JP6739227B2 - Autonomous driving route generation system - Google Patents

Description

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

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

JP, 2015-201155, A

When an agricultural work vehicle performs work in an agricultural field while autonomously traveling, a plurality of linear work routes arranged at equal intervals are also disclosed in Patent Document 1, but from one end in the direction in which they are arranged. It is widely practiced to work by sequentially traveling to the other end one by one. At this time, after completing the work on a certain work route, the agricultural work vehicle folds back at the edge of the field to reverse the traveling direction, and performs work on the work route adjacent to the work route.

However, in such a traveling route, at the time of the above-mentioned turning back, due to circumstances such as the minimum turning radius of the work vehicle, turning with front and back turning may be required, which may reduce efficiency. Therefore, it is conceivable that the agricultural work vehicle, after completing work on a certain work route, travels so as to work on a work route skipped by one or two instead of the work route adjacent to the work route ( Skip running). As the traveling route of the agricultural work vehicle in this case, for example, for a plurality of arranged work routes, one work route is skipped from one end in the arranging direction to reach the other end, After that, it is generated so as to return to the one side while traveling on the remaining work route (skipping the work route on which work has been completed).

However, when performing work while skipping in a wide field, if the work is interrupted for some reason, a part where a work has been performed and a part where a work has not been performed alternately may occur over a wide range. In this case, it becomes difficult to grasp each of the worked area and the unworked area in the field as a grouped area, and it becomes difficult to smoothly resume the work. In addition, when the soil environment changes due to rain or the like before and after the work is interrupted, parts having different work qualities are formed in a comb shape, and the work efficiency thereafter may be reduced.

By the way, the configuration in which the agricultural work vehicle autonomously travels as described above exhibits excellent effects such as labor saving particularly when the field is large. However, for example, in a large field where the work cannot be completed in one day, the above work interruption must be taken into consideration, and there is room for improvement.

The present invention has been made in view of the above circumstances, and an object thereof is to perform a work by skip traveling, and even if the work is interrupted midway, the worked part and the unworked part are alternately arranged. An object is to provide an autonomous travel route generation system capable of preventing the appearance portion from occurring in a wide range.

Means and effects for solving the problems

The problem to be solved by the present invention is as described above. Next, the means for solving the problem and the effect thereof will be described.

According to the aspect of the present invention, an autonomous traveling route generation system having the following configuration is provided. That is, this autonomous traveling route generation system generates a traveling route that causes the work vehicle to autonomously travel in order to perform work in a predetermined work area. This autonomous travel route generation system includes a region division unit and a route generation unit. The area dividing unit divides the work area into a plurality of sections. The route generation unit generates the traveling route so as to include a plurality of traveling routes arranged in each of the sections divided by the area dividing unit. The area dividing unit can divide the work area so that the number of the traveling paths included in each of the sections has an equal odd number. The route generation unit sets a work order for the plurality of travel routes based on a reference value. When there are a plurality of sections in which the number of the included traveling paths is equal to the odd value, the route generation unit sets the same work order for the respective traveling paths corresponding to each other among the sections. To do. The compartment has a first compartment and a second compartment. Wherein the first compartment and the second compartment, when the number of the travel path that includes the same, but each travel path to start working and running path to end the work is the same, each Begin The work start position for the traveling path and the work end position for each traveling path where the work ends are different.

As a result, even when performing work by skip traveling, it is possible to work sequentially from the end of the work area in units of small divided sections. Therefore, even when the work is interrupted on the way, it is possible to keep the part where the worked part and the non-worked part alternate in the work area within a small range in the section. Therefore, it is easy to clarify the location where the work has been completed, and the work can be smoothly resumed. Further, even when the soil environment changes due to rain or the like before and after the work is interrupted, it is possible to prevent the portions having different work qualities from being formed in a comb shape over a wide range. Further, since it is possible to set a fixed work order for the traveling path in units of sections, it is possible to realize regular skip traveling and simplify the traveling route generation processing.

