KR20190077060A - Path generation system - Google Patents

Abstract

To create a connection path according to the shape of the non-working area.
And a direction setting section for setting a traveling direction of the working vehicle in the working area, wherein the path creating section includes a working area and a working area, A plurality of work paths P1 and P2 in which an autonomous work is performed by a work vehicle in the work area and a work path P1 and P2 as a work path in which an autonomous work is performed by the work vehicle in the non- And the path generating section generates a path including a plurality of connection paths Q as a connection path Q. The path generating section includes a first turning path Q1, a second turning path Q3, A straight path Q2 is formed such that the path including the straight path Q2 set between the first turning path Q1 and the second turning path Q3 can be generated and the traveling direction and the straight path Q2 are not orthogonal to each other It is possible.

Description

Path generation system

The present invention relates to a route generating system having a route generating unit for generating a traveling route autonomously driven by a working vehicle.

Such a route generation system is used in an autonomous travel system that autonomously travels a work vehicle (see, for example, Patent Document 1). In the system described in Patent Document 1, a work area in which an autonomous work is performed by a work vehicle and a non-work area in which an autonomous work is not performed by a work vehicle are registered in a work target area such as a field The path creating unit creates a plurality of work paths in the work area, and creates a plurality of connection paths connecting the work paths in the non-work area.

In the system described in Patent Document 1, a rectangular work area is registered in the center of the work area, such as a package, and the non-work area is registered so as to surround the work area. The path generating section generates a straight line work path for causing the work vehicle to reciprocate in the work area and changes the traveling direction of the work vehicle in the non-work area located at both ends in the traveling direction of the work vehicle in the work area To create a connection path of a swirling shape for connection to the next working path.

International Publication No. 2015/119265

The area to be worked such as packaging is not limited to a rectangular shape. For example, a shape of the outer periphery such as a parallelogram is inclined or other various shapes exist. Therefore, the shape of the working area and the non- But it is different depending on the shape of the work area. Therefore, there is a possibility that a part of the connection path may be evacuated to the outside of the work area depending on the shape of the non-work area, by simply creating a connection path on the turn-around area with respect to the non-work area. For example, when the shape of the non-working area is inclined with respect to the traveling direction of the working vehicle in the working area, it is possible to obtain a sufficient traveling distance in the direction orthogonal to the working vehicle in the working area There is a possibility that a turning radius sufficient to generate the connection path on the turning can not be ensured and the connection path on the turning can not be generated in the non-working area.

Therefore, in order to prevent the connection path from being out of the work target area, it is considered to increase the area of the non-work area so as to secure a sufficient turning radius. However, if the area of the non- The area of the work area in the work area is reduced, and new problems such as lowering of the working efficiency are caused.

SUMMARY OF THE INVENTION In view of the above, a main object of the present invention is to provide a route creation system capable of creating a connection route according to the shape of a non-work area.

A first aspect of the present invention is a control apparatus for a vehicle, comprising: a region registration unit for registering a shape of a work area in which an autonomous work is performed by a work vehicle and a shape of a non-work area in which an autonomous work is not performed by the work vehicle;

A route generating unit for generating a traveling route autonomously traveled by the working vehicle in the working area and the non-working area,

And a direction setting section for setting a traveling direction of the working vehicle in the working area,

Wherein the route generating unit includes a plurality of work paths in which an autonomous work is performed by the working vehicle in the working area and a plurality of work paths in which the working paths are connected The path including a plurality of connection paths,

Wherein the path creating section is capable of generating, as the connection path, a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path, The rectilinear path can be generated such that the traveling direction and the rectilinear path are not orthogonal to each other.

According to this configuration, since the path generating section can generate the path including the first turning path, the straight path and the second turning path as the connecting path, It is possible to appropriately combine the path and the second turning path, thereby enabling the connection path according to the shape of the non-working area to be generated. In addition, since the route generating section generates the straight route so as not to be orthogonal to the traveling direction of the working vehicle in the working area, for example, when the non-working area is inclined relative to the traveling direction of the working vehicle in the working area Shape, it is possible to create a connection path while ensuring a sufficient traveling distance as a straight route. From the above, it is possible to create an appropriate connection path according to the shape of the non-working area in the limited space of the non-working area.

