JP6802076B2 - Travel route generation system - Google Patents

Description

The present invention relates to a travel route generation system including a travel route generation unit that generates a travel route of a work vehicle in a field.

In recent years, the position of the vehicle body and the position of the vehicle body have been used for work vehicles such as passenger rice planters, tractors, and combines by using the well-known GPS (Global Positioning System), which is an example of the Global Navigation Satellite System (GNSS). It is considered to be equipped with a satellite navigation device for measuring the orientation, and to autonomously drive a work vehicle in a field so as to follow a preset travel route.
In order to properly and autonomously drive the work vehicle in various fields having different outer peripheral shapes and positions of entry / exit routes with respect to the fields, it is important to generate a travel route for each field.

Conventionally, as a method for generating a travel route in the field of work vehicles, for example, based on the teaching operation to OPERATION a work vehicle manually set the reference line and a working end position and the working start position, the reference N columns of target routes that are parallel to the line and are spaced at regular intervals in consideration of the work width of the work vehicle are generated, and the reference line and the work reference line that are orthogonal to the target route are created through the work start position or work end position. There is one that obtains a traveling route by generating it (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2008-92818 (paragraph numbers 0045 to 0048, FIGS. 7 to 8)

In the above generation method, when the work is performed in a plurality of fields, it is necessary to perform the teaching work by manual operation for each field, which causes a decrease in work efficiency. In addition, only a reciprocating travel route for reciprocating the work vehicle in the field is generated, and a reciprocating travel route for reciprocating the work vehicle along the outer peripheral shape of the field is not generated in the outer peripheral region of the field. There is room for improvement in generating a traveling route that allows the work vehicle to travel appropriately autonomously.

That is, it is desired to be able to generate a traveling route capable of appropriately autonomously traveling the work vehicle in the field without causing a decrease in work efficiency.

As a means for solving the above problems, the traveling route generation system according to the present invention is
It is provided with a travel route generation unit that generates a travel route in the field of the work vehicle, and a storage unit that stores various generation conditions necessary for the travel route generation unit to generate the travel route.
The traveling route generation unit adopts at least the outer peripheral shape of the field, the position of the entry / exit route with respect to the field, and the working width of the work device provided in the work vehicle among the various generation conditions. Generate a driving route,
The storage unit stores the travel path generated by the travel route generation unit, and stores the travel route .
As the traveling route, the traveling route generating unit includes a reciprocating traveling route for reciprocating the work vehicle over two opposing field edges of the field, and the outer peripheral shape of the work vehicle in the outer peripheral region of the field. Generate an orbiting route to orbit along the
The various generation conditions include the position of the farm road side field edge adjacent to the farm road in the field.
The work vehicle is an agricultural material supply vehicle that receives supply of agricultural materials at the field edge on the farm road side.
The traveling route generation unit sets the farm road side field end as a direction changing end portion in the reciprocating traveling route .

According to this means, for example, by storing at least the outer peripheral shape of each field obtained from the field map, the position of the entry / exit route with respect to the field, the work width of the work device obtained from the catalog, and the like in the storage unit. An appropriate travel route for each field considering the outer peripheral shape of the field, the entry / exit route, and the work width of the work equipment, for example, a work vehicle enters the field from the entry / exit route and travels in the field in an efficient procedure. a path exiting the input and the path can be easily produced without performing a teaching operation to OPERATION a work vehicle manually.

Then, since the generated travel path is stored in the storage unit, by reading out the stored travel route, the next work travel, the work travel using another work device having the same work width, and the same work can be performed. It can be used when working with other work vehicles of width.

That is, it is possible to appropriately autonomously drive the work vehicle in the field without causing a decrease in work efficiency, and it is possible to generate a travel route having a high utilization rate.
According to this means, by providing an agricultural material supply device that supplies agricultural materials to the field, it is possible to generate a traveling route suitable for a work vehicle that requires a reciprocating traveling route and a circular traveling route.
According to this means, for example, when the work vehicle is an agricultural material supply vehicle equipped with an agricultural material supply device, the work vehicle is replenished with spare agricultural materials or fuel loaded on the truck stopped on the farm road. It will be easier.
For example, when the work vehicle is a harvesting work vehicle such as a combine equipped with a harvesting device, it becomes easy to transfer the harvested material to the loading platform of a truck stopped on a farm road.

As one of the means for making the present invention more suitable,
The various generation conditions include the position and shape of obstacles in the field.
The traveling route generation unit generates the traveling route in consideration of the position and shape of the obstacle.

According to this means, in a field where an obstacle such as an intake port or a utility pole exists, it is possible to generate an appropriate traveling route in consideration of the obstacle.

