JP6748007B2 - Route generation system - Google Patents

Description

The present invention relates to a route generation system including a work route generation unit that generates a route that is autonomously traveled by a work vehicle.

The route generation system as described above is used in an autonomous traveling system that allows a work vehicle to travel autonomously (see, for example, Patent Document 1). In the system described in Patent Document 1, a first area is set in the central portion of a specific area that is a work target such as a farm field. Then, the work route generation unit generates a linear work route for causing the work vehicle to travel back and forth with respect to the first region, changes the traveling direction of the work vehicle around the first region, and then the next work route. To generate a working turning path for connecting to.

International Publication No. 2015/119265

In the system described in Patent Document 1, only a work turning path is generated around the first region, the work vehicle autonomously traveling without performing work, and the work vehicle performs work. However, the work route for autonomous traveling is not generated. Therefore, with respect to the periphery of the first region, for example, the work vehicle has to be driven by a user's manual operation to perform the work, resulting in a reduction in work efficiency.

In view of this actual situation, a main problem of the present invention is to generate a work route around the first area so that the work vehicle can autonomously work around the first area and improve work efficiency. The point is to provide a route generation system capable of performing.

A first characteristic configuration of the present invention is a route generation system that generates a route that is autonomously traveled by a work vehicle,
A work vehicle setting unit for setting the vehicle information of the work vehicle;
The specific region in which the route is generated includes a first region, a second region that is set around the first region, and in which a working turning route in the first region is generated, and a first region. An area setting unit that sets a third area that is an area set around and in which a work turning path in the first area is not generated;
A width setting unit for setting the widths of the second area and the third area,
A work route generation unit that generates a work route over the second region and the third region;
A display unit that displays a plurality of work routes generated by the work route generation unit;
A selection unit that enables selection of one work route from the plurality of work routes;
The display unit displays the plurality of work routes generated according to the values of the widths of the second region and the third region by making the widths of the second region and the third region common or different,
The work route generation unit is characterized in that the work route selected by the selection unit among the plurality of work routes is a route on which the work vehicle autonomously travels.

According to this configuration, the area setting unit can set the entire specific area that is the work target into the first area, the second area, and the third area. The work route generation unit, when the width of the second region and the third region is set to a common width by the width setting unit, as the work route, a circular work route that goes around the second region and the third region. Since it is generated, it is possible to generate the circulating work route for the second region and the third region which are the periphery of the first region. Accordingly, the work route can be generated around the first area, and the autonomous work by the work vehicle can be performed around the first area, so that the work efficiency can be improved.

The second aspect of the present invention, the working path generation unit, a plurality of connecting paths connecting the plurality of front track and the forward path generates including peripheral times working path, the connecting path, the working vehicle Includes a turning circuit and a reverse path that are autonomously driven without performing work, and a specific forward path in which the work vehicle autonomously travels while performing work after the reverse path is generated at a position overlapping the reverse path. It is characterized by that.

According to this configuration, the work route generation unit generates the orbiting work route including the plurality of forward roads and the plurality of connecting roads, so that the work vehicle performs the work while orbiting the second region and the third region. You can Then, the forward path that the work vehicle autonomously travels while performing the work is generated at a position that overlaps with the rearward path where the work vehicle autonomously travels without performing the work, and thus, for the reverse path where the work is not performed The subsequent forward path allows proper work to be performed. Accordingly, it is possible to generate a work route in which the work vehicle autonomously travels while performing work over the entire second region and the third region without leaving a region where work is not performed.

The third characteristic configuration of the present invention, when the width of the second region and the third region are set to different widths by prior Symbol width setting section, the working path generating unit, as the working path, separately for each area It is characterized by generating a work route.

According to this configuration, the work path generation unit individually generates the individual work paths for each of the second area and the third area. Therefore, the width setting section causes the second area and the third area to have different widths. Even when set to 1, it is possible to generate a work route in which the work vehicle autonomously travels while performing work over the entire second and third areas.