The second aspect of the present invention is characterized in that the first turning path is set on the front side in the traveling direction with respect to the rectilinear route while the second turning route is set on the inner side in the traveling direction with respect to the rectilinear route,

Wherein the path generating unit sets the turning angle of the working vehicle in the first turning path to an obtuse angle when the angle formed by the straight line extending along the boundary between the working area and the non- and,

Characterized in that the turning angle of the working vehicle in the first turning path is set to an acute angle when the angle is an obtuse angle.

According to this configuration, even when the angle formed by the boundary line between the working area and the non-working area and the straight line extending along the traveling direction of the working vehicle in the working area is an acute angle or an obtuse angle, The connection path can be created while setting the turning angle of the working vehicle at an appropriate angle. Thus, for example, even when the non-working area is inclined with respect to the traveling direction of the working vehicle in the working area, the non-working area does not come out to the outside of the working area, It is possible to appropriately generate a connection path that does not come out.

The third aspect of the present invention is characterized in that the path generation section sets the turning radius of the first turning path and the turning radius of the second turning path to the same turning radius, And the straight path is generated so that the distance between the straight path and the outer periphery of the non-work area becomes shorter.

According to this configuration, since the turning radii of the first turning path and the second turning path are set to the same turning radius, when turning the first turning path autonomously and autonomously running the second turning path, It is possible to simplify the control configuration for carrying out autonomous travel. In addition, since the straight path can be generated at the side farthest away from the work area, the turning radius of the working vehicle in the second turning path can be made larger. Thereby, it is possible to secure time for adjusting the position and attitude of the working vehicle during the autonomous traveling of the second turning path, and to start the autonomous work in the working path in a state in which the position and posture of the working vehicle are stabilized have.

The fourth feature of the present invention is that the path generating section sets the first turning radius of the first turning path and the second turning radius of the second turning path to be different from each other, And the second turning radius is longer.

According to this configuration, since the turning radius of the working vehicle in the second turning path can be made larger, it is possible to secure time for adjusting the position and posture of the working vehicle during autonomous traveling of the second turning path Therefore, autonomous operation in the work path can be started with the position and posture of the work vehicle being stabilized.

The fifth characteristic feature of the present invention is that when the angle is an acute angle, an instruction unit capable of instructing the path generation unit to generate the straight path so that the traveling direction and the straight path are orthogonal,

And the instruction unit does not issue the instruction to the path generating unit when the angle is an obtuse angle.

According to this configuration, when the angle formed by the boundary between the working area and the non-working area and the straight line extending along the traveling direction of the working vehicle in the working area is an acute angle, The route generating unit may be instructed to generate a straight route so that the traveling direction and the straight route are orthogonal. Therefore, according to the demand of the user, it is possible to generate a straight route in which the traveling direction of the working vehicle in the working area and the straight-ahead route are orthogonal.

On the other hand, in the case where the angle formed by the boundary line between the working area and the non-working area and the straight line extending along the traveling direction of the working vehicle in the working area is an obtuse angle, It is possible to appropriately prevent the generation of the straight path that is projected out of the region to be worked out because the straight path in which the traveling direction of the working vehicle and the straight path are orthogonal to each other is not generated.