Further, the traveling route generation system according to the present invention is
It is provided with a travel route generation unit that generates a travel route in the field of the work vehicle, and a storage unit that stores various generation conditions necessary for the travel route generation unit to generate the travel route.
The traveling route generation unit adopts at least the outer peripheral shape of the field, the position of the entry / exit route with respect to the field, and the working width of the work device provided in the work vehicle among the various generation conditions. Generate a driving route,
The storage unit stores the travel path generated by the travel route generation unit, and stores the travel route.
As the traveling route, the traveling route generating unit includes a reciprocating traveling route for reciprocating the work vehicle over two opposing field edges of the field, and the outer peripheral shape of the work vehicle in the outer peripheral region of the field. Generate an orbiting route to orbit along the
The outer peripheral shape of the field includes the length of each field edge in the field.
When there is a difference between the length of the pair of field edges extending in the vertical direction of the field and the length of the pair of field edges extending in the horizontal direction of the field, the traveling path generation unit has a pair of short lengths. The field edge is set at the end for changing direction in the reciprocating travel path,
The round-trip travel route includes a plurality of outward work routes and a plurality of return work routes that are alternately adjacent to each other.
In the traveling route generation unit, the shape of the field is such that the edges of the fields facing each other in the vertical direction and the horizontal direction of the field are lined up at regular intervals or substantially constant intervals, and the working apparatus In the case of an agricultural material supply device that supplies agricultural materials to the field, the outbound work route farthest from the entry / exit route is set as the travel start route of the work vehicle in the round-trip travel route.
The circuit traveling route is set from the route following the traveling end route in the round-trip traveling route toward the entry / exit route.

According to this means, the number of turns of the vehicle body at the ridge can be reduced, and the running performance of the vehicle body in the field can be improved.
According to this means, the travel end point on the round-trip travel route is closer to the travel start point on the circuit travel route, which is generated so that the work vehicle exits from the entry / exit route well. The work vehicle can be efficiently moved from the end point of the route to the start point of the circuit route in a short time.

Further, the traveling route generation system according to the present invention is
It is provided with a travel route generation unit that generates a travel route in the field of the work vehicle, and a storage unit that stores various generation conditions necessary for the travel route generation unit to generate the travel route.
The traveling route generation unit adopts at least the outer peripheral shape of the field, the position of the entry / exit route with respect to the field, and the working width of the work device provided in the work vehicle among the various generation conditions. Generate a driving route,
The storage unit stores the travel path generated by the travel route generation unit, and stores the travel route.
As the traveling route, the traveling route generating unit includes a reciprocating traveling route for reciprocating the work vehicle over two opposing field edges of the field, and the outer peripheral shape of the work vehicle in the outer peripheral region of the field. Generate an orbiting route to orbit along the
The outer peripheral shape of the field includes the length of each field edge in the field.
In the traveling route generation unit, either one of the pair of field edges extending in the vertical direction of the field and the pair of field edges extending in the horizontal direction of the field has a length that is an integral multiple or a substantially integer multiple of the working width. If having the pair of the field edge to have a integral multiple or length of substantially an integral multiple of the working width is set to the end for turning in the round trip path.

According to this means, in a passenger rice transplanter equipped with an agricultural material supply device for arranging and supplying agricultural materials to a field in a plurality of rows, the vehicle body is driven without using each row clutch (not shown) for changing the number of work rows. Can be made to.

As one of the means for making the present invention more suitable,
The various generation conditions include a specific auxiliary work point for performing auxiliary work related to the supply and discharge of an in-vehicle object whose in-vehicle amount changes as the work vehicle travels.
The round-trip travel route includes a plurality of outward work routes and a plurality of return work routes that are alternately adjacent to each other.
The travel route generation unit sets the outward work route farthest from the auxiliary work point as the travel start route of the work vehicle on the reciprocating travel route.

According to this means, as the work traveling on the reciprocating travel route progresses and the work vehicle approaches the auxiliary work point, the vehicle body can be efficiently moved between the interruption point of the work travel and the auxiliary work point in a short time.

As one of the means for making the present invention more suitable,
When a plurality of the entry / exit routes exist, the travel route generation unit sets the entry / exit route closest to the field on which the work vehicle travels next as the exit route of the work vehicle.

According to this means, when working in a plurality of fields, the vehicle body can be efficiently moved between the fields in a short time.

As one of the means for making the present invention more suitable,
The various generation conditions include existing travel routes on which other work vehicles have traveled in the field.
The travel route generation unit generates the travel route in consideration of the existing travel route.

According to this means, for example, when the work vehicle using the current travel route is an agricultural material supply vehicle and the other work vehicle is a substitute scraping work vehicle, it is good to follow the substitute scraping route leveled by the substitute scraping work vehicle. Can supply materials.
For example, if the work vehicle that uses this travel route is a head-feeding combine harvester and the other work vehicle is a passenger rice transplanter, the rice transplanter will harvest rice planted in multiple rows. , It becomes easier to properly harvest rice along the rows.

As one of the means for making the present invention more suitable,
The various generation conditions include an existing travel route on which the work vehicle has previously traveled in the field.
The travel route generation unit generates the travel route in consideration of the existing travel route.

According to this means, it is possible to avoid the formation of groove-shaped ruts on the tillage board of the field by the same work vehicle always traveling on the same travel path.