In a fourth characteristic configuration of the present invention, the work route generation unit generates the individual work route including a plurality of forward paths and a plurality of reverse paths connecting the forward paths, and the reverse path is defined by the work vehicle. It is a path that autonomously travels without performing work, and the forward path is a path that the work vehicle autonomously travels while performing work.

According to this configuration, the work route generation unit generates the individual work route including the plurality of forward paths and the plurality of reverse routes, so that, for example, a simple individual work route that repeats forward and reverse is generated. Therefore, it is possible to simplify the generation of the individual work route. Then, by making the work vehicle autonomously travel while performing work on the forward path, the work can be performed over the entire second area and the third area, and the work vehicle autonomously operates without performing work on the reverse path. By traveling, it is possible to prevent damage to the work machine mounted on the work vehicle.

In a fifth characteristic configuration of the present invention, the work route generation unit replaces the specific backward route when the route length of a specific backward route is equal to or more than a predetermined route length among the plurality of backward routes, A point is characterized in that a path switching path that changes the traveling direction of the work vehicle and a specific forward path that advances in the backward direction in the specific reverse path are generated.

The reverse route is a route that allows the work vehicle to travel autonomously without performing any work.Therefore, if the route length of the reverse route becomes long, the autonomous traveling distance will increase without performing work, which may lead to lower work efficiency. There is. Therefore, according to this configuration, when the route length of the specific backward route is equal to or greater than the predetermined route length among the plurality of backward routes, the work route generation unit replaces the specific backward route, and the route switching route, In addition, the work vehicle generates a specific forward path that is a path through which the work vehicle autonomously travels while performing work. As a result, the work route generation unit can generate a work route capable of improving work efficiency by generating a specific forward road that performs autonomous work instead of the backward route that does not perform autonomous work. it can.

The sixth characteristic configuration of the present invention, when the width of the second region and the third region are set to different widths by prior Symbol width setting section, the working path generating unit, as the working path, and a second region It is characterized in that a revolving work route that circulates over the third region and a remaining region work route for a region where the revolving work route is not generated are generated.

When the widths of the second region and the third region are set to different widths by the width setting unit, for example, it is only necessary to generate, as the work route, a circular work route that goes around the second region and the third region, In the second area or the third area having the larger width, there is a remaining area in which the circuit work path is not generated. Therefore, according to this configuration, the work route generation unit generates, as the work route, the remaining region work route for the remaining region in addition to the circuit work route. Thereby, the work route can be generated over the entire second area and the third area.
When the seventh characterizing feature of the present invention, which by pre-Symbol width setting section width of the second region and the third region are set to a common width, the working path generating unit, as the working path, the second region And generating a circular working path that circulates over the third region.

Diagram showing the schematic configuration of the autonomous traveling system Block diagram showing the schematic configuration of the autonomous traveling system The figure which shows the work route produced|generated in the 1st area|region, and the turning path for work produced|generated in the 2nd area|region. The figure which shows the orbiting work route produced|generated in the 2nd area|region and the 3rd area|region. The figure which shows the individual work route produced|generated in the 2nd area|region and the 3rd area|region. The figure which shows the individual work route produced|generated in the 2nd area|region and the 3rd area|region. The figure which shows the orbiting work route and remaining region work route which are produced|generated in the 2nd area|region and the 3rd area|region.

An embodiment of an autonomous traveling system using a route generation system according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, this autonomous traveling system includes a tractor 1 as a work vehicle that autonomously travels along a predetermined route, and a wireless communication terminal 2 that can instruct various information to the tractor 1. Is provided. In this embodiment, the reference station 4 that can transmit the positioning correction information to the tractor 1 when the position information of the tractor 1 is acquired is provided.

In FIG. 1, the tractor 1 is illustrated as the work vehicle, but in addition to the tractor, a walk-type work vehicle is also applicable in addition to a passenger work vehicle such as a rice transplanter, a combine, a civil engineering/construction work device, and a snowplow. Further, as for the working machine 5 to be mounted on the tractor 1, FIG. 1 exemplifies a case where a cultivating device is mounted, but not limited to the cultivating device, various working machines such as a plow and a fertilizer applying device can be applied. it can.

