KR102444226B1 - Autonomous tractor system and the method for creating work route thereof - Google Patents

Abstract

The present disclosure is in accordance with the above-described needs, and an object of the present disclosure is to provide an operating system and an operating method of a tractor that performs customized work for different farmland conditions.
A method of generating a work route of an autonomous driving tractor system according to an embodiment of the present disclosure includes the steps of setting a work area by a work area setting unit, setting a work target area by the work area setting unit, and generating a work path and generating, by the unit, a working path.

Description

Autonomous tractor system and the method for creating work route thereof

The present disclosure relates to an autonomous driving tractor system for generating a working path for autonomously driving a tractor, and a path generating method thereof.

Due to the global population growth and lack of food production due to population growth, research on smart agriculture has been actively conducted in recent years. As unmanned and intelligent agricultural work is realized, research on precision agriculture using self-driving tractors that recognize obstacles through precision sensors and the like is also underway.

Patent Document 1 (Japanese Patent Application Laid-Open No. 2015-201155) discloses an autonomous driving tractor system of this type. The agricultural work vehicle disclosed in this patent document 1 receives radio waves transmitted from a GPS satellite, obtains position information of the aircraft at set time intervals in a mobile communication device, and obtains displacement information and orientation information of the aircraft from a gyro sensor and an orientation sensor and automatically driving while automatically controlling the steering actuator, shifting means, lifting actuator, PTO on-off means, engine controller, etc. It is provided with a control device as an automatic driving means for working.

However, in such a travel route, when returning, a turning with front-to-rear direction change is necessary due to circumstances such as the minimum turning radius of the work vehicle, thereby reducing efficiency in some cases. Therefore, it is conceivable that the tractor, after completing the work on a certain work route, travels so as not to work on the work route next to the travel route, but for the running route that has been skipped by one or two (skip running). . In this case, the running path of the agricultural work vehicle is, for example, with respect to a plurality of running paths, one end of the running path is skipped from one end in the arranged direction, and travels to the other end, and thereafter , is generated to return to the one side while driving the remaining travel route (skip the work route on which the work is completed).

However, in the case of carrying out work while skip running on a wide pavement, if the work is stopped in the middle for some reason, there are cases in which the part where the work is completed and the point where the work is not performed alternately appear over a wide area. In this case, it becomes difficult to grasp each of the point where the work in the pavement was completed and the point where the work was not performed as a consolidated area, and it becomes difficult to resume the work smoothly. Moreover, when a soil environment changed by rain etc. before and behind the interruption of a work, the part from which work quality differs may arise in the comb shape, and the subsequent work efficiency may be reduced.

The present disclosure has been made in view of the above circumstances, and its potential purpose is that, when performing work by skip running, even if the work is interrupted in the middle, the part where the work completed and the unworked point appear alternately. It is to provide an autonomous tractor system that can prevent widespread occurrence.

The present disclosure is in accordance with the above-described needs, and an object of the present disclosure is to provide an operating system and an operating method of a tractor that performs customized work for different farmland conditions.

However, these problems are exemplary, and the scope of the present disclosure is not limited thereto.

A method of generating a work route of an autonomous driving tractor system according to an embodiment of the present disclosure includes: setting a work area by a work area setting unit; setting a work target area by the work area setting unit; and generating, by the working path generating unit, a working path. includes

In this case, the setting of the work area divides non-working farmland and working farmland based on farmland information and crop information, and sets the working farmland as the working area.

In this case, the step of setting the work target area may include: identifying a position of the tractor on the work target area; and setting a work direction for the work target area based on the position of the tractor. further includes

In this case, the generating the work route further includes: identifying the number of travel routes (hereinafter, k and k are integers) in the work area; is less than an integer), a sequential work path for sequentially working on the driving path is generated, and when the number of driving paths is equal to or greater than a preset first value, a skip working path for skipping the driving path and working is generated.

In this case, the generating of the work path may further include dividing the work area into n divided work areas when k is n times greater than or equal to n times a, and, for each of the n divided work areas, Create a skip work path.

In this case, the generating of the work path may include: when k is an+b (0<b<a, b is an integer), dividing the work area into n+1 pieces; and generating a skip work path for n divided work areas among the n+1 divided work areas, and generates a sequential work path for one divided work area.