As one of the means for making the present invention more suitable,
The various generation conditions include the field environment including the degree of sunlight and ventilation of the field.
The travel route generation unit generates the travel route in consideration of the field environment.

According to this means, when the work vehicle is a passenger rice transplanter or a sowing machine, it is possible to improve the sunlight and ventilation of the seedlings and the like, and it is possible to improve the growth of the seedlings and the like.

As one of the means for making the present invention more suitable,
When the work device is an agricultural material supply device that supplies agricultural materials to the field, the travel route generation unit sets the end of the reciprocating travel path to a position closest to the entry / exit route in the reciprocating travel route. ..

According to this means, the travel end point on the round-trip travel route is the closest to the travel start point on the circuit travel route, which is generated so that the work vehicle exits from the entry / exit route well. The work vehicle can be efficiently moved from the travel end point of the travel route to the travel start point of the circuit travel route in a shorter time.

As one of the means for making the present invention more suitable,
It is equipped with an artificially operated order setting unit that sets priorities for the various generation conditions.
The traveling route generation unit generates the traveling route in consideration of the priority order set by the artificial operation of the ranking setting unit.

According to this means, it is possible to generate a traveling route suitable for each field.

As one of the means for making the present invention more suitable,
A display unit that displays a predetermined number of selection information related to the selection of the travel route, and
It is provided with an operation unit that enables artificial selection of a predetermined number of the selection information displayed on the display unit.
The various generation conditions include a predetermined number of priority generation conditions having a high priority.
The travel route generation unit generates a predetermined number of the travel routes according to the predetermined number of the priority generation conditions, and displays a predetermined number of the selection information according to the predetermined number of the travel routes on the display unit. When a command is given and one of the predetermined number of the selection information is selected by the artificial operation of the operation unit, the actual travel route on which the work vehicle actually travels on the travel route according to the selected selection information. To decide.

According to this means, the traveling route generation unit generates a predetermined number of traveling routes based on a predetermined number of priority generation conditions having a high priority according to the field, and also generates a predetermined number of traveling routes according to the predetermined number of traveling routes. Since the selection information is displayed on the display unit, the operator operates the operation unit to select one of the predetermined number of selection information displayed on the display unit according to the request, and the operator responds to the request. It is possible to use the travel route.
That is, the travel route desired by the operator can be easily used with a simple operation.

It is the whole left side view of a passenger rice transplanter. It is a block diagram which shows the structure of the travel path generation system. It is a figure which shows an example of the traveling path generated based on the basic condition. It is a figure which shows another example of the traveling path generated based on the basic condition. It is a figure which shows the traveling route generated by considering an obstacle. It is a figure which shows the traveling route generated by considering the auxiliary work point. It is a figure which shows the traveling route generated by considering two entrance / exit routes under the basic condition. It is a figure which shows the traveling path generated by considering the length of the straight line part at the field edge.

Hereinafter, an example of a mode for carrying out the present invention will be described with reference to the drawings.

As shown in FIG. 1, the passenger rice transplanter exemplified in the present embodiment is connected to a passenger-type four-wheel drive type traveling vehicle body 1 and a rear portion of the traveling vehicle body 1 so as to be able to move up and down via a link mechanism 2. It is equipped with a seedling planting device (an example of an agricultural material supply device) 3 and a fertilizer application device (an example of an agricultural material supply device) 4 arranged at the rear of the traveling vehicle body 1.

As shown in FIGS. 1 and 2, the traveling vehicle body 1 has an engine 5 mounted on the front portion of the traveling vehicle body 1 with vibration isolation, a hydrostatic continuously variable transmission, and the like, and shifts the power from the engine 5. Seedlings are planted from the speed change unit 6, the left and right front wheels 7 that can be steered by the power after the shift by the speed change unit 6, the left and right rear wheels 8 that are driven by the power after the shift by the speed change unit 6, and the speed change unit 6. Controls the operation of the elevating drive unit 11, the hydraulic elevating drive unit 11, etc., which has a clutch unit 9 for interrupting transmission to the device 3 and the fertilizer application device 4, a hydraulic cylinder 10, and the like to elevate and drive the seedling planting device 3. It includes an electronic control unit (hereinafter referred to as an ECU) 12, an automatic driving system 13 that enables automatic operation of the traveling vehicle body 1, a traveling route generation system 14 that generates a traveling route, and the like.

The automatic driving system 13 includes a manual selection switch 15 that enables selection between a manual driving mode and an automatic driving mode, an automatic shifting unit 16 that enables automatic shifting operation of the shifting unit 6, and left and right front wheels 7. Automatic steering unit 17 that enables automatic steering of the vehicle, automatic clutch operation unit 18 that enables automatic operation of the clutch unit 9, positioning unit 19 that measures the position and orientation of the traveling vehicle body 1, and automatic shifting in the automatic operation mode. It includes an automatic operation control unit 20 that controls the operation of the unit 16 and the like.

The ECU 12 includes a microprocessor having a CPU, EEPROM, and the like. The automatic operation control unit 20 is constructed inside the ECU 12 by a control program or the like.