As shown in FIG. 2, the tractor 1 includes a vehicle-side wireless communication unit 14, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, and the reference station 4 includes a reference-station-side wireless communication unit 41. ing. As a result, a wireless network system is constructed between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21, and between the vehicle-side wireless communication unit 14 and the reference station-side wireless communication unit 41. And various types of information between the tractor 1 and the reference station 4 can be wirelessly transmitted and received.

As shown in FIG. 2, the tractor 1 is provided with a positioning antenna 11, a vehicle-side control unit 12, a position information acquisition unit 13, a vehicle-side wireless communication unit 14, a storage unit (not shown), and the like. The vehicle-side control unit 12 acquires the current position information (current position of the tractor 1) of the tractor 1 such as a governor device, a transmission device, a brake device, and a steering device (not shown) while the position information acquisition unit 13 acquires the current position information of the tractor 1. The tractor 1 is configured to be capable of autonomous traveling by controlling various devices provided in the. Further, the tractor 1 is provided with an inertial measurement device (not shown) having a triaxial gyro, a three-direction accelerometer, and the like, and the vehicle-side control unit 12 controls the tractor 1 based on the measurement information of the inertial measurement device. It is configured to be able to detect the posture, the direction of the traveling direction, and the like.

As shown in FIG. 1, the positioning antenna 11 is configured to receive a signal from a positioning satellite 3 that constitutes a satellite positioning system (GNSS), for example. The positioning antenna 11 is arranged, for example, on the upper surface of the roof of the cabin of the tractor 1.

As a positioning method using a satellite positioning system, as shown in FIG. 1, a reference station 4 installed at a predetermined reference point is provided, and the satellite positioning of the tractor 1 (mobile station) is performed by the positioning correction information from the reference station 4. A positioning method for correcting the information and obtaining the current position of the tractor 1 can be applied. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. By the way, as for the positioning method, it is possible to use the independent positioning without the reference station 4.

In this embodiment, for example, since RTK positioning is applied, as shown in FIGS. 1 and 2, in addition to the positioning antenna 11 being provided on the tractor 1 on the mobile station side, the reference station 4 is provided. Has been. The position information of the reference point which is the installation position of the reference station 4 is set and grasped in advance. The reference station 4 is arranged at a position (reference point) that does not interfere with the traveling of the tractor 1, such as around the field. The reference station 4 includes a reference station side wireless communication unit 41 and a reference station positioning antenna 42.

In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 3 is measured by both the reference station 4 installed at the reference point and the positioning antenna 11 of the tractor 1 which is the side of the mobile station whose position information is to be obtained. doing. The reference station 4 generates positioning correction information including the measured satellite positioning information and the reference point position information each time the satellite positioning information is measured from the positioning satellite 3 or each time a set period elapses, and the reference station side radio is generated. Positioning correction information is transmitted from the communication unit 41 to the vehicle-side wireless communication unit 14 of the tractor 1. The position information acquisition unit 13 of the tractor 1 corrects the satellite positioning information measured by the positioning antenna 11 using the positioning correction information transmitted from the reference station 4 to obtain the current position information of the tractor 1. The position information acquisition unit 13 obtains, for example, latitude information/longitude information as the current position information of the tractor 1.

The wireless communication terminal 2 is composed of, for example, a tablet-type personal computer having a touch panel, can display various kinds of information on the touch panel, and can also input various kinds of information by operating the touch panel. The wireless communication terminal 2 can be used while being carried by the user outside the tractor 1, and can also be mounted on the side of the driver's seat of the tractor 1 for use.

As shown in FIG. 2, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, a work vehicle setting unit 22, an area setting unit 23, a width setting unit 24, a work route generation unit 25, a display unit (touch panel), and the like. It is equipped. The work route generation unit 25 is configured to generate a route along which the tractor 1 travels autonomously. Further, the wireless communication terminal 2 is provided with a storage unit (not shown), and this storage unit stores various information such as information registered by the user.