In addition, the generating of the work path may include: in response to the work plan, determining a work path sequence corresponding to the divided work area; It further comprises, characterized in that the work path is generated in response to the order of the work path.

The autonomous driving tractor system of the present disclosure includes: a work area setting unit for setting a work area and setting a work target area; It includes; a work path generation unit for generating a work path.

Here, the work area setting unit classifies non-working farmland and working farmland based on farmland information and crop information, and sets the working farmland as the working area.

In this case, the work area setting unit identifies the position of the tractor on the work target area, and sets the work direction for the work target area based on the position of the tractor.

In this case, the work route generator identifies the number of travel routes (hereinafter, k and k are integers) in the work area, and sequentially configures the travel routes when the number of travel routes is less than a preset first value (hereinafter a; a is an integer). A sequential work path to work with is generated, and when the number of travel paths is equal to or greater than a preset first value, a skip work path for skipping the travel path is generated.

In this case, when the k is n times or more of the a, the work path generator divides the work area into n divided work areas, and generates a skip work path for each of the n divided work areas.

In this case, when k is an+b (0<b<a, b is an integer), the work path generation unit divides the work area into n+1 pieces, and divides the work area into n+1 pieces of the n+1 work areas. A skip work path is generated for the divided work area, and a sequential work path is generated for one divided work area.

In this case, the work path generation unit determines a work path sequence corresponding to the divided work area in response to the work plan, and generates the work path in response to the work path order.

The recording medium according to an embodiment of the present disclosure may be a computer-readable recording medium in which a program for executing a method of generating a work route of an autonomous driving tractor system is recorded.

A program according to an embodiment of the present disclosure may be a computer program stored in a medium to execute a method for generating a work route of an autonomous driving tractor system using a computer.

Other aspects, features and advantages other than those described above will become apparent from the detailed description, claims and drawings for carrying out the following disclosure.

According to an embodiment of the present disclosure made as described above, since two types of autonomous driving work paths can be appropriately selected and generated according to the number of driving routes and driving directions, work efficiency can be improved.

Of course, the scope of the present disclosure is not limited by these effects.

1 is a system diagram illustrating an autonomous driving tractor system 1 according to an embodiment of the present disclosure.
2 illustrates components constituting the autonomous driving tractor system 1 according to an embodiment of the present disclosure.
3 to 12 are diagrams for explaining a method of generating a work path by an autonomous driving tractor system selecting a skip work path and a sequential work path according to an embodiment of the present disclosure.
13 to 17 are flowcharts for explaining a method of setting a work path sequence according to a work direction by the tractor system according to an embodiment of the present disclosure.

Hereinafter, various embodiments of the present disclosure are described in connection with the accompanying drawings. Various embodiments of the present disclosure may be subject to various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and the related detailed description is described. However, this is not intended to limit the various embodiments of the present disclosure to specific embodiments, and should be understood to include all modifications and/or equivalents or substitutes included in the spirit and scope of the various embodiments of the present disclosure. In connection with the description of the drawings, like reference numerals have been used for like components.

In various embodiments of the present disclosure, "comprises." Or "have." The term such as is intended to designate that there is a feature, number, step, action, component, part, or combination thereof described in the specification, but one or more other features or number, step, action, component, part or It should be understood that it does not preclude the possibility of the existence or addition of combinations thereof.

In various embodiments of the present disclosure, expressions such as “or” include any and all combinations of the words listed together. For example, "A or B" may include A, may include B, or may include both A and B.

Expressions such as “first”, “second”, “first”, or “second” used in various embodiments of the present disclosure may modify various components of various embodiments, but do not limit the components. does not For example, the above expressions do not limit the order and/or importance of corresponding components, and may be used to distinguish one component from another.

When a component is referred to as being “connected” or “connected” to another component, the component may be directly connected to or connected to the other component, but with the component It should be understood that other new components may exist between the other components.