The positioning unit 19 is a satellite navigation device 21 that measures the position and orientation of the traveling vehicle body 1 by using a well-known GPS (Global Positioning System), which is an example of a global navigation satellite system (GNSS). An inertial measurement unit (IMU:) that has a 3-axis gyroscope (not shown) and a 3-direction acceleration sensor (not shown) to measure the yaw angle, pitch angle, roll angle, etc. of the traveling vehicle body 1. Inertial Measurement Unit) 22, etc. are provided. Positioning methods using GPS include DGPS (Differential GPS) and RTK-GPS (Real Time Kinematic GPS), but in this embodiment, RTK-GPS suitable for positioning of a moving body is adopted. ..

The satellite navigation device 21 provides an antenna unit 23 for satellite navigation that receives radio waves transmitted from GPS satellites (not shown) and positioning data transmitted from a reference station (not shown) installed at a known position. I have. The reference station transmits the positioning data obtained by receiving the radio waves from the GPS satellites to the satellite navigation system 21. The satellite navigation system 21 obtains the position and orientation of the traveling vehicle body 1 based on the positioning data obtained by receiving the radio waves from the GPS satellites and the positioning data from the reference station.

A storage unit that stores various generation conditions necessary for the travel route generation system 14, the travel route generation unit 24 that generates the travel route R in the field of the work vehicle, and the travel route generation unit 12B to generate the travel route R. 25, an input device 26 that enables data input such as a field map or input of various generation conditions to the travel route generation unit 24 or the storage unit 25, and an output device that enables output of the generated travel route R and the like. 27, a communication module 29 set to connect to enable wireless communication with a communication terminal 28 such as a smartphone or tablet, and the like.

The travel path generation unit 24 is constructed inside the ECU 12 by a control program or the like. The storage unit 25 is constructed by an EEPROM or the like inside the ECU 12. The storage unit 25 includes a field map in which various information such as the position and shape of each field to be worked is recorded, and as various generation conditions, the work width of various work devices such as the seedling planting device 3. W, the outer shape of the field for each field to be worked on, the position of the entry / exit route Rz with respect to the field, the position and shape of obstacles in the field, the position of the field edge on the farm road side adjacent to the farm road in the field, and the traveling of the work vehicle. A specific auxiliary work point that performs auxiliary work related to the supply and discharge of in-vehicle objects, the existing travel route on which other work vehicles such as tractors or combines have traveled, and the existing travel route on which this passenger rice transplanter has previously traveled. , The degree of sunlight in the field, and the ventilation in the field, etc. are stored. The outer peripheral shape of the field includes the length of each field edge in the field.

The input device 26 includes a number input unit 26A for inputting a registration number assigned to each field to be worked on, a display unit 26B for displaying the input registration number and various generation conditions related to the field corresponding to the registration number. A selection operation unit 26C that enables selection of various generation conditions, a work order input unit 26D that sets a work order when performing work in a plurality of fields, and the like are provided. As a result, the operator can create an auxiliary workability such as generation of a travel path R that emphasizes the runnability of the riding rice transplanter in the field and supply of seedlings to the riding rice transplanter from various generation conditions related to the field to be worked. It is possible to select the generation conditions necessary for the generation of the traveling route R with emphasis on the generation of the traveling route R with emphasis on the growth of seedlings in the field.

As shown in FIGS. 3 and 4, the traveling route generation unit 24 relates to the generation of the traveling route R, for example, when the traveling route R is generated in a rectangular field and the generation condition is not selected by the operator. The traveling route R is generated based on the basic conditions of the working width W of the work device, the outer peripheral shape of the field, and the position of the entry / exit route Rz with respect to the field. In this case, first, a pair of first field edges Aa extending in the vertical direction of the field and a pair of second field edges Ab extending in the horizontal direction of the field are an integral multiple or a substantially integer multiple of the working width W of the seedling planting apparatus 3. Determine if it has the length of. When only the length of the second field edge Ab is an integral multiple or approximately an integral multiple of the working width W, the reciprocating travel path Ra for reciprocating the vehicle body in the vertical direction of the field and the vehicle body in the outer peripheral region of the field are used in the field. A circular traveling path Rb that orbits along the outer peripheral shape of the above is generated. Next, based on the fact that the work vehicle is a passenger rice transplanter and the position of the entry / exit route Rz, from the entry / exit route Rz among the plurality of outbound work routes Raa and the plurality of return route work routes Rab included in the round-trip travel route Ra. The farthest outbound work route Raa is set as the first work route R1, and the traveling order is set so that the vehicle body reciprocates from the first work route R1 toward the entry / exit route Rz. Then, in the circuit traveling route Rb, a route adjacent to the final route R10 of the reciprocating traveling route Ra is set as the 11th working route R11 following the final route R10 of the reciprocating traveling route Ra, and the entry / exit route Rz starts from the 11th working route R11. The running order is set so that the vehicle body orbits toward the vehicle (see FIG. 3).
By generating the traveling path R in this way, the vehicle body can be changed from the first working path R1 to the entry / exit path Rz without using each row clutch (not shown) for changing the number of planting rows of the seedling planting device 3. It can be continuously and efficiently driven toward the vehicle.