In order for the tractor 1 to travel autonomously, field information about a field H, which is a specific region in which a path for autonomously traveling the tractor 1 is generated, and a path for autonomously traveling the tractor 1 are generated. When the user operates the wireless communication terminal 2, the field information about the field H, such as the shape of the field H (see FIG. 3) in which the tractor 1 autonomously travels, is registered. Then, the work route generation unit 25 generates a route for the registered field H. In this way, when there are a plurality of fields H, field information relating to each of the fields H is registered, and various routes are generated in each field.

When the tractor 1 is to travel autonomously, the user operates the wireless communication terminal 2 to select a field H to be worked this time, and to run autonomously this time on the route generated for the field H. Select the route. After the selection of the field H and the route as described above, the autonomous traveling start condition is satisfied, so that the wireless communication terminal 2 can be instructed to start the autonomous traveling. Then, when the user operates the wireless communication terminal 2, it is possible to instruct the tractor 1 to start autonomous traveling and start autonomous traveling.

Since the work route generation unit 25 of the wireless communication terminal 2 generates a route, it is necessary to transmit the route information regarding the route from the wireless communication terminal 2 to the tractor 1. Therefore, the wireless communication terminal 2 transmits the route information to the tractor 1 at a predetermined timing before starting autonomous traveling or after starting autonomous traveling. As a result, in the tractor 1, the vehicle-side control unit 12 acquires the current position information of the tractor 1 by the position information acquisition unit 13, and the tractor along the route based on the route information transmitted from the wireless communication terminal 2. 1 is made to run autonomously. In addition, regarding the current position information of the tractor 1 acquired by the position information acquisition unit 13, not only before the autonomous traveling is started but also after the autonomous traveling is started in real time (for example, a cycle of several hundred milliseconds). It is transmitted from the tractor 1 to the wireless communication terminal 2, and the current position of the tractor 1 and the like can be displayed on the display unit of the wireless communication terminal 2.

The route generation system according to the present invention will be described below.
In this route generation system, a user operates the wireless communication terminal 2 while displaying various screens on the display unit (touch panel) of the wireless communication terminal 2 to allow the tractor 1 to autonomously travel in the field H. Is generating. Therefore, as shown in FIG. 2, the wireless communication terminal 2 includes a work vehicle setting unit 22, an area setting unit 23, a width setting unit 24, a work route generation unit 25, and the like.

The work vehicle setting unit 22 is configured to set the vehicle information of the tractor 1. The vehicle information is, for example, information indicating the model of the tractor 1, the size of the tractor 1 (total length and width), the type and size of the working machine 5 (width), the target vehicle speed and the target engine rotation speed for autonomous traveling, and the like. Is.

As shown in FIG. 3, the area setting unit 23 is configured to set the field H into the first area R1, the second area R2, and the third area R3 separately. The first region R1 is, for example, a region set in the central portion of the field H, and is a region in which the work route generation unit 25 generates the work route P1. The second region R2 is a region set around the first region R1, and is a region in which the work route generation unit 25 generates the work turning route P2 in the first region R1. The third region R3 is a region set around the first region R1, and is a region in which the work route generation unit 25 does not generate the work turning route P2 in the first region R1.

The width setting unit 24 is configured to set the widths of the second region R2 and the third region R3 based on the input information by the user, the work turning path P2 by the work path generating unit 25, and the like.

Here, when the region setting unit 23 sets the first region R1, the second region R2, and the third region R3, how to set the regions can be appropriately changed. For example, the first region R1, the second region R2, and the third region R3 can be set so that the area of the first region R1 is as large as possible. At this time, the width setting unit 24 can set the widths of the second region R2 and the third region R3 according to the region setting by the region setting unit 23.

On the contrary, when the width setting unit 24 sets the widths of the second region R2 and the third region R3, the region setting unit 23 sets the widths of the first region R1 and the first region R1 according to the width setting by the width setting unit 24. It is also possible to set the second region R2 and the third region R3. For example, if the width setting unit 24 sets the widths of the second region R2 and the third region R3 to the same width, the region setting unit 23 adjusts the width of the first region R1 to set the second region R2 and the third region R3. The first region R1, the second region R2, and the third region R3 can be set such that the third region R3 has the same width. In this way, which of the setting by the area setting unit 23 and the setting by the width setting unit 24 is prioritized can be appropriately changed.