In an embodiment of the present disclosure, terms such as “module”, “unit”, “part”, etc. are terms for designating a component that performs at least one function or operation, and such component is hardware or software. It may be implemented or implemented as a combination of hardware and software. In addition, a plurality of "modules", "units", "parts", etc. are integrated into at least one module or chip, except when each needs to be implemented as individual specific hardware, and thus at least one processor. can be implemented as

Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in various embodiments of the present disclosure, ideal or excessively formal terms not interpreted as meaning

Hereinafter, various embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

1 is a system diagram illustrating an autonomous driving tractor system 1 according to an embodiment of the present disclosure.

Referring to FIG. 1 , the tractor system 1 may include a tractor 100 , a cloud server 200 , and a user terminal 300 .

According to an embodiment of the present disclosure, the tractor 100 may transmit the situation around the tractor, the driving situation of the tractor, the tractor location information, etc. to the cloud server 200, and the cloud server 200 is based on the received information. A raw command signal may be transmitted to the tractor 100 .

The cloud server 200 of the present disclosure may generate an autonomous driving work route based on various information received from the tractor 100 and the user terminal 300 . Specifically, the cloud server 200 of the present disclosure is a work plan based on location information of the tractor 100, characteristic information of the tractor 100 (eg, tractor working width), farmland information, crop information, work direction information, etc. and a work path can be created.

More specifically, the cloud server 200 may transmit information on the work farmland and crops to the user terminal 300 , and the user terminal 300 may set the work target area and work direction information through a user input. The cloud server 200 may generate a work plan and a work route based on the location information of the tractor 100 received from the tractor 100 and the information received from the user terminal 300 .

The tractor 100 according to an embodiment of the present disclosure may receive an autonomous driving work route for an automatic operation (or autonomous driving operation) from the cloud server 200 . The tractor 100 of the present disclosure may perform work in response to the autonomous driving work path generated by the cloud server 200 .

The cloud server 200 according to an embodiment of the present disclosure may be divided into a plurality of servers that perform different functions, and this division is a hardware that is a physical division. It can be divided into software, which is an abstract division.

For example, the cloud server 200 may not be implemented through one piece of hardware, but may be implemented such that a plurality of servers each performing separate functions are operated as one server group.

Meanwhile, in FIG. 1 , an embodiment in which the tractor system 1 is implemented as separate components as the tractor 100 , the cloud server 200 and the user terminal 300 has been described, but according to another embodiment of the present disclosure The tractor 100 may perform the same functions performed by the cloud server 200 and/or the user terminal 300 .

Specifically, according to an embodiment of the present disclosure, the function performed by the cloud server 200 may be performed through one component of the electronic control device coupled to the tractor 100 , and the user terminal 300 is the tractor 100 . It may be physically coupled to 100 to receive a user input.

2 illustrates components constituting the autonomous driving tractor system 1 according to an embodiment of the present disclosure.

The main body 110 of the present disclosure may include a traveling unit 111 , a work unit 112 , a controller 113 , and a communication unit 114 . The driving unit 111 may include all devices for the movement of the tractor 100 including a hydraulic cylinder, a hydraulic control valve, and the like. The work unit 112 may include any type of device for fastening and controlling the work machine, such as a hydraulic cylinder.

The controller 113 of the present disclosure may include an engine controller, a vehicle speed controller, a steering controller, and an elevation controller. Each controller can control each configuration of the traveling unit 111 and the work unit 112 according to an electric signal from the controller 113 . The communication unit 114 of the present disclosure is configured to communicate with the user terminal 300 or the user interface unit 310 .

The control unit 120 according to an embodiment of the present disclosure may include an input/output signal processing unit 130 , a job control unit 210 , a communication unit 140 , a position detection unit 150 , and a position detection unit 170 . As described above, according to another embodiment of the present disclosure, the operation control unit 210 may be implemented by being included in the cloud server 200 .

According to an embodiment of the present disclosure, the controller 120 may be implemented as an electronic control module separate from the main body 110 . The control unit 120 of the present disclosure may be coupled to the body unit 110 through the input/output interface unit 130 to input/output signals.

The operation control unit 210 of the present disclosure may control the operation of the driving unit 112 and the operation unit 113 of the tractor 100 . In particular, the work control unit 210 may set a work path for autonomous driving of the tractor 100 .