In the above field, if the lengths of both the first field edge Aa and the second field edge Ab are integral multiples or substantially integral multiples of the working width W, or if they are not integer multiples or substantially integral multiples, first, the first Of the field edge Aa and the second field edge Ab, the shorter first field edge Aa is set as the end for changing the direction in the reciprocating travel path Ra, and the pair of first field edge Aa is set as the travel path R. A reciprocating travel path Ra that reciprocates the vehicle body over the entire range and a reciprocating travel path Rb that orbits the vehicle body along the outer peripheral shape of the field in the outer peripheral region of the field are generated. Next, based on the fact that the work vehicle is a passenger rice transplanter and the position of the entry / exit route Rz, the outbound work route Raa farthest from the entry / exit route Rz in the round-trip travel route Ra is set as the first work route R1. The traveling order is set so that the vehicle body reciprocates from the first work route R1 toward the entry / exit route Rz. Then, in the circuit traveling route Rb, a route adjacent to the final route R6 of the reciprocating traveling route Ra is set as the seventh working route R7 following the final route R6 of the reciprocating traveling route Ra, and the entry / exit route Rz starts from the seventh working route R7. The running order is set so that the vehicle body orbits toward the vehicle (see FIG. 4).
By generating the traveling path R in this way, the number of turns of the vehicle body at the ridge can be reduced, and the traveling performance of the vehicle body in the field can be improved. In addition, the vehicle body can be continuously and efficiently traveled from the first work path R1 toward the entry / exit path Rz.

In the above field, if the lengths of both the first field edge Aa and the second field edge Ab are not an integral multiple or a substantially integer multiple of the working width W, the distance for using each strip clutch becomes longer. Ab is set at the end for changing the direction in the reciprocating travel path Ra, and the reciprocating travel path Ra and the orbital travel path Rb are generated.
As a result, the working mileage in which each inter-row clutch is used can be shortened.

As shown in FIG. 5, when the travel path generation unit 24 generates a travel path R in a rectangular field where an obstacle 30 such as a drainage port or a steel tower exists, the position and shape of the obstacle 30 are different. Since it is included in the basic conditions for generating the travel route R, the travel route R is generated in consideration of the position and shape of the obstacle 30. For example, the position and shape of the obstacle 30 are the positions and shapes illustrated in FIG. 5, and the generation condition for setting the first field edge Aa as the end for changing the direction in the reciprocating travel path is satisfied. For example, the reciprocating travel route Ra includes a route at the ridge from the obstacle 30 to one of the first field edges Aa, and a route adjacent to the ridge route is included in the circuit route Rb. A circuit traveling path Rb is generated. Next, based on the fact that the work vehicle is a passenger rice transplanter and the position of the entry / exit route Rz, the above-mentioned ridge route (outward work route Raa) is set as the first work route R1, and this first work route is set. A route (return work route Rab) adjacent to R1 and the orbital travel route Rb is set as the second work route R2, and the vehicle travels in order from the second work route R2 toward the entry / exit route Rz. Set the ranking. Then, in the circuit traveling route Rb, a route adjacent to the final route R6 of the reciprocating traveling route Ra is set as the seventh working route R7 following the final route R6 of the reciprocating traveling route Ra, and the entry / exit route Rz starts from the seventh working route R7. The running order is set so that the vehicle body runs around toward.
By generating the traveling path R in this way, even in the field where the obstacle 30 exists, the vehicle body can be moved while improving the traveling performance in the field by reducing the number of turns of the vehicle body at the ridge. It is possible to continuously and efficiently travel from one work route R1 toward the entry / exit route Rz.

For example, when the travel route generation unit 24 generates the travel route R in a rectangular field, if the operator sets the position of the farm road side field edge Ac adjacent to the farm road as the generation condition, the farm road side field If the end Ac is the first field end Aa, the first field end Aa is set as the end for changing the direction in the reciprocating travel route, and the traveling route R is the reciprocating traveling route Ra illustrated in FIG. Generate a path Rb. Next, the traveling order illustrated in FIG. 4 is set based on the fact that the work vehicle is a passenger rice transplanter and the position of the entry / exit route Rz. If the farm road side field end Ac is the second field end Ab, the second field end Ab is set as the end for changing the direction in the reciprocating travel route, and the reciprocating travel illustrated in FIG. 3 is used as the travel route R. A route Ra and a circuit traveling route Rb are generated. Next, the traveling order illustrated in FIG. 3 is set based on the fact that the work vehicle is a passenger rice transplanter and the position of the entry / exit route Rz.
By generating the traveling route R in this way, it becomes easy to replenish the passenger rice transplanter such as spare seedlings and fertilizer loaded on the truck stopped on the farm road.