The above-mentioned autonomous travel route generation system preferably has the following configuration. That is, the area dividing section, when the number of the traveling path which is included in the working area is not an integer multiple of the odd number, the number of the traveling path which is included in the first compartment rather equal and the odd values the number of the travel path included in the second compartment to divide the work area to be larger than the odd values into a plurality of sections.

As a result, a section in which the number of included traveling paths does not reach the predetermined value does not occur, so that a traveling path involving skip traveling can be easily generated .

The conceptual diagram which shows a mode that a robot tractor autonomously travels and carries out an autonomous task along the autonomously traveled route generated in the field. 1 is a side view showing the overall configuration of a robot tractor that travels along an autonomous travel route generated by an autonomous travel route generation system according to an embodiment of the present invention. The top view of a robot tractor. The block diagram which shows the electric constitution of a robot tractor and a wireless communication terminal. The figure which shows the example of a display of the work vehicle information input screen displayed on a wireless communication terminal. The figure which shows the example of a display of the field information input screen displayed on a wireless communication terminal. The figure which shows the example of a display of the work information input screen displayed on a wireless communication terminal. The flowchart which shows the process performed in an autonomous traveling route production|generation part, when producing an autonomous traveling route. The figure which shows a mode that a some work route is arrange|positioned in order to generate the autonomous drive route which performs a skip run. The figure which shows the group which consists of a specific number of work paths used as a unit of work when performing a skip run. The figure which shows a mode that a work area is divided|segmented and several division is produced|generated. The figure which shows a mode that a work area|region is divided|segmented and several division|segmentation containing the division|segmentation of an exception whose number of work paths is larger than a specific number is produced|generated. The figure which shows a mode that the work order of the work route was determined. FIG. 14 is a diagram showing how an autonomous travel route is generated based on the work order determined in FIG. 13. The figure which shows the example which a tractor makes several turns in a non-working area. The figure which shows the example in which a tractor turns and cuts back several times in a non-working area.

Next, an embodiment of the present invention will be described with reference to the drawings. In the following, the same portions are denoted by the same reference numerals in each drawing, and redundant description may be omitted. In addition, the names of members and the like corresponding to the same reference numerals may be simply paraphrased or may be paraphrased by the names of superordinate concepts or subordinate concepts.

The present invention provides a travel route for autonomously traveling a work vehicle when one or more work vehicles are run in a predetermined field and all or part of agricultural work in the field is executed. The present invention relates to an autonomous travel route generation system for generating. In the present embodiment, a tractor will be described as an example of the work vehicle, but the work vehicle includes a tractor, a rice transplanter, a combine, a civil engineering/construction work device, a snowplow, etc. Is also included. In the present specification, autonomous traveling means that the configuration related to traveling of the tractor is controlled by a control unit (ECU) of the tractor, and the tractor travels along a predetermined route, and autonomous work means It means that the configuration related to the work of the tractor is controlled by the control unit, and the tractor performs the work along a predetermined route. On the other hand, the manual traveling/manual work means that each component provided in the tractor is operated by the operator to perform traveling/work.

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

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

The autonomous travel route generation system 99 according to the present embodiment generates an autonomous travel route 93 for the robot tractor 1 to perform autonomous travel/autonomous work in a field 90 as shown in FIG. The wireless communication terminal 46 shown in FIG. As shown in FIG. 4, the robot tractor 1 includes a control unit 4 that controls traveling and work of the robot tractor 1, and the wireless communication terminal 46 wirelessly communicates with the control unit 4 to allow the robot tractor 1 to operate. It is possible to output a predetermined signal regarding autonomous traveling/autonomous work to the tractor 1. The signal output from the wireless communication terminal 46 to the control unit 4 may be, but is not limited to, a signal regarding a route of autonomous traveling/autonomous work, a start signal, a stop signal, an end signal of autonomous traveling/autonomous work, and the like.

