving area F1 into multiple non-rectangular areas. That is, the operation control unit 31 may divide the automatic driving area F1 by a dividing line parallel to the working direction (X2 direction) to generate multiple non-rectangular areas.

In another embodiment, when the working direction is the X2 direction, the operation control unit 31 may divide the automatic driving area F1 by a dividing line perpendicular to the X2 direction to generate a rectangular area and a non-rectangular area. That is, in the present invention, the dividing line and the intermediate path may be parallel to the working direction or perpendicular to the working direction.

As another embodiment, the divided area may include a non-rectangular area having a shape different from a triangular shape. For example, as shown in FIG. 17A, the operation control unit 31 divides the automatic driving area F1 by a dividing line E1 parallel to the left side SL1 (parallel to the working direction (X1 direction)) so that an area (divided area F12) where the length of the straight path (working path R1) parallel to the left side SL1 is equal to or longer than a predetermined length and an area (divided area F13) where the length is less than the predetermined length are formed. The predetermined length is the same as the predetermined length in the configuration of FIG. 14. The operation control unit 31 may further divide the divided areas F11 and F12 by a dividing line E2. As a result, the automatic driving area F1 is divided into a rectangular divided area F11, a non-rectangular (pentagonal) divided area F12, and a non-rectangular (triangular) divided area F13. Additionally, the operation control unit 31 generates a target route for back and forth mowing in the divided areas F11 and F12, and generates a target route for a route pattern for traveling in one direction in the divided area F13.

In another embodiment, the divided area may not include a triangular non-rectangular area. For example, as shown in FIG. 17B, the operation control unit 31 divides the automatic driving area F1 by a dividing line E1 parallel to the left side SL1 (parallel to the working direction (X1 direction)) so that a non-rectangular (quadrilateral) divided area F13 and a rectangular area are formed. The operation control unit 31 may further divide the rectangular area into rectangular divided areas F11 and F12 by a dividing line E2. As a result, the automatic driving area F1 is divided into rectangular divided areas F11 and F12 and a non-rectangular (quadrilateral) divided area F13. The operation control unit 31 also generates a target route for reciprocating mowing in the divided areas F11 and F12, and generates a target route for circular mowing in the divided area F13. As shown in FIG. 17A and FIG. 17B, the operation control unit 31 may set the division position (intermediate division position, intermediate division path) according to the path pattern of the target path in the divided area after division and the length of the work path.

The present invention can also be applied to a configuration that does not include a process for dividing a work area into a plurality of divided areas. Specifically, the present invention can be applied to the invention of an operation control unit 31 that executes each of the above-mentioned methods for generating a target path. For example, the operation control unit 31 generates a path (target path for circular mowing) that travels in a circle along the sides of a non-rectangular area. For example, the operation control unit 31 generates a target path for circular mowing for a non-rectangular area when the length of the non-work path (e.g., movement path R3 in FIG. 9) is equal to or greater than a predetermined length, and generates a target path for reciprocating mowing for a non-rectangular area when the length of the non-work path is less than the predetermined length.

In the above embodiment, a combine harvester 1 is given as an example of a work vehicle, but the work vehicle of the present invention is not limited to a combine harvester 1 and may be various work vehicles such as a tractor, a rice transplanter, or a construction machine.

[Notes on the invention]
The following will provide an overview of the invention extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

<Appendix 1>
A route generation method for generating a target route for a work vehicle, comprising:
Dividing the work area into a plurality of divided areas according to a shape of the work area in which any interior angle is not a right angle;
generating the target route corresponding to each of the plurality of divided areas;
A path generation method that performs the above.

<Appendix 2>
When a pair of sides among the multiple sides of the working area are parallel,
Dividing the working area into the plurality of divided areas by dividing lines perpendicular to the pair of sides.
2. The route generation method according to claim 1.

<Appendix 3>
Dividing the working area into the plurality of divided areas by dividing lines parallel to a working direction in the working area;
3. The route generation method according to claim 1 or 2.

<Appendix 4>
Dividing the working area into a rectangular area and a non-rectangular area;
generating a first target route corresponding to the rectangular region and a second target route corresponding to the non-rectangular region;
A route generation method according to any one of appendix 1 to 3.

<Appendix 5>
the non-rectangular region is a triangular region;
5. A route generation method as described in claim 4.

<Appendix 6>
The second target route is a route that travels in a circle along a side of the non-rectangular area.
6. The route generation method according to claim 4 or 5.

<Appendix 7>
In a case where it is possible to set, as a route pattern of the target route, either a first route pattern that travels along a side of the non-rectangular area or a second route pattern that travels parallel to a dividing line that divides the working area,
When a length of a movement path traveled when moving from a first working path to a second working path in the second path pattern is equal to or longer than a predetermined length, a target path of the second path pattern is not set as the second target path.
A route generation method according to any one of appendix 4 to 6.