The work route generation unit 25 generates a work route so that the tractor 1 performs autonomous work in the entire field H. Specifically, a work route generated in the first region R1 from the work start position S (see FIG. 3) set in the first region R1 to the work end position E (see FIG. 3) , The work route generated in the second region R2 and the third region R3 with the work end position E as a start position are individually generated, and the tractor 1 is autonomously operated on the work route generated in the first region R1. After performing, the autonomous work is performed on the work routes generated in the second region R2 and the third region R3. When the work route is generated in the first region R1, the turning route is generated in the second region R2 as described later, so that the turning route and the work route are generated in the second region R2. However, since the autonomous work is performed in the second region R2 after the autonomous work in the first region R1, the autonomous work is executed in the second region R2 without omission (without leaving an unworked region).

In this way, the autonomous operation by the tractor 1 in the entire area of the field H is achieved by individually generating the path in the central area (corresponding to the first area R1) located in the center of the field H and the peripheral area surrounding the periphery of the central area. Work can be performed without omission (without leaving unworked area). Hereinafter, an example of the work route generated in the first region R1 is shown in FIG. 3, and an example of the work route generated in the second region R2 and the third region R3 is shown in FIGS. 4 to 7.

As shown in FIG. 3, the work route generation unit 25 generates a work route P1 for the first region R1 and a work turning route P2 for the second region R2. The work route P1 is a route for causing the tractor 1 to travel autonomously while performing work on the work machine 5. The work route P1 is one end side (the side where the work start position S is set) in the first region R1. Is a linear path for reciprocating the tractor 1 between the other side and the other end side, and a plurality of the linear paths are generated so as to be aligned in the width direction of the field H over the entire first region R1. .. The work turning path P2 is a path for causing the tractor 1 to travel autonomously without performing work on the work machine 5, and is a path for connecting the work paths P1 generated in the first region R1. The working turning path P2 is generated as a path for turning the tractor 1 by connecting the ends of the two working paths P1 arranged in the width direction of the field H.

The work route generation unit 25 further generates a circular work route Q as a work route not only for the first region R1 but also for the second region R2 and the third region R3 as shown in FIG. There is. In the configuration shown in FIG. 4, the width setting unit 24 sets the widths W2 and W3 of the second region R2 and the third region R3 to a common width (double the working width of the work machine 5 in this embodiment). In this case, the work route generation unit 25 generates, as a work route, a circulating work route Q that circulates over the second region R2 and the third region R3. By the way, in FIGS. 4 to 7, solid lines indicate the route for autonomously traveling the tractor 1 while the working machine 5 is working, and the tractor 1 is autonomously running without performing the work on the working machine 5. The route is indicated by a dotted arrow.

The work route generation unit 25 generates a circular work route Q including a plurality of forward paths Q1 and a plurality of connecting paths Q2 that connect the respective forward paths Q1. The forward path Q1 is a path for causing the tractor 1 to travel autonomously while performing work with the work machine 5, and is formed in a straight line along the outer peripheral direction of the first region R1. The connecting path Q2 includes a turning circuit Q2a and a reverse path Q2b in which the tractor 1 autonomously travels without performing work on the work machine 5, and the tractor 1 performs work on the work machine 5 after the reverse path Q2b. The forward path Q1 that autonomously travels is generated at a position overlapping the backward path Q2b. Incidentally, in FIG. 4, in order to make the forward path Q1 and the backward path Q2b easy to see, the backward path Q2b is shown at a position shifted outward from the forward path Q1. The portion where the backward passage Q2b and the forward passage Q1 overlap is the starting end side portion from the starting end position of the forward passage Q1 to the position advanced by the set distance.