As shown in FIG. 6, the traveling route generation unit 24 is assisting work of supplying spare seedlings, fertilizer, etc. to the passenger rice transplanter by the operator when generating the traveling route R in a rectangular field, for example. the If a particular auxiliary working point P performed is set to generate conditions present in the second field end a b of auxiliary working point P is separated from the input and the path Rz, and round trip path a first field end Aa If the generation conditions set at the end for changing direction in the above are satisfied, the reciprocating travel path Ra for reciprocating the vehicle body over the pair of first field ends Aa and the vehicle body in the outer peripheral region of the field are formed into the outer peripheral shape of the field. A circuit traveling path Rb to be rotated along the line is generated. Next, based on the fact that the work vehicle is a passenger rice transplanter and the auxiliary work point P, the outbound work route Raa farthest from the auxiliary work point P is set as the first work route (running start route) R1. The traveling order is set so that the vehicle body reciprocates from the first work path R1 toward the auxiliary work point P in order. Then, set the seventh working path R7 subsequent farthest route from the final path R6 reciprocating travel route Ra in circulating travel path Rb final path R 6 of the reciprocating travel path Ra, and out from the seventh working path R7 sequentially The running order is set so that the vehicle body orbits toward the route Rz.
By generating the travel path R in this way, the work travel on the reciprocating travel route Ra progresses and the passenger rice transplanter approaches the auxiliary work point P, so that the vehicle body spans the interruption point of the work travel and the auxiliary work point P. You can move efficiently in a short time.

As shown in FIG. 7, when the travel route generation unit 24 generates the travel route R in a rectangular field having two entry / exit routes Rz, for example, the work order of the field and the position of the field set by the operator. Based on the information etc., the entry / exit route Rz close to the field where the work is performed immediately before this field is set as the approach route Rza, and the entry / exit route Rz close to the field where the work is performed next to this field is set as the exit route Rzb. A round-trip travel route Ra and a circuit travel route Rb suitable for these settings are generated, and the travel order is set.
By generating the traveling path R in this way, it is possible to efficiently move the vehicle body between the fields when working in a plurality of fields in a short time.

As shown in FIG. 8, for example, when there is a difference between the length of the straight line portion at the first field edge Aa and the length of the straight line portion at the second field edge Ab of the field, the travel path generation unit 24 is a straight line. A pair of field edges (first field edge Aa) having a short portion length are set as the end portions for changing the direction in the reciprocating travel path Ra to generate the reciprocating travel path Ra and the orbital travel path Rb. Next, the traveling order is set based on the fact that the work vehicle is a passenger rice transplanter and the position of the entry / exit route Rz.
By generating the traveling path R in this way, the straight path that does not require steering becomes longer, the traveling performance of the vehicle body is improved, and the vehicle body is continuously and efficiently directed from the first working path R1 to the entry / exit route Rz. Can be run.

As shown in FIGS. 3, 4, 7, and 8, in the traveling route generation unit 24, for example, the shape of the field is such that the field edges facing each other in the vertical direction and the horizontal direction of the field are at regular intervals or substantially. When the shape is arranged at regular intervals, the work device is the seedling planting device 3 for planting seedlings in the field, so that the outbound work route Raa farthest from the entry / exit route Rz is set as the first work route (running start route). ) Set to R1.
With this setting, the travel end point on the round-trip travel route Ra is closer to the travel start point on the circuit travel route Rb, which is generated so that the vehicle body exits from the entry / exit route Rz well. , The vehicle body can be efficiently moved from the travel end point of the round-trip travel route Ra to the travel start point of the circuit travel route Rb in a short time.

As shown in FIGS. 3, 4, 7, and 8, the travel path generation unit 24 ends the travel of the reciprocating travel path Ra based on the fact that the work device is the seedling planting device 3 for planting seedlings in the field. The point (end) is set at the position closest to the entry / exit route Rz in the round-trip travel route Ra.
With this setting, the travel end point on the round-trip travel route Ra is closest to the travel start point on the circuit travel route Rb, which is generated so that the vehicle body exits from the entry / exit route Rz well. Therefore, the vehicle body can be efficiently moved from the travel end point of the round-trip travel route Ra to the travel start point of the circuit travel route Rb in a shorter time.

When the operator sets the existing travel route on which the tractor of the puddling specification (an example of another work vehicle) has traveled in the field as the generation condition, the travel route generation unit 24 is designed to match the existing travel route as much as possible. The travel path R is generated in.
By generating the traveling path R in this way, good planting can be performed through the scavenging path leveled by the scavenging work of the tractor.

When the operator sets the existing travel route that the passenger rice transplanter has traveled in this field as the generation condition, the travel route generation unit 24 sets the round-trip travel route Ra of this time as the reciprocating travel route Ra of the existing route as much as possible. The traveling route R is generated so that the route directions intersect with each other.
By generating the traveling route R in this way, it is possible to avoid the formation of groove-shaped ruts on the tillage board of the field because the same work vehicle always travels on the same traveling route R.