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

The tractor 1 includes a traveling machine body (body portion) 2 capable of autonomously traveling in a field 90. The working machine 3 shown in FIGS. 2 and 3 is detachably attached to the traveling machine body 2. Examples of the working machine 3 include various working machines such as a cultivator (management machine), a plow, a fertilizer applicator, a mower, and a seeder, and a desired working machine 3 is selected from these as needed. Then, it can be mounted on the traveling body 2. The traveling machine body 2 is configured to be able to change the height and the posture of the work machine 3 mounted.

The configuration of the tractor 1 will be described with reference to FIGS. 2 and 3. As shown in FIG. 2, the traveling machine body 2 of the tractor 1 has its front part supported by a pair of left and right front wheels 7, 7 and its rear part supported by a pair of left and right rear wheels 8, 8.

A hood 9 is arranged at the front of the traveling machine body 2. The engine 10, which is a drive source of the tractor 1, a fuel tank (not shown), etc. are accommodated in the hood 9. The engine 10 can be configured by, for example, a diesel engine, but is not limited to this, and may be configured by, for example, a gasoline engine. An electric motor may be adopted as a drive source in addition to or instead of the engine 10.

Behind the hood 9, a cabin 11 is arranged for an operator to board. Inside the cabin 11, there are mainly provided a steering handle 12 for the steering operation by the operator, a seat 13 on which the operator can sit, and various operating devices for performing various operations. However, the work vehicle is not limited to the one with the cabin 11, and may not have the cabin 11.

As the above-mentioned operation device, the monitor device 14, the throttle lever 15, the main speed change lever 27, the plurality of hydraulic operation levers 16, the PTO switch 17, the PTO speed change lever 18, the auxiliary speed change lever 19, and the working machine elevating switch shown in FIG. 28 etc. can be mentioned as an example. These operating devices are arranged near the seat 13 or near the steering handle 12.

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

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

The machine body frame 21 is a support member in the front part of the tractor 1, and supports the engine 10 directly or via a vibration isolating member or the like. The transmission 22 changes the power from the engine 10 and transmits the power to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

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

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

The engine controller 61 controls the rotation speed of the engine 10. Specifically, the engine 10 is provided with a governor device 41 including an actuator (not shown) that changes the rotation speed of the engine 10. The engine controller 61 can control the number of revolutions of the engine 10 by controlling the governor device 41.

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

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

The lifting controller 64 controls lifting of the work machine 3. Specifically, the tractor 1 includes a lifting actuator 44 including a hydraulic cylinder and the like near a three-point link mechanism that connects the work machine 3 to the traveling machine body 2. With this configuration, the elevating controller 64 drives the elevating actuator 44 based on the control signal input from the control unit 4 to appropriately elevate the work implement 3, thereby performing the agricultural work by the work implement 3 at a desired height. It can be performed. By this control, the working machine 3 can be supported at a desired height such as a retracted height (height at which farming is not performed) and a working height (height at which farming is performed).

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

In the tractor 1 including the control unit 4 as described above, an operator rides in the cabin 11 and performs various operations to control each unit of the tractor 1 (the traveling machine body 2, the working machine 3, etc.) by the control unit 4. Then, the farm work can be performed while traveling in the field 90. In addition, the tractor 1 of the present embodiment is capable of autonomous traveling and autonomous work based on a predetermined control signal output from the wireless communication terminal 46 even if the operator does not board the tractor 1. ..

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

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

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

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

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

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

The wireless communication terminal 46 is configured as a tablet-type personal computer, as shown in FIG. The operator can confirm by referring to the information displayed on the display 37 of the wireless communication terminal 46. In addition, the operator controls the tractor 1 by the control unit 4 of the tractor 1 by operating the hardware key 38 arranged near the display 37 and a touch panel (not shown) arranged so as to cover the display 37. A control signal (for example, an emergency stop signal or the like) can be transmitted. The wireless communication terminal 46 is not limited to the tablet type personal computer, and instead of this, for example, it may be configured by a notebook type personal computer. Alternatively, when a manned tractor is run along with the unmanned tractor 1 to perform the above-described cooperative work, the monitor device mounted on the manned tractor can be a wireless communication terminal.