The operation control unit 210 of the present disclosure includes a vehicle location identification unit 211 , a farmland information setting unit 212 , a working area setting unit 213 , a traveling path identification unit 214 , a working area dividing unit 215 , and a work area. It may include a path generator 216 .

The vehicle position identification unit 211 may identify the position of the tractor 100 identified through the position detection unit 150 . The farmland information setting unit 212 may set information on the farmland on which the tractor 100 drives based on pre-stored information and/or information corresponding to a user input obtained through the user interface unit 310 . The work area setting unit 213 may set an area for performing work among farmland. In particular, the work area setting unit 213 may set the work target area through the user interface unit 310 .

The traveling path identification unit 214 of the present disclosure may identify the traveling path along which the tractor 100 travels with respect to the target work area set in the work area setting unit 213 . In more detail, the traveling path identification unit 214 may identify the number of traveling paths by considering the working width of the tractor 100 and the width of the target working area as a whole.

The work area dividing unit 215 of the present disclosure is configured to divide the work target area into a plurality of areas in consideration of the number of the identified travel routes and the work direction obtained through the user interface unit 310 .

The work path generator 216 may set a work path based on the plurality of divided areas divided by the work area divider 215 . For example, the work path generator 216 may select a skip work path or a sequential work path according to the type of the divided area. Also, the work path generator 216 may set the work path according to the order in which the divided areas are worked.

The communication unit 140 is a means for communicating with an external server including the cloud server 200 and an external device including the user terminal 300 . According to an embodiment of the present disclosure, the user interface unit 310 may be included in the user terminal 300 or may be implemented by being physically coupled to the body unit 110 .

The user interface 310 of the present disclosure may include a display 311 and a user manipulation unit 312 . The user manipulation unit 312 of the present disclosure is configured to receive a user input instructing to drive the tractor 100 in order to perform a task. As an example, the user manipulation unit 312 may be implemented as a hardware configuration such as a lever and a button, but is not limited thereto.

The display 311 of the present disclosure is a Liquid Crystal Display (LCD), Organic Light Emitting Diodes (OLED), Active-Matrix Organic Light-Emitting Diode (AM-OLED), Liquid Crystal on Silicon (LcoS), or Digital Light Processing (DLP). ) may be implemented as a display panel, such as

The display 311 of the present disclosure may be implemented as a touch screen having a layer structure. The touch screen may have a function of detecting not only a display function but also a touch input position, a touched area, and even a touch input pressure, and also has a function of detecting a proximity touch as well as a real-touch. can

In the case of the above-described embodiment, the user manipulation unit 312 may be implemented by being included in the display 311 . That is, the user manipulation unit 312 may be displayed in the form of a GUI on the display 311 , and the user may input a command for controlling the operation of the tractor 100 by touching the GUI.

3 to 12 are diagrams for explaining a method of generating a work path by an autonomous driving tractor system selecting a skip work path and a sequential work path according to an embodiment of the present disclosure.

Hereinafter, FIG. 3 will be described with reference to FIGS. 4 to 12 .

4 is a view for explaining a work area set by the tractor system according to an embodiment of the present disclosure.

The tractor system 1 of the present disclosure may store the corresponding contents by receiving input from the user with respect to the location, shape, etc. of the farmland 400 . In this case, the location and shape of the farmland 400 may be obtained based on a polygon obtained by designating a plurality of points on the map by a user input while the map is displayed on the display 311 .

The tractor system 1 of the present disclosure removes the non-working area 410 (such as submerged or non-cultivated land) from the farmland 400 based on farmland characteristic information such as crop information and trenches as the work area 420 . It can be determined (S310).

In this case, the crop information and farmland characteristic information may be obtained by a user input.

5 is a view for explaining a work target area set by the tractor system according to an embodiment of the present disclosure.

The tractor system 1 of the present disclosure may acquire a user command for a target work area through the user terminal 300 or the user interface unit 311 . Specifically, in response to the user's selection of the area within the work area 420 , the tractor system 1 may set the work target area 430 ( S320 ).

The work target area 430 may be an area in which the user desires the tractor 100 to work at one time along the autonomous driving route. That is, when the range of the work area 420 is too wide, the user can separately designate a work target area within the work area 420, and the tractor system 1 sets an autonomous driving route within the work target area. It can prevent work from being interrupted unexpectedly.