When the operator sets the sunlight condition of the field as the generation condition, the travel route generation unit 24 generates the reciprocating travel route Ra so that the route direction of the reciprocating travel route Ra follows the sunny direction.
By generating the reciprocating travel path Ra in this way, the sunlight of the seedlings can be improved and the growth of the seedlings can be improved.

When the operator sets the ventilation in the field as the generation condition, the travel route generation unit 24 generates the reciprocating travel route Ra so that the route direction of the reciprocating travel route Ra follows the direction of good ventilation.
By generating the reciprocating travel path Ra in this way, it is possible to improve the ventilation of the seedlings and improve the growth of the seedlings.

As shown in FIG. 2, the input device 26 is provided with an artificially operated order setting unit 12F for setting priorities for various generation conditions.
When the priority of the generation condition is set by the artificial operation of the order setting unit 12F, the travel route generation unit 24 generates the travel route R in consideration of the set priority.
This makes it possible to generate a travel path R suitable for each field.

The storage unit 25 is configured to store the travel path R generated by the travel route generation unit 24.

[Another Embodiment]
The present invention is not limited to the configurations exemplified in the above-described embodiments, and the following, typical alternative embodiments relating to the present invention will be exemplified.

[1] The travel route generation system 14 may be constructed in another work vehicle such as a tractor and a combine.

[2] The travel route generation system 14 may be constructed on a personal computer or tablet owned by the farmer, or may be constructed on the personal computer or tablet owned by the farmer and the work vehicle.

[3] The travel route generation system 14 may be constructed by a personal computer or tablet owned by a farmer and an agricultural support system owned by an agricultural machinery manufacturer.

[4] In the travel route generation system 14, a predetermined number of selection information regarding the selection of the travel route R is displayed on the display unit 26B of the input device 26, and the input device 26 selects a predetermined number of selections displayed on the display unit 26B. An operation unit 26C that enables artificial selection of information is provided, and various generation conditions include a predetermined number of priority generation conditions having a high priority, and the traveling route generation unit 24 generates a predetermined number of priorities. A predetermined number of travel paths R are generated according to the conditions, a predetermined number of selection information is displayed to the display unit 26B according to the predetermined number of travel paths R, and a predetermined number is manually operated by the operation unit 26C. When one of the selection information of the above is selected, the travel route R according to the selected selection information may be configured to determine the actual travel route on which the work vehicle actually travels.

[5] The generation of the travel path R by the travel route generation unit 24 can be variously changed according to the generation conditions. For example, the orbital travel route Rb has a length of two or 1.5 laps. The round-trip travel path Ra and the orbital travel route Rb may be generated.

The present invention can be applied to a travel route generation system that generates a travel route for a work vehicle in a field.

3 Work equipment (agricultural material supply equipment)
24 Travel route generation unit 25 Storage unit 26B Display unit 26C Operation unit 26E Rank setting unit 30 Obstacles Aa 1st field end Ab 2nd field end Ac Farm road side field end P Auxiliary work point R Travel route R1 Travel start route Ra Round trip Route Raa Outbound work route Rab Return work route Rb Circular travel route Rz In / out route Rzb Exit route W Work width

Claims (13)