1 is a view showing a schematic configuration of an autonomous running system.
2 is a block diagram showing a schematic configuration of an autonomous traveling system.
Fig. 3 is a view showing a work path in the work area of the package. Fig.
Fig. 4 is a view for explaining a connection path in the non-work area of the package. Fig.
Fig. 5 is a view for explaining connection paths in the non-work area of the package. Fig.
6 is a view for explaining a connection path in the non-work area of the package.
Fig. 7 is a view for explaining connection paths in the non-work area of the package.
Fig. 8 is a view for explaining a connection path in the non-work area of the package.
Fig. 9 is a view for explaining a connection path in the non-work area of the package.
10 is a view for explaining connection paths in a non-work area of a package.
11 is a view for explaining a connection path in a non-work area of a package.
Fig. 12 is a view for explaining a connection path in the non-work area of the package.
Fig. 13 is a view for explaining a connection path in a non-work area of a package.
14 is a view for explaining a connection path in the non-work area of the package.
15 is a view for explaining a connection path in the non-work area of the package.
Fig. 16 is a view for explaining a connection path in a non-work area of a package.
17 is a view for explaining a connection path in a non-work area of a package.
Fig. 18 is a view for explaining a connection path in the non-work area of the package.
Fig. 19 is a view for explaining a connection path in a non-work area of a package. Fig.
Fig. 20 is a view for explaining a connection path in the non-work area of the package. Fig.
Fig. 21 is a view for explaining a connection path in a non-work area of a package. Fig.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an autonomous travel system using a route creation system according to the present invention will be described with reference to the drawings.

1, the autonomous traveling system includes a tractor 1 as a working vehicle that autonomously travels along a predetermined traveling path, and a wireless communication terminal 2 capable of indicating various information about the tractor 1 Respectively. In this embodiment, the reference station 4 capable of transmitting the positioning correction information to the tractor 1 when acquiring the positional information of the tractor 1 is provided.

In Fig. 1, the tractor 1 is illustrated as the working vehicle. However, in addition to the tractor, the walking-type working vehicle can also be applied in addition to the passenger-type work vehicle such as a rice miller, combine, civil engineering and construction work device, 1 exemplifies the case where the tiller is mounted on the working machine 5 to be mounted on the tractor 1, but the present invention is not limited to the tiller, and various types of tillers, fertilizers, A working machine can be applied.

2, the tractor 1 is provided with a vehicle side wireless communication unit 14, the wireless communication terminal 2 is provided with a terminal side wireless communication unit 21, And a communication unit 41 are provided. Thereby, a wireless network system is established between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21 and between the vehicle-side wireless communication unit 14 and the reference-station-side wireless communication unit 41, And the radio communication terminal 2 and between the tractor 1 and the reference station 4 by wireless communication.

2, the tractor 1 includes a positioning antenna 11, a vehicle-side control unit 12, a position information acquisition unit 13, a vehicle-side wireless communication unit 14, a storage unit (not shown), and the like Respectively. The vehicle-side control unit 12 is configured to acquire the current position information of its own (the current position of the tractor 1) with the position information obtaining unit 13, Of the tractor 1 so that the tractor 1 can freely travel. The tractor 1 is provided with an inertia measuring device (not shown) having a three-axis jiguro and three-directional accelerometers and the like, and the vehicle-side control unit 12 calculates, based on the measurement information of the inertia measurement device, And the orientation of the moving object 1 and the direction of the moving direction.

As described above, the tractor 1 is provided with a steering device (not shown). By controlling the steering device by the vehicle-side control portion 12, not only the tractor 1 can autonomously travel along a straight path, , And the tractor 1 is configured to be capable of self-running along the turning path. In this connection, it is possible to apply, for example, the adjustment of the steering angle (steering angle) of the steering wheel or the adjustment of the steering angle of the front wheel of the tractor 1.

The tractor 1 is provided with a left braking device for applying a braking force to the left wheel and a right braking device for applying a braking force to the right wheel, though not shown. Thereby, the vehicle-side control unit 12 operates only one of the pair of left and right brake units, so that even if the turning path is of a small turning radius, the tractor 1 can be autonomously driven along the turning path . Although not shown, the tractor 1 is provided with a double speed device that drives only one of the left and right drive wheels by increasing the rotational speed. Therefore, the vehicle-side control unit 12 can autonomously run the tractor 1 along the turning path of a small turning radius by controlling the double speed device instead of the brake device.

As shown in Fig. 1, the positioning antenna 11 is configured to receive, for example, signals from the positioning satellites 3 constituting the satellite positioning system (GNSS). The positioning antenna 11 is arranged, for example, on the upper surface of the roof of the cabin of the tractor 1.