6 is a view for explaining a method for the tractor system according to an embodiment of the present disclosure to identify the number of travel routes.

The tractor system 1 is a traveling path (hereinafter, also referred to as R for convenience of description) based on a length (horizontal length WA) perpendicular to the working direction of the working area 430 and a working width WT of the tractor 100. ) can be identified (S330).

According to an embodiment of the present disclosure, the tractor system 1 may determine the integer part of the value of WT/WA as the number of travel routes (hereinafter, also referred to as k for convenience of description). That is, in the embodiment of FIG. 6 , the number of working travel routes of the tractor system 1 is k from R1 to Rk.

7 illustrates a skip operation path according to an embodiment of the present disclosure.

When returning after one travel route work, depending on circumstances, such as the minimum turning radius of the tractor 100, turning accompanying a front-back direction change is required, and efficiency may be reduced. Accordingly, the tractor system 1 may travel so as to perform the work on one or two skipped driving paths, not the driving path immediately adjacent to the driving path, after completing the work of one driving path. These work paths are called skip work paths.

The traveling path of the tractor 100 in this case is, for example, with respect to a plurality of traveling paths, one of the traveling paths is skipped from one end in the aligned direction to the other end, and the traveling path is reached. After that, it is created to return to the one side while driving the remaining travel route (skip the work route on which the work is completed).

Specifically, when the tractor 100 is driven according to the skip work route, the tractor 100 drives the first travel route R1 first, and drives the fourth travel route R4 that has been skipped by 2 travel routes for a second time, and 1 The second travel route (R2) skipped by the travel route is driven for the third time, the fifth travel route (R5) that is skipped by the travel route is driven for the fourth time, and the third travel route (R3) that is skipped by the first travel route is driven for the third time. You can drive 5th.

The tractor system 1 according to an embodiment of the present disclosure requires at least 5 travel routes to set the skip work route, and in this case, the preset first value (a) may be 5.

On the other hand, when the number of travel routes k is smaller than the preset first value a ( S340 -N ), the tractor system 1 cannot set the skip work route. Accordingly, the tractor system 1 according to an embodiment of the present disclosure may set a sequential work path as shown in FIG. 8 ( S380 ).

As shown in FIG. 8 , in the sequential work path, the tractor 100 travels on the first travel path R1 first, travels on the second travel path R2 second, and travels on the third travel path R3. ) can be driven sequentially for the third time.

As described above, in the sequential work path, a turning accompanied by a forward and backward direction change is required to work on the adjacent traveling path. Accordingly, in order to prevent unnecessary time and fuel consumption, the tractor system 1 of the present disclosure minimizes the creation of sequential working paths.

9 and 11 are diagrams for explaining that the tractor system 1 according to an embodiment of the present disclosure divides the work target area 430 into a plurality of divided work areas. 10 and 12 are views for explaining a method for the tractor system 1 according to an embodiment of the present disclosure to generate a work path for the divided work area.

Referring to FIG. 9 , when k = a * n (n is an integer greater than or equal to 0), the tractor system 1 may divide the target work area 430 into n divided work areas ( S360 ). That is, all of the travel paths R1 to Rk may be divided into A1 to An divided work areas. In this case, a may be a minimum integer (eg, 5) for generating a skip work path.

Referring to FIG. 10 , when k = a * n (n is an integer greater than or equal to 0), the tractor system 1 may generate a skip work path for each divided work area A1 to An ( S370 ). . Taking the example of A1, when driving according to the skip work route, the tractor 100 travels the first travel route R1 first, and drives the fourth travel route R4 skipping the 2 travel routes for the second time. , the second travel route (R2) skipped by 1 travel route is driven for a third time, the fifth travel route (R5) skipped by the second travel route is driven for the fourth time, and the third travel route (R2) is skipped by the first travel route ( R3) can be driven for the fifth time.

Meanwhile, referring to FIG. 11 , when k = a * n + b (b < a, n, and b are integers greater than or equal to 0), the tractor system 1 divides the work target area 430 into n + 1 divided work. It can be divided into regions (S390).