The tractor 1 configured in this manner can perform agricultural work by the work machine 3 while autonomously traveling along a path on the field based on an instruction from an operator using the wireless communication terminal 46.

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

Hereinafter, the configuration of the wireless communication terminal 46 including the autonomous traveling route generation system 99 will be described in more detail mainly with reference to FIG. 4.

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

Specifically, like the control unit 4 of the tractor 1, the control unit 71 of the wireless communication terminal 46 is configured as a computer including a CPU, ROM, RAM, I/O, etc., which are not shown, and the CPU is Various programs can be read from the ROM and executed. Further, the ROM stores an appropriate program for causing the tractor 1 to perform autonomous traveling/autonomous work. Then, by the cooperation of the software and the hardware described above, the wireless communication terminal 46 is controlled by the communication unit 72, the work vehicle information setting unit 51, the field information setting unit 52, the work information setting unit 53, the work area dividing unit 54, and the autonomous operation. It can be operated as the travel route generation unit 47 or the like.

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

The work vehicle information setting unit 51 is for setting information about the tractor 1 (hereinafter, also referred to as work vehicle information). The work vehicle information setting unit 51 includes a model of the tractor 1, a size of the tractor 1, a position where the positioning antenna 6 is attached to the tractor 1, a type of the work machine 3, a size and shape of the work machine 3, and the work machine 3 Regarding the position and the like, the operator can store the contents specified by appropriately operating the wireless communication terminal 46.

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

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

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

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

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

As shown in FIG. 1, the autonomous traveling route 93 is composed of a work route 93a arranged in the work region 91 and a non-work route 93b arranged in the non-work region 92. In the process in which the autonomous travel route generation unit 47 generates the autonomous travel route 93, the work width of the work implement 3 and the work widths of the work implements 3 between the adjacent work routes 93a in the work area 91 partially overlap each other. (Whether possible, the upper limit of the overlapping width), the size and shape of the non-working area 92 (in other words, the width of the headland and the width of the non-cultivated land), the tractor 1 is a non-working path in the headland The number of work routes 93a to be skipped when turning in 93b (the number of skips) and the like are considered. Further, when the unmanned tractor 1 and the manned tractor perform cooperative work, the positional relationship between the unmanned tractor 1 and the manned tractor, the working width of the working machine of the manned tractor, and the like are considered in the process of generating the autonomous traveling route 93. ..

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

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

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

The operator operates the wireless communication terminal 46 to input a numerical value in a text box arranged in each column of the work vehicle information input screen 81 or select from a list of drop-down boxes to perform setting. .. Thereby, various kinds of information regarding the traveling machine body 2 and the working machine 3 can be set.

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

On the farm field information input screen 82, information (the farm field information) on the farm field 90 on which the traveling machine body 2 travels can be input. Specifically, on the farm field information input screen 82, a plane display unit 88 that graphically shows the position and shape of the farm field 90 and the start position and the end position of autonomous traveling is arranged. Further, on the field information input screen 82, buttons for “designate” and “reset” are arranged for each of the outer circumference of the field 90, the start position of autonomous traveling, the end position of autonomous traveling, and the working direction.

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

When the "designate" button of "outer periphery of field" is operated, the wireless communication terminal 46 is switched to the field shape recording mode. In this field shape recording mode, when the operator rides on the tractor 1 and drives it to make one revolution along the outer circumference of the field 90, the position of the field 90 is determined based on the transition of the position information of the positioning antenna 6 at that time. And the shape are acquired (calculated). Thereby, the position and shape of the field 90 can be designated.

The control unit 71 of the wireless communication terminal 46 graphically displays the obtained position and shape of the field 90 on the plane display unit 88 of the field information input screen 82, as shown in FIG. 6. When it is desired to re-designate the position and shape of the field 90, the previously designated content can be discarded by operating the “reset” button, and the “designation” button can be operated again.