1, a reference station 4 provided at a predetermined reference point is provided, and the tractor 1 (mobile station) is located on the basis of the positioning correction information from the reference station 4, It is possible to apply the positioning method for correcting the satellite positioning information of the tractor 1 and obtaining the current position of the tractor 1. [ For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real time kinematic positioning) can be applied. In this regard, with regard to the positioning method, it is also possible to use the independent positioning without the reference station 4. [

In this embodiment, in addition to the provision of the positioning antenna 11 on the tractor 1 serving as the mobile station side as shown in Figs. 1 and 2 in that, for example, RTK positioning is applied, A reference station 4 is provided. The positional information of the reference point serving as the installation position of the reference station 4 is set and grasped in advance. The reference station 4 is disposed at a position (reference point) at which the tractor 1 is not disturbed, such as around the package. The reference station 4 is provided with a reference station-side wireless communication unit 41 and a reference station positioning antenna 42.

In the RTK positioning, the carrier phase from the positioning satellites 3 in both the reference station 4 installed at the reference point and the positioning antenna 11 of the tractor 1 serving as the mobile station side to obtain the position information Information). The reference station 4 generates the positioning correction information including the measured satellite positioning information and the position information of the reference point every time the satellite positioning information is measured from the positioning satellite 3 or every time the setting period elapses , And the positioning correction information is transmitted from the reference station-side wireless communication unit 41 to the vehicle-side wireless communication unit 14 of the tractor 1. [ The positional information acquiring unit 13 of the tractor 1 corrects the satellite positioning information measured by the positioning antenna 11 by using the positioning correction information transmitted from the reference station 4, The current location information is obtained. The location information acquiring unit 13 obtains, for example, latitude information and longitude information as the current location information of the tractor 1. [

The wireless communication terminal 2 is constituted by, for example, a tablet-type personal computer having a touch panel, and is capable of displaying various kinds of information on the touch panel, and is capable of inputting various kinds of information by operating the touch panel . The wireless communication terminal 2 can be carried by the user outside the tractor 1 and can be mounted on the side of the driver's seat of the tractor 1 or the like.

2, the wireless communication terminal 2 includes a terminal side wireless communication unit 21, an area registration unit 22, a route generation unit 23, a direction setting unit 24, an instruction unit 25, a display unit Touch panel) and the like. The path generating section 23 is configured to generate a traveling path to which the tractor 1 autonomously travels. The wireless communication terminal 2 is also provided with a storage unit (not shown). Various information such as information registered by the user is stored in the storage unit.

In order to carry out the autonomous travel of the tractor 1, the registration of the packaging information on the package H as the work area and the generation of the traveling route for autonomously traveling the tractor 1 are performed. Packaging information relating to the package H, such as the shape of the package H (see Fig. 3) for autonomous travel of the tractor 1, is registered by the user operating the wireless communication terminal 2. [ Then, the route generating section 23 generates a traveling route for the registered package H. Thus, when a plurality of packages H are present, the packaging information about each of the plurality of packages H is registered, and various traveling routes are generated in each package.

In the case of carrying out the autonomous travel of the tractor 1, the user selects the package H to perform the current work by operating the wireless communication terminal 2, and selects the traveling route The traveling route to be autonomously traveled is selected. After the selection of the package H and the traveling route as described above, the autonomous traveling start condition is established, whereby the wireless communication terminal 2 is in a state capable of instructing the start of autonomous travel. Then, by operating the radio communication terminal 2 by the user, it is possible to instruct the tractor 1 to start autonomous travel and start autonomous travel.