Specifically, the tractor system 1 sets the divided work area from A1 to An (Rk-6 to Rk-2), and sets one of the remaining b travel routes Rk-1 and Rk (b=2 in this example). It can be set as a divided work area of .

Referring to FIG. 12 , the tractor system 1 may generate a skip work path with respect to the divided work areas A1 to An that satisfy the skip work path generation condition. In this case, the skip work path generation condition means that the number of travel paths in the divided work area is equal to the preset value a.

On the other hand, the tractor system 1 may set a sequential work route for the region An+1, and the tractor 100 may sequentially work on a running route Rk immediately adjacent to the running route Rk-1 after work (S391) .

Through this, the tractor system 1 of the present disclosure can minimize the portion in which the work is completed and the unworked point alternately appear even if the work is stopped at any point in time, and furthermore, by minimizing the number of sequential work paths, time and It has the effect of reducing the cost of fuel.

13 to 17 are flowcharts for explaining a method of setting a work path sequence according to a work direction by the tractor system according to an embodiment of the present disclosure.

Hereinafter, FIG. 13 will be described with reference to FIGS. 14 to 17 .

The tractor system 1 may identify the position of the tractor 100 and then the direction in which to perform the operation. 14 and 16 , when the tractor 100 is in the middle part of the work area 420, the divided work area may be different according to a set work direction.

Specifically, as shown in FIG. 14 , the tractor system 1 may receive work direction information corresponding to the first direction d1 through the user terminal 300 or the user interface unit 310 ( S1310 ).

In this case, referring to FIG. 15 , the tractor system 1 divides the divided work areas A1 to A3 in the d1 direction based on the position of the tractor 100 , and then d2 based on the position of the tractor 100 . The divided work areas A4 and A5 may be divided in the direction ( S1320 ). In this case, A1, A2, and A4 may be divided work areas that satisfy the skip work path generation condition.

According to the embodiment described above, the tractor system 1 works according to a skip working path for A1 and A2, works according to a sequential working path for A3, works according to a skip working path for A4, and works according to a skip working path for A5. It can work in sequence according to the sequential work path (S1330).

According to another embodiment of the present invention, as shown in FIG. 16 , the tractor system 1 may receive the work direction information corresponding to the second direction d2 through the user terminal 300 or the user interface unit 310 . have.

In this case, referring to FIG. 17 , the tractor system 1 divides the divided work areas A1 and A2 in the d2 direction based on the position of the tractor 100 , and then d1 based on the position of the tractor 100 . The divided work areas A3 to A5 can be divided in the direction. In this case, A1, A3, and A4 may be divided work areas that satisfy the skip work path generation condition.

According to the above-described embodiment, the tractor system 1 works according to a skip working path for A1, works according to a sequential working path for A2, works according to a skip working path for A3 and A4, and works according to a skip working path for A5. You can work sequentially according to the sequential work path.

The tractor system 1 according to the above-described embodiment has an effect that it is possible to actively set the working path by dividing the working area and setting the working path in response to the working direction input by the user.

Meanwhile, the above-described methods according to various embodiments of the present disclosure may be implemented in the form of an application that can be installed in an existing electronic device.

In addition, the above-described methods according to various embodiments of the present disclosure may be implemented only by software upgrade or hardware upgrade of an existing electronic device.

In addition, various embodiments of the present disclosure described above may be performed through an embedded server provided in the electronic device or an external server of the electronic device.

On the other hand, according to an embodiment of the present disclosure, the various embodiments described above are a recording medium (readable by a computer or similar device) using software, hardware, or a combination thereof. It may be implemented as software including instructions stored in a computer readable recording medium). In some cases, the embodiments described herein may be implemented by the processor itself. According to the software implementation, embodiments such as the procedures and functions described in this specification may be implemented as separate software modules. Each of the software modules may perform one or more functions and operations described herein.

Meanwhile, a computer or a similar device is a device capable of calling a stored command from a storage medium and operating according to the called command, and may include the device according to the disclosed embodiments. When the instruction is executed by the processor, the processor may directly or use other components under the control of the processor to perform a function corresponding to the instruction. Instructions may include code generated or executed by a compiler or interpreter.