Note that instead of designating the position and shape of the field 90 by actually traveling the tractor 1 in the field 90 as described above, for example, a map is displayed on the display 37 of the wireless communication terminal 46 and displayed on the map. By specifying a plurality of points by the operator, the position and shape of the polygon specified by a so-called closed loop graph can be specified as the position and shape of the field 90 so that the lines connecting the specified points do not intersect.

When the "designation" button of the "work start position" is operated, as shown in FIG. 6, the operator autonomously travels to an appropriate point with the designated position and shape of the field 90 displayed on the flat display unit 88. Can be specified as the start position of. A start position mark F1 is displayed at the designated start position. The operation of the "reset" button is the same as above.

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

The field information specified by the operator on the field information input screen 82 is stored in the field information setting unit 52. When the input of the farm field information is completed, the control unit 71 controls the display 37 to display the work information input screen 83 as shown in FIG. 7.

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

In the column of "presence or absence of cooperative work of manned tractor", the robot tractor 1 is autonomously run independently to perform agricultural work (without accompanying manned tractor), or the robot tractor 1 and manned tractor (operated by an operator) It is possible to select whether to perform agricultural work (with accompanying manned tractor) by accompanying it with the tractor on board.

In the case of "with accompanying", select the pattern of the position of the manned tractor with respect to the robot tractor 1 from directly behind the robot tractor 1, diagonally rear left, or diagonally right rear in the "Cooperative work pattern" column. Is possible. Further, in the "Working width of manned tractor" field, the working width of the manned tractor (effective width in which work is performed by the working machine) can be entered.

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

In the "work width overlap allowable amount" field, when the work widths may partially overlap between the work paths 93a adjacent to each other, the upper limit value of the overlap width can be input. If no duplicates are allowed, enter zero in this field.

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

In the column of "width of non-cultivated land", an appropriate value can be set in consideration of working while manually traveling along the outer periphery of the field 90 after the autonomous traveling is completed.

When the operator inputs all the input fields of the work information input screen 83 and operates the “generate autonomous traveling route” button, the autonomous traveling route generating unit 47 generates the autonomous traveling route 93 and the autonomous traveling route 93. Is stored in the work area dividing unit 54. The generated autonomous traveling route 93 is appropriately displayed on the display 37 for confirmation, and the operator can confirm the autonomous traveling route 93 by operating an unillustrated "confirm" button.

After determining the autonomous traveling route 93, the control unit 71 controls to display a route data transfer screen (not shown) on the display 37. On this route data transfer screen, the operator can wirelessly transfer the data of the autonomous traveling route 93 generated by the autonomous traveling route generating unit 47 to the tractor 1 side and store the data in the storage unit 55 included in the tractor 1. ..

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

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

When the “generate autonomous traveling route” button is operated on the work information input screen 83 shown in FIG. 7, first, the shape of the field 90 set on the field information input screen 82 and the work information input screen 83 are set. The work area 91 and the non-work area 92 are defined based on the width of the headland and the width of the non-cultivated land. After that, the process of FIG. 8 is started, and the autonomous travel route generation unit 47 arranges the work routes 93a in the work area 91 at intervals (step S101). Each work route 93a is arranged along the work direction set on the field information input screen 82 of FIG. Further, the work path 93a is arranged in consideration of the work width W of the work machine 3 so that the work machine 3 does not leak to the work area 91 and the work efficiency is good. Will be decided. Since the number of columns (the number) of the work paths 93a arranged in the work area 91 can be calculated based on the size of the work area 91, the work width W of the work machine 3, and the allowable overlap amount, In this step, the number of columns of the work route 93a to be arranged may be calculated without arranging the work route 93a in the work area 91, and the process may proceed to step S102.

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

When the number of skips SN is 0 as a result of the determination in step S102, the autonomous traveling route generation unit 47 travels the working route 93a in order (without skipping) from one end in the direction in which the working route 93a is arranged. Then, the autonomous traveling route 93 that reaches the end on the other side is generated (step S103), and the process ends. Thereby, the autonomous traveling route 93 without skip is generated.

