JP6701064B2 - 走行経路生成装置 - Google Patents
走行経路生成装置 Download PDFInfo
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- JP6701064B2 JP6701064B2 JP2016242204A JP2016242204A JP6701064B2 JP 6701064 B2 JP6701064 B2 JP 6701064B2 JP 2016242204 A JP2016242204 A JP 2016242204A JP 2016242204 A JP2016242204 A JP 2016242204A JP 6701064 B2 JP6701064 B2 JP 6701064B2
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
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- G06F3/0482—Interaction with lists of selectable items, e.g. menus
Description
タッチパネルに表示された作業地の外形の上から、走行経路イメージを手書きすることができるので、作業地の外形とイメージする走行経路との位置関係を誤ることなく、走行経路イメージを手書き入力することができる。さらに、作業地データに、作業地に存在する障害物が含まれていれば、その障害物を回避する走行経路を描くことができるので好都合である。
このような始点の指定は、タッチパネルでの手書き入力の一形態としてのタッチパネルに対する長押し操作などで入力することが可能である。
例えば、作業地の中心から渦巻き状に外周に向かって走行する螺旋走行パターンを所望する場合には、図1の左側のタッチパネル42に示すような渦巻きを手書きする。あるいは、圃場の耕耘作業や刈取り収穫作業によく用いられる、直進とUターンとの繰り返しからなる直進往復走行パターンを所望する場合には、図1の右側のタッチパネル42に示すような複数の直線列を手書きする。
作業地データ入力部67がこれから作業を行う圃場の情報からその外形データを取り出して表示制御部41に与える。表示制御部41は、受け取った外形データに基づいて、圃場の外形を概略的に示す圃場外形線をタッチパネル42の表示パネル部に表示する。ユーザは、圃場外形線の内側に、これから行う走行作業において所望する走行経路パターンのイメージを手書き入力する。その際、走行作業の出発点あるいは出入口を指定したい場合は、長押しなどの操作形態で、その場所の指定を行うことができる。また、圃場を分割し、分割された作業区画毎に走行作業を行う場合には、圃場に対する分割線を手書き入力する。ユーザが手書き入力した内容が、走行経路パターンのイメージを示す手書き軌跡、出発点、分割線のいずれであるかは、タッチ操作判定部63によって判定される。
(2)図3で示された機能ブロック図における各機能部は、主に説明目的で区分けされている。実際には、各機能部は他の機能部と統合または複数の機能部に分けることができる。例えば、携帯通信端末4に構築された走行経路生成装置の全体またはその一部を管理コンピュータ100や作業車の制御ユニット5に構築してもよい。
(3)上述した実施形態では、作業車として、ロータリ耕耘機を作業装置30として装備したトラクタを、作業車として取り上げたが、そのようなトラクタ以外にも、例えば、田植機、施肥機、コンバインなどの農作業車にも適用可能である。
40 :通信制御部
41 :表示制御部
42 :タッチパネル
5 :制御ユニット
52 :自動走行制御部
55 :走行経路設定部
6 :走行経路パターン決定モジュール
60 :走行経路生成部
61 :タッチ検出部
62 :軌跡検出部
63 :タッチ操作判定部
64 :パターン認識部
65 :分割データ生成部
66 :始点データ生成部
67 :作業地データ入力部
Claims (7)
- 作業地を走行しながら作業する作業車のための走行経路を生成する走行経路生成装置であって、
前記作業地の外形データを含む作業地データを入力する作業地データ入力部と、
ユーザによって指定された指定走行経路パターンと前記作業地データとに基づいて前記指定走行経路パターンに対応する前記走行経路を生成する走行経路生成部と、
ユーザによる走行経路イメージの手書き入力を受け付けるタッチパネルと、
前記手書き入力から手書き軌跡を検出し、検出された手書き軌跡に基づいて、予め登録されている走行経路パターン群から合致する走行経路パターンを前記指定走行経路パターンとして前記走行経路生成部に与える走行経路パターン決定モジュールと、を備えた走行経路生成装置。 - 前記手書き入力時には、前記タッチパネルの表示パネル部に前記作業地の外形データに基づく作業地外形が表示される請求項1に記載の走行経路生成装置。
- 前記作業地データは、障害物を含む請求項1または2に記載の走行経路生成装置。
- 前記走行経路パターン群から合致する走行経路パターンとして複数の走行経路パターンが決定された場合、前記タッチパネルの表示パネル部に前記複数の走行経路パターンが表示され、前記複数の走行経路パターンからユーザが前記指定走行経路パターンを選択できる請求項1から3のいずれか一項に記載の走行経路生成装置。
- 前記作業地を複数の作業区画に分割するための分割線が前記タッチパネルでの手書き入力によって指定され、前記作業区画毎に前記指定走行経路パターンが決定される請求項1から4のいずれか一項に記載の走行経路生成装置。
- 前記走行経路の始点が前記タッチパネルでの手書き入力によって指定される請求項1から5のいずれか一項に記載の走行経路生成装置。
- 前記作業車の自車位置を受け取る通信制御部が備えられ、前記走行経路の始点を前記作業車の自車位置とする請求項1から5のいずれか一項に記載の走行経路生成装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016242204A JP6701064B2 (ja) | 2016-12-14 | 2016-12-14 | 走行経路生成装置 |
CN201710397920.5A CN108227694A (zh) | 2016-12-14 | 2017-05-31 | 行驶路径生成装置 |
US15/620,838 US10598505B2 (en) | 2016-12-14 | 2017-06-13 | Travel route generation apparatus and method for generating travel route |
EP17001060.7A EP3336794B1 (en) | 2016-12-14 | 2017-06-21 | Apparatus and method for generating a travel route for an agricultural vehicle |
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JP2016242204A JP6701064B2 (ja) | 2016-12-14 | 2016-12-14 | 走行経路生成装置 |
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JP2018093799A JP2018093799A (ja) | 2018-06-21 |
JP6701064B2 true JP6701064B2 (ja) | 2020-05-27 |
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US (1) | US10598505B2 (ja) |
EP (1) | EP3336794B1 (ja) |
JP (1) | JP6701064B2 (ja) |
CN (1) | CN108227694A (ja) |
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US20180164117A1 (en) | 2018-06-14 |
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