The device-readable recording medium may be provided in the form of a non-transitory computer readable recording medium. Here, 'non-transitory' means that the storage medium does not include a signal and is tangible, and does not distinguish that data is semi-permanently or temporarily stored in the storage medium. In this case, the non-transitory computer-readable medium refers to a medium that stores data semi-permanently, not a medium that stores data for a short moment, such as a register, cache, memory, etc., and can be read by a device. Specific examples of the non-transitory computer-readable medium may include a CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, and the like.

As such, the present disclosure has been described with reference to the embodiments shown in the drawings, which are merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. . Therefore, the true technical protection scope of the present disclosure should be determined by the technical spirit of the appended claims.

1: Autonomous tractor system
100: tractor
200: cloud server
300: user terminal

Claims (16)

In the method of generating a work path of an autonomous driving tractor system,
setting a work area by the work area setting unit;
setting a work target area by the work area setting unit; and
generating, by the working path generating unit, a working path; including,
The step of creating the working path is,
identifying the number of driving paths (hereafter k and k are integers) in the work area;
generating sequential work paths for sequentially working the driving paths when the number of the driving paths is less than a predetermined first value (hereinafter, a; a is an integer); and
generating a skip work path for skipping at least one neighboring driving path when the number of driving paths is equal to or greater than a predetermined first value;
including,
The step of generating the skip work path includes:
When k is an+b (0<b<a, b is an integer), the work area is divided by n into a first divided work area having a number of travel paths a, and a second work area having the number of travel paths is b. dividing by one into two divided work areas; and
generating a skip work path with respect to the first divided work area, and generating a sequential work path with respect to the second divided work area;
A method of generating a working path comprising a. According to claim 1,
The step of setting the work area is a method for generating a work path for dividing non-working farmland and working farmland based on farmland information and crop information, and setting the working farmland as the working area. According to claim 1,
The step of setting the work target area comprises:
identifying the location of the tractor on the target work area; and
setting a work direction for the work target area based on the position of the tractor; How to create a work path that further includes. delete According to claim 1,
The step of creating the working path is,
If the k is more than n times the a, dividing the work area into n divided work areas; further comprising,
A work path generation method for generating a skip work path for each of the n divided work areas. delete According to claim 1,
The step of creating the working path is,
determining a work path sequence corresponding to a divided work area including the first divided work area and the second divided work area in response to the work plan; further comprising,
and generating the working path in response to the working path sequence. In the autonomous driving tractor system,
a work area setting unit for setting a work area and setting a work target area;
Including; a work path generation unit for generating a work path;
The work path generation unit,
Identifies the number of driving paths (hereafter k and k are integers) in the work area, and when the number of driving paths is less than a predetermined first value (hereinafter a; a is an integer), sequential work paths for sequentially working the driving paths generating, if the number of driving paths is greater than or equal to a predetermined first value, generating a skip working path that skips at least one neighboring driving path and works;
When k is an+b (0<b<a, b is an integer), the work area is divided by n into a first divided work area having a number of travel paths a, and a second work area having the number of travel paths is b. The autonomous driving tractor system is divided into two divided work areas by one, and a skip work path is generated for the first divided work area, and a sequential work path is generated for the second divided work area. 9. The method of claim 8,
The working area setting unit is an autonomous driving tractor system for classifying non-working farmland and working farmland based on farmland information and crop information, and setting the working farmland as the working area. 9. The method of claim 8,
The work area setting unit identifies a position of the tractor on the work target area, and sets a work direction for the work target area based on the position of the tractor. delete 9. The method of claim 8,
The autonomous driving tractor system is configured to divide the work area into n divided work areas, and generate skip work paths for each of the n divided work areas, when k is n times or more of the a. delete 9. The method of claim 8,
The work path generation unit may be configured to determine, in response to a work plan, a work path sequence corresponding to a divided work area including the first divided work area and the second divided work area, and to determine the work path order in response to the work path order. An autonomous tractor system that creates a route. A computer-readable recording medium in which a program for executing the method of generating a work route of an autonomous driving tractor system according to any one of claims 1 to 3, 5, and 7 is recorded. A computer program stored in a medium for executing the method of generating a work route of the autonomous driving tractor system according to any one of claims 1 to 3, 5, and 7 using a computer.

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