The orbiting work route Q shown in FIG. 4 is the forward path Q1 of the second region R2 located on the lower side in the figure, and starts from the forward route Q1 generated at a position close to the first region R1. The vehicle travels in the order of the forward road Q1 of the third region R3 located, the forward road Q1 of the second region R2 located on the upper side of the drawing, and the forward road Q1 of the third region R3 located on the left side of the drawing in a counterclockwise direction. It is a route. The orbiting work path Q is formed in a spiral shape from the inside of the field H to the outside thereof.

As shown in FIG. 4, not only when the width setting unit 24 sets the widths W2 and W3 of the second region R2 and the third region R3 to a common width, the width setting unit 24 sets the second region R2 and the third region R3 to the common width. When the widths W2 and W3 of the three regions R3 are set to different widths, as shown in FIG. 5, the work route generation unit 25 separates the second region R2 and the third region R3 into individual work routes. The work route K is generated.

The work route generation unit 25 generates an individual work route K including a plurality of forward paths K1 and a plurality of backward paths K2 that connect the respective forward paths K1. The forward path K1 is a path for causing the tractor 1 to travel autonomously while working with the work machine 5, and is formed in a straight line along the outer peripheral direction of the first region R1. A plurality of forward paths K1 are generated so as to be aligned in the width direction of each of the regions R2 and R3. The reverse path K2 is a path through which the tractor 1 autonomously travels without performing work on the work machine 5, and is formed so as to connect the forward paths K1 to each other. The backward path K2 is formed in an inclined shape connecting from the end position of the forward path K1 to the starting end position of the next forward path K1.

Since the individual work route K is individually generated for each of the second region R2 and the third region R3, the work route generation unit 25 causes the inter-region connection route K3 that connects the individual work routes K of different regions. Is being generated. The inter-region connection path K3 includes a turning circuit and a reverse path in which the tractor 1 autonomously travels without performing work on the work machine 5.

As shown in FIG. 5, the individual work route K is not limited to the one including a plurality of forward roads K1 and a plurality of backward routes K2, and the work route generation unit 25 generates the individual work route K shown in FIG. You can also

In FIG. 5, when the route length of the backward route K2 is equal to or greater than the predetermined route length, the work route generating unit 25 replaces the backward route K2 with the route for changing the traveling direction of the tractor 1, as shown in FIG. A forward path K5 that advances in the reverse direction in the switching path K4 and the reverse path K2 is generated.

The work route generation unit 25 includes a linear forward path K1 (a forward path extending along a counterclockwise direction) from one end side to the other end side of each of the regions R2 and R3, and the other end of each of the regions R2 and R3. The straight forward paths K5 (the forward paths extending along the clockwise direction) from one side to the one end side are alternately arranged. The work route generation unit 25 generates a route switching route K4 at both ends of each of the regions R2 and R3. The course switching path K4 is a path on which the tractor 1 travels autonomously without performing work on the work machine 5, and is a turning path that connects the forward path K1 and the forward path K5.

When the widths W2 and W3 of the second region R2 and the third region R3 are set to different widths by the width setting unit 24, as shown in FIG. It is also possible to generate the route Q and the remaining area work route J.

As shown in FIG. 7, the work route generation unit 25 generates a revolving work route Q including a plurality of forward paths Q1 and a plurality of connection paths Q2 connecting the respective forward paths Q1 as in FIG. .. Since the widths W2 and W3 of the second region R2 and the third region R3 are set to different widths by the width setting unit 24, it is only necessary to generate the orbiting work route Q so that the second region R2 or the second region R2 on the larger width side is generated. In the three regions R3, there are remaining regions in which the circular work route Q is not generated. In the structure shown in FIG. 7, the width W3 of the second region R2 located on the lower side in the drawing is large, so that there exists a remaining region in which the circuit work Q is not generated in this second region R2.