<Appendix 8>
An operation of selecting one of the first route pattern and the second route pattern as a route pattern of the target route can be accepted from a user,
Even if the second route pattern is selected by a user, if the length of the movement route is equal to or longer than a predetermined length, the target route of the second route pattern is not set as the second target route.
8. The route generation method according to claim 7.

<Appendix 9>
In the non-rectangular area, a target route is generated for a portion of the working path whose length is equal to or longer than a predetermined length, the target route being a route pattern that travels back and forth parallel to a dividing line that divides the working area, and in a portion of the working path whose length is less than the predetermined length, the target route is generated for a route pattern that travels in one direction and parallel to the dividing line that divides the working area.
A route generation method according to any one of appendix 4 to 8.

<Appendix 10>
When a work vehicle is performing harvesting work to harvest stalks,
generating the second target route in the non-rectangular area, the second target route being for traveling in a direction of the rows of rows;
A route generation method according to any one of appendix 4 to 9.

1: Combine (work vehicle)
3: Operation terminal 10: Traveling system 11: Control device 31: Operation control unit 111: Traveling processing unit 311: Setting processing unit 312: Division processing unit 313: Generation processing unit 314: Output processing unit D1: Route pattern selection screen D2: Work direction setting screen D3: Middle division setting screen E1: Division line E2: Division line F: Farm field (work area)
F1: Automatic driving area F11: Divided area (rectangular area)
F12: Divided area (rectangular area)
F13: Division area (non-rectangular area)
F2: Headland area R: Target route R1: Work route R11: Target route (first target route)
R12: Target route (first target route)
R13: Target route (second target route)
R2: Movement path R3: Movement path R31: Target path R32: Target path SB1: Lower side SB2: Lower side SL1: Left side SL2: Left side SR1: Right side SR2: Right side SU1: Upper side SU2: Upper side

Claims (12)

A route generation method for generating a target route for a work vehicle, comprising:
Dividing the work area into a plurality of divided areas according to a shape of the work area in which any interior angle is not a right angle;
generating the target route corresponding to each of the plurality of divided areas;
A path generation method that performs the above. When a pair of sides among the multiple sides of the working area are parallel,
Dividing the working area into the plurality of divided areas by dividing lines perpendicular to the pair of sides.
The route generation method according to claim 1 . Dividing the working area into the plurality of divided areas by dividing lines parallel to a working direction in the working area;
The route generation method according to claim 1 . Dividing the working area into a rectangular area and a non-rectangular area;
generating a first target route corresponding to the rectangular region and a second target route corresponding to the non-rectangular region;
The route generation method according to any one of claims 1 to 3. the non-rectangular region is a triangular region;
The route generation method according to claim 4 . The second target route is a route that travels in a circle along a side of the non-rectangular area.
The route generation method according to claim 4 . In a case where it is possible to set, as a route pattern of the target route, either a first route pattern that travels along a side of the non-rectangular area or a second route pattern that travels parallel to a dividing line that divides the working area,
When a length of a movement path traveled when moving from a first working path to a second working path in the second path pattern is equal to or longer than a predetermined length, a target path of the second path pattern is not set as the second target path.
The route generation method according to claim 4 . An operation of selecting one of the first route pattern and the second route pattern as a route pattern of the target route can be accepted from a user,
Even if the second route pattern is selected by a user, if the length of the movement route is equal to or longer than a predetermined length, the target route of the second route pattern is not set as the second target route.
The route generation method according to claim 7. In the non-rectangular area, a target route is generated for a portion of the working path whose length is equal to or longer than a predetermined length, the target route being a route pattern that travels back and forth parallel to a dividing line that divides the working area, and in a portion of the working path whose length is less than the predetermined length, the target route is generated for a route pattern that travels in one direction and parallel to the dividing line that divides the working area.
The route generation method according to claim 4 . When the work vehicle performs a harvesting operation to harvest grain stalks,
generating the second target route in the non-rectangular area, the second target route being for traveling in a direction of the rows of rows;
The route generation method according to claim 4 . A route generation system for generating a target route for a work vehicle, comprising:
a division processing unit that divides the work area into a plurality of divided areas according to a shape of the work area in which any of the internal angles is not a right angle;
A generation processing unit that generates a target route corresponding to each of the plurality of divided areas;
A route generation system comprising: A route generation program for generating a target route for a work vehicle, comprising:
Dividing the work area into a plurality of divided areas according to a shape of the work area in which any interior angle is not a right angle;
generating a target route corresponding to each of the plurality of divided areas;
A path generation program for causing one or more processors to execute the above.

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