It is necessary to transmit the route information about the traveling route from the radio communication terminal 2 to the tractor 1 because the route generating section 23 of the radio communication terminal 2 generates the traveling route. Thus, the wireless communication terminal 2 transmits the route information to the tractor 1 at a predetermined timing before starting the autonomous travel or after starting the autonomous travel. Thus, in the tractor 1, while the vehicle-side control unit 12 obtains the current position information of the tractor 1 from the position information obtaining unit 13, the vehicle-side control unit 12 obtains the current position information of the tractor 1 based on the route information transmitted from the radio communication terminal 2 The tractor 1 is allowed to autonomously travel along the traveling path. The current position information of the tractor 1 acquired by the positional information acquiring section 13 may be acquired not only before the autonomous travel starts but also after the autonomous travel is started in real time (for example, Is transmitted from the tractor 1 to the wireless communication terminal 2 so that the current position and the like of the tractor 1 can be displayed on the display unit of the wireless communication terminal 2. [

Hereinafter, the path generation system according to the present invention will be described.

This route generating system is a route generating system that is capable of operating the wireless communication terminal 2 by displaying various screens on the display unit (touch panel) of the wireless communication terminal 2, (1) generates a self-traveling traveling route. 2, the wireless communication terminal 2 is provided with an area registration unit 22, a route generation unit 23, a direction setting unit 24, an instruction unit 25, and the like.

As shown in Fig. 3, the area registration unit 22 is configured to perform the autonomous operation by the tractor 1 based on registered packaging information, work vehicle information about the tractor 1, and other input information And registers the shape of the non-work area R2 in which the autonomous work is not performed by the work area R1 and the tractor 1. [ The work area R1 is an area in which an autonomous operation is performed in which the tractor 1 autonomously travels and tries to tilt the working machine 5 mounted on the tractor 1, for example. On the other hand, in the non-working area R2, the work by the working machine 5 mounted on the tractor 1 is not performed during the autonomous traveling, and for example, only the self- Or an area in which autonomous travel is not performed. 3, the area registration unit 22 registers the work area R1 in the central portion thereof in the package H, and registers the non-work area R2 (not shown) so as to surround the work area R1 ).

The direction setting section 24 is configured to set the traveling direction of the tractor 1 in the work area R1. The direction setting section 24 sets the direction of the tractor 1 such that the tractor 1 reciprocates in the vertical direction of the package H in the work area R1 as shown in Fig. The direction X is set.

The route generating unit 23 is provided with a plurality of work paths P (see FIG. 3) in which an autonomous work is performed by the tractor 1 in the work area R1 (refer to FIG. 3) 1), a path including a plurality of connection paths Q (see Figs. 4 and 5, etc.) connecting the respective work paths P is generated as a traveling path on which autonomous travel is performed.

3, the route generating unit 23 generates a route to the work end position E (see FIG. 3) from the work start position S (see FIG. 3) And generates a path (P). The path generating section 23 sets the path setting section 24 between the one end side (the side on which the work start position S is set) and the other end side in the package H as the work path P A straight path along which the tractor 1 reciprocates along the traveling direction X of the tractor 1 is generated. The plurality of work paths P are generated in a state in which they are arranged parallel to each other with a predetermined interval therebetween throughout the work area R1.

The path generating unit 23 generates a non-working area R2a that is a dogleg adjacent to both ends of the work area R1 in the advancing direction X of the tractor 1 among the non-working areas R2, (Refer to FIG. 3, FIG. 3, and the like). The connection path Q is a path for connecting the adjacent work path P while inverting the advancing direction X of the tractor 1 in the non-work area R2a.

Since the shape of the non-working area R2 differs according to the shape of the package H in generating the connection path Q in the non-working area R2a, the connection path Q corresponding to the shape of the non- (Q). For example, in the case shown in Fig. 3, since the shape of the package H is a parallelogram shape, the region registration unit 22 registers a parallelogram shaped work area R1 at the center of the package H , And registers the non-work area R2 so as to surround the work area R1. Therefore, the non-work area R2 is inclined with respect to the advancing direction X of the tractor 1 in the work area R1, so that the tractor 1 in the work area R1, It is difficult to obtain a sufficient traveling distance in a direction orthogonal to the traveling direction X of the vehicle. Thus, the path generating section 23 generates, as the connection path Q, for example, a path that does not generate a simple turning path but is a straight line connecting the first turning path Q1 and the first turning path Q1, And generates a path including the path Q2 and the second turning path Q3. The straight path Q2 is set between the first turning path Q1 and the second turning path Q3. The first turning path Q1 is set in front of the traveling direction of the tractor 1 and the second turning path Q3 is set in the traveling direction of the tractor 1 rather than the straight traveling path Q2. Is set on the inner side.