Therefore, the work route generation unit 25 generates the remaining region work route J for the remaining region of the second region R2. The work route generation unit 25 generates a remaining region work route J including a plurality of forward paths J1 and a plurality of backward paths J2 connecting the forward paths K1. The forward path J1 is a path for causing the tractor 1 to travel autonomously while working with the work machine 5, and is formed in a straight line along the outer peripheral direction of the first region R1. A plurality of forward paths J1 are generated so as to be aligned in the width direction of the area. The reverse path J2 is a path through which the tractor 1 autonomously travels without performing work on the work machine 5, and is formed so as to connect the forward paths J1 to each other. The backward path J2 is formed in an inclined shape connecting from the end position of the forward path J1 to the starting end position of the next forward path J1.

Regarding the remaining area work route J shown in FIG. 7, when the route length of the backward route J2 is equal to or greater than the predetermined route length, the work route generation unit 25 does not follow the backward route J2, although illustration is omitted. Alternatively, it is also possible to generate a path switching path that changes the traveling direction of the tractor 1 and a forward path that advances in the backward direction in the backward path J2.

As the work routes generated for the second region R2 and the third region R3, four types of work routes shown in FIGS. 4 to 7 are illustrated, but for example, four types of work routes shown in FIGS. Each of the work routes is displayed on the display unit of the wireless communication terminal 2, and the user operates the wireless communication terminal 2, whereby any one of the four types of work routes shown in FIGS. Can also be made selectable.

1 tractor (work vehicle)
22 Work Vehicle Setting Section 23 Area Setting Section 24 Width Setting Section 25 Work Route Generation Section H Field (Specific Area)
J Remaining area Working path K Individual working path K1 Forward path K2 Backward path K4 Path switching path K5 Forward path P1 Working path P2 Work turning path Q Circular working path Q1 Forward path Q2 Connection path R1 First area R2 Second area R3 Second 3 areas

Claims (7)

A route generation system for generating a route autonomously driven by a work vehicle,
A work vehicle setting unit for setting the vehicle information of the work vehicle;
The specific region in which the route is generated includes a first region, a second region that is set around the first region, and in which a working turning route in the first region is generated, and a first region. An area setting unit that sets a third area that is an area set around and in which a work turning path in the first area is not generated;
A width setting unit for setting the widths of the second area and the third area,
A work route generation unit that generates a work route over the second region and the third region;
A display unit that displays a plurality of work routes generated by the work route generation unit;
A selection unit that enables selection of one work route from the plurality of work routes;
The display unit displays the plurality of work routes generated according to the values of the widths of the second region and the third region by making the widths of the second region and the third region common or different,
The route generation system is characterized in that the work route generation unit uses a work route selected by the selection unit among the plurality of work routes as a route on which the work vehicle autonomously travels. The working path generation unit, a plurality of connecting paths connecting the plurality of front track and the forward path generates including peripheral times working path, the connecting path, the working vehicle is autonomous without work 2. A specific forward path, which includes a turning circuit and a reverse path, in which the work vehicle autonomously travels while performing work after the reverse path is generated at a position overlapping with the reverse path. The route generation system described in. If the width of the second region and the third region are set to different widths by prior Symbol width setting section, the working path generating unit, as the working path, and characterized by generating the individual working path for each area The route generation system according to claim 1. The work route generation unit generates the individual work route including a plurality of forward routes and a plurality of reverse routes connecting the forward routes, and the reverse route is a route in which the work vehicle autonomously travels without performing work. 4. The route generation system according to claim 3, wherein the forward road is a route in which the work vehicle autonomously travels while performing work. The work route generation unit changes the traveling direction of the work vehicle in place of the specific reverse route when the route length of the specific reverse route is equal to or more than a predetermined route length among the plurality of reverse routes. The route generation system according to claim 4, wherein the route generation route and the specific forward route that advances in the backward direction in the specific backward route are generated. If the width of the second region and the third region are set to different widths by prior Symbol width setting section, the working path generating unit, as the working path, orbiting circulating over the second region and the third region The route generation system according to claim 1, wherein the route generation system generates a work route and a remaining area work route for a region where the circular work route is not generated and remains. If the width of the second region and the third region are set to a common width by pre Symbol width setting section, the working path generating unit, as the working path, revolves over the second region and the third region The route generation system according to claim 1, wherein a circular work route is generated.

Images