When the skip number SN is 1 or more as a result of the determination in step S102, the autonomous traveling route generation unit 47 determines that the number of work routes 93a (work route number TP) in the work area 91 is the basic unit route number BP or more. It is determined whether or not (step S104).

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

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

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

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

Therefore, step S104 substantially means determining whether the number of work paths 93a arranged in step S101 is sufficient to form at least one of the above groups.

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

When the number of work routes TP is equal to or more than the basic unit route number BP in the determination of step S104, the autonomous traveling route generation unit 47 determines whether the work route number TP is an integral multiple of the basic unit route number BP. (Step S106).

When the number of work routes TP is an integral multiple of the number of basic unit routes BP in the determination of step S106, the autonomous travel route generation unit 47 divides the work area 91 in the direction in which the work routes 93a are arranged to divide the work region 91 into a plurality of sections. S is generated (step S107). This division is performed so that the number of work paths 93a included in each section S is equal to the basic unit path number BP. In FIG. 11, when the skip number SN is 1 (the basic unit route number BP is 5), the work area 91 in which 15 work routes 93a are arranged is divided, and each has 5 work routes 93a. An example of forming three compartments S is shown. However, when the number of work paths TP is equal to the number of basic unit paths BP, there is no need to divide, so one partition S is generated in the entire work area 91.

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

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

The above-mentioned work order means the order of A, C, E, B, D described above when the skip number SN is 1 for the section S (in principle) in which the number of work routes 93a is equal to the basic unit path number BP. When the skip number SN is 2, it means the order of A, D, G, C, F, B, E described above. Note that FIG. 13 shows how the work order of the work route 93a is determined when the number of skips SN is 1 and the work area 91 is divided as shown in FIG. Circled numbers attached to the respective work paths 93a in FIG. 13 indicate the determined work order.

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

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

By the above processing, the autonomous traveling route 93 suitable for the work involving the skip traveling can be generated. 11 to 14 show that the number of skips SN is 1, but when the number of skips SN is 2, as shown in FIG. It can be generated in exactly the same manner as described above except that the point becomes 7, and the work order becomes A, D, G, C, F, B, E.

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

As a result, even when performing work by skip traveling, it is possible to work sequentially from the end of the work area 91 in units of the divided small sections S. Therefore, even when the work is interrupted on the way, it is possible to keep the part where the worked part and the non-worked part alternate in the work area 91 in a small range within the section S. Therefore, it is easy to clarify the location where the work has been completed, and the work can be smoothly resumed. Further, even when the soil environment changes due to rain or the like before and after the work is interrupted, it is possible to prevent a portion having a different work quality from being formed in a comb shape over a wide range.

Further, in the autonomous travel route generation system 99 of the present embodiment, the autonomous travel route generation unit 47 sets the work order for the plurality of work routes 93a based on the skip number SN. When there are a plurality of sections S in which the number of included work paths 93a is equal to the number of basic unit paths BP, the autonomous traveling path generation unit 47, as shown in FIG. 13, each work corresponding to each other among the sections S. The same work order is set for the route 93a.

As a result, a fixed work order can be set for the work route 93a in units of the section S, so that regular skip running can be realized and the generation process of the autonomous running route 93 can be simplified. ..

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

As a result, a section in which the number of included work routes 93a does not reach the basic unit route number BP does not occur, so that the autonomous travel route 93 involving skip travel can be easily generated.

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

In the field 90p shown in FIG. 15, the non-working area 92 has a crank-shaped portion having continuous L-shaped roads. When the non-working route 93b that connects the end points of the work route 93a for which the work order has been determined passes through the portion, the non-working route 93b fits in the non-working region 92 (that is, the tractor 1 is placed in the working region 91). It is generated with a predetermined margin in mind so that it does not enter and does not protrude outside the field 90p). At this time, the turning radius R of the traveling vehicle body 2 is considered in the L-shaped portion. In the example of FIG. 15, since the non-working area 92 has a crank-shaped portion, two extra turns are required in the non-working area 92 as compared with the field 90 shown in FIG.