It is provided with a travel route generation unit that generates a travel route in the field of the work vehicle, and a storage unit that stores various generation conditions necessary for the travel route generation unit to generate the travel route.
The traveling route generation unit adopts at least the outer peripheral shape of the field, the position of the entry / exit route with respect to the field, and the working width of the work device provided in the work vehicle among the various generation conditions. Generate a driving route,
The storage unit stores the travel path generated by the travel route generation unit, and stores the travel route .
As the traveling route, the traveling route generating unit includes a reciprocating traveling route for reciprocating the work vehicle over two opposing field edges of the field, and the outer peripheral shape of the work vehicle in the outer peripheral region of the field. Generate an orbiting route to orbit along the
The various generation conditions include the position of the farm road side field edge adjacent to the farm road in the field.
The work vehicle is an agricultural material supply vehicle that receives supply of agricultural materials at the field edge on the farm road side.
The travel route generation unit is a travel route generation system that sets the farm road side field end as a direction change end in the reciprocating travel route . It is provided with a travel route generation unit that generates a travel route in the field of the work vehicle, and a storage unit that stores various generation conditions necessary for the travel route generation unit to generate the travel route.
The traveling route generation unit adopts at least the outer peripheral shape of the field, the position of the entry / exit route with respect to the field, and the working width of the work device provided in the work vehicle among the various generation conditions. Generate a driving route,
The storage unit stores the travel path generated by the travel route generation unit, and stores the travel route .
As the traveling route, the traveling route generating unit includes a reciprocating traveling route for reciprocating the work vehicle over two opposing field edges of the field, and the outer peripheral shape of the work vehicle in the outer peripheral region of the field. Generate an orbiting route to orbit along the
The outer peripheral shape of the field includes the length of each field edge in the field.
In the traveling route generation unit, either one of the pair of field edges extending in the vertical direction of the field and the pair of field edges extending in the horizontal direction of the field has a length that is an integral multiple or a substantially integer multiple of the working width. A travel route generation system that sets a pair of field edges having a length that is an integral multiple or substantially an integral multiple of the work width at the end portion for changing the direction in the round-trip travel route . It is provided with a travel route generation unit that generates a travel route in the field of the work vehicle, and a storage unit that stores various generation conditions necessary for the travel route generation unit to generate the travel route.
The traveling route generation unit adopts at least the outer peripheral shape of the field, the position of the entry / exit route with respect to the field, and the working width of the work device provided in the work vehicle among the various generation conditions. Generate a driving route,
The storage unit stores the travel path generated by the travel route generation unit, and stores the travel route .
As the traveling route, the traveling route generating unit includes a reciprocating traveling route for reciprocating the work vehicle over two opposing field edges of the field, and the outer peripheral shape of the work vehicle in the outer peripheral region of the field. Generate an orbiting route to orbit along the
The outer peripheral shape of the field includes the length of each field edge in the field.
When there is a difference between the length of the pair of field edges extending in the vertical direction of the field and the length of the pair of field edges extending in the horizontal direction of the field, the traveling path generation unit has a pair of short lengths. The field edge is set at the end for changing direction in the reciprocating travel path,
The round-trip travel route includes a plurality of outward work routes and a plurality of return work routes that are alternately adjacent to each other.
In the traveling route generation unit, the shape of the field is such that the edges of the fields facing each other in the vertical direction and the horizontal direction of the field are lined up at regular intervals or substantially constant intervals, and the working apparatus In the case of an agricultural material supply device that supplies agricultural materials to the field, the outbound work route farthest from the entry / exit route is set as the travel start route of the work vehicle in the round-trip travel route.
A travel route generation system that sets the circuit travel route from a route following a travel end route in the round-trip travel route toward the entry / exit route . The various generation conditions include the position and shape of obstacles in the field.
The travel route generation system according to any one of claims 1 to 3, wherein the travel route generation unit generates the travel route in consideration of the position and shape of the obstacle. The various generation conditions include a specific auxiliary work point for performing auxiliary work related to the supply and discharge of an in-vehicle object whose in-vehicle amount changes as the work vehicle travels.
The round-trip travel route includes a plurality of outward work routes and a plurality of return work routes that are alternately adjacent to each other.
The travel route generation system according to claim 1 or 2 , wherein the travel route generation unit sets an outward work route farthest from the auxiliary work point as a travel start route of the work vehicle on the reciprocating travel route. When there are a plurality of the entry / exit routes, the travel route generation unit sets the entry / exit route closest to the field on which the work vehicle travels next as the exit route of the work vehicle, according to any one of claims 1 to 5. The traveling route generation system according to the first paragraph . The various generation conditions include existing travel routes on which other work vehicles have traveled in the field.
The travel route generation system according to any one of claims 1 to 6, wherein the travel route generation unit generates the travel route in consideration of the existing travel route. The various generation conditions include an existing travel route on which the work vehicle has previously traveled in the field.
The travel route generation system according to any one of claims 1 to 6, wherein the travel route generation unit generates the travel route in consideration of the existing travel route. The various generation conditions include the field environment including the degree of sunlight and ventilation of the field.
The travel route generation system according to any one of claims 1 to 8, wherein the travel route generation unit generates the travel route in consideration of the field environment. The round-trip travel route includes a plurality of outward work routes and a plurality of return work routes that are alternately adjacent to each other.
In the traveling route generation unit, the shape of the field is such that the edges of the fields facing each other in the vertical direction and the horizontal direction of the field are lined up at regular intervals or substantially constant intervals, and the working apparatus In the case of an agricultural material supply device that supplies agricultural materials to a field, claim 1 or 2 sets the outbound work route farthest from the entry / exit route as the travel start route of the work vehicle in the round-trip travel route. The described travel route generation system. When the work device is an agricultural material supply device that supplies agricultural materials to the field, the travel route generation unit sets the end of the reciprocating travel path to a position closest to the entry / exit route in the reciprocating travel route. The traveling route generation system according to claim 1 or 2 . It is equipped with an artificially operated order setting unit that sets priorities for the various generation conditions.
The travel route generation system according to any one of claims 1 to 11, wherein the travel route generation unit generates the travel route in consideration of the priority set by the artificial operation of the order setting unit. A display unit that displays a predetermined number of selection information related to the selection of the travel route, and
It is provided with an operation unit that enables artificial selection of a predetermined number of the selection information displayed on the display unit.
The various generation conditions include a predetermined number of priority generation conditions having a high priority.
The travel route generation unit generates a predetermined number of the travel routes according to the predetermined number of the priority generation conditions, and displays a predetermined number of the selection information according to the predetermined number of the travel routes on the display unit. When a command is given and one of the predetermined number of the selection information is selected by the artificial operation of the operation unit, the actual travel route on which the work vehicle actually travels on the travel route according to the selected selection information. The traveling route generation system according to any one of claims 1 to 11 determined in 1.

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