Further, even in the same field 90p as in FIG. 15, as shown in FIG. 16, it may be necessary to pass through the crank-shaped portion immediately after entering the non-working route 93b from the working route 93a. At this time, even if the vehicle makes a turn on the L-shaped road immediately after entering the non-working route 93b, the traveling machine body 2 or the working machine 3 will protrude to the outside of the field 90p. In this case, as shown in FIG. 16, the non-working route 93b is generated as a route that involves not only the turning of the L-shaped portion, but also a turning back that causes the traveling machine body 2 to move back and forth once.

As described above, when the non-work area 92 has an irregular shape, the autonomous travel route generation unit 47 generates the non-work route 93b so as to accompany turning or turning as necessary, thereby appropriately performing the skip traveling. You can

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

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

Although the number of skips SN can be selected from 1 or 2 in the above-described embodiment, a configuration in which a numerical value of 3 or more can be selected may be adopted if necessary.

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

When the number of skips SN is 0 as a result of the determination in step S102, the autonomous traveling route generation unit 47 generates the autonomous traveling route 93 without dividing the work area 91, but divides the work area 91. In the above, the autonomous traveling route 93 may be generated.

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

By the way, when the work area 91 is divided into a plurality of sections S as shown in FIGS. 13 and 14 or is divided into a plurality of sections S and a single section SE, the tractor 1 performs autonomous traveling/autonomous work. For example, the work order for each section is set in order from the section closest to the start position, and when the work for a specific section is completed, the work is performed in the section adjacent thereto. However, the work order for each section is not limited to this, and any order may be settable.

In the above-described embodiment, the non-working area 92 is determined based on the width of the headland and the width of the non-cultivated land set on the work information input screen 83, and the non-working area 92 is excluded from the field 90 as the remaining area. A work area 91 is defined. However, the method of setting the work area 91 is not limited to the above, and for example, the operator specifies an arbitrary point of the field 90 displayed on the plane display unit 88 on the field information input screen 82 described above, whereby the work area 91 and It may be configured so that the non-working area 92 can be set.

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

1 tractor (work vehicle)
47 Autonomous driving route generation unit (route generation unit)
54 Work Area Divider (Area Divider)
91 Work area (travel area)
93 Autonomous travel route (travel route)
93a Work route (travel route)
99 Autonomous driving route generation system BP Number of basic unit routes (predetermined value)
S partition SE Exceptional partition SN Skip count (reference value)

Claims (2)

An autonomous traveling route generation system for generating a traveling route for autonomously traveling a work vehicle in order to perform work on a predetermined work area,
An area dividing unit that divides the work area into a plurality of sections,
A route generation unit that generates the traveling route so as to include a plurality of traveling routes arranged in each of the sections divided by the area dividing unit;
Equipped with
The area dividing unit is capable of dividing the work area so that the number of the traveling paths included in each section is an odd number equal to each other,
The route generation unit sets a work order for the plurality of travel routes based on a reference value,
When there are a plurality of sections in which the number of the included traveling paths is equal to the odd value, the route generation unit sets the same work order for the respective traveling paths corresponding to each other among the sections. Then
The compartment has a first compartment and a second compartment,
Wherein the first compartment and the second compartment, when the number of the travel path that includes the same, but each travel path to start working and running path to end the work is the same, each Begin An autonomous travel route generation system characterized in that a work start position with respect to a travel route and a work end position with respect to each travel route for finishing the work are different. The autonomous travel route generation system according to claim 1 ,
The area dividing unit, when the number of the traveling roads included in the work area is not an integer multiple of the odd value,
The number of the traveling paths included in the first section is equal to the odd value,
An autonomous travel route generation system, wherein the work area is divided into a plurality of sections such that the number of the travel paths included in the second section is larger than the odd value.

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