Hereinafter, the generation of the connection path Q by the path generating unit 23 will be described based on Figs. 4 to 21. Fig. In Fig. 4 to Fig. 21, it is assumed in Fig. 3 that two work paths P among a plurality of work paths P are taken out, and which connection path Q is used to connect the two work paths P Fig. 4 and 5 show a basic pattern of the connection path Q. Each of Figs. 6 to 21 shows a connection path Q generated by the path generation unit 23, 23 are configured to be able to generate connection paths (Q) according to various conditions.

4 to 21, the work path P located on the left side in the drawing is a preceding work path P1 in which the tractor 1 autonomously works before the connection path Q autonomously runs, And a straight line extending along the path P1 (second straight line K2). The work path P positioned on the right side in the drawing is a trailing work path P2 to which the tractor 1 autonomously works after the connection path Q is autonomously driven and along the trailing work path P2 And a straight line extending therefrom. 4 to 21, at least two circles, that is, a first circle E1 and a second circle E2 are indicated by dotted lines, and the first circle E1 extends along the preceding work path P1 And the second circle E2 is a circle tangent to a straight line extending along the trailing work path P2. The second circle E2 is a circle tangent to a straight line (second straight line K2)

Since there are two kinds of patterns as the connection paths Q as shown in Figs. 4 and 5, the patterns will be described first.

When the path generating section 23 generates the connection path Q, it is possible to generate the connection path Q of the two kinds of patterns of the forward turning pattern shown in FIG. 4 and the backward turning pattern shown in FIG. In the forward rotation pattern, as shown in Fig. 4, the first turning path Q1 is a path that the tractor 1 advances and turns, and the straight path Q2 that follows the first turning path Q1, And the second turning path Q3 following the straight path Q2 is made to be a path for turning the tractor 1 while advancing. In the reverse rotation pattern, as shown in Fig. 5, the first turning path Q1 is a path turning the tractor 1 backward, and the straight path Q2 following the first turning path Q1, And the second turning path Q3 following the straight path Q2 is made to be a path for turning the tractor 1 while advancing. As described above, in the forward rotation pattern shown in Fig. 4 and the reverse rotation pattern shown in Fig. 5, whether the tractor 1 is moving forward or backward in the first turning path Q1 is a different pattern.

Each of the connection paths Q shown in Figs. 6 to 21 is generated by any of the forward rotation patterns shown in Fig. 4 and the backward rotation patterns shown in Fig. Figs. 6, 7, 10, 11, 14, 15, 18, and 19 show the connection path Q generated by the forward rotation pattern shown in Fig. Figs. 8, 9, 12, 13, 16, 17, 20, and 21 show the connection path Q generated by the backward turning pattern shown in Fig.

6 and the like, the path generating section 23 generates the boundary line K1 between the working area R1 and the non-working area R2a (hereinafter referred to as the first boundary line K1) And the straight line K2 extending along the traveling direction X (hereinafter abbreviated as the second straight line K2) are acute angles, and as shown in Fig. 7 and the like, The angle? Formed by the first boundary line K1 and the second straight line K2 may be an obtuse angle. 3, the non-working area R2a has an acute angle and has an acute angle in the non-working area R2a positioned adjacent to the upper side with respect to the working area R1, (R2a), the angle alpha is an obtuse angle. The angle? Formed by the first boundary line K1 and the second straight line K2 is the side of the work path P (trailing work path P2) for performing the autonomous work next, R1) side.

Thus, the path generating unit 23 generates the connection path Q different between the case where the angle? Formed by the first boundary line K1 and the second straight line K2 is acute and the case where the angle is obtuse. 6, 8, 10, 12, 14, 16, 18, and 20, when the angle formed by the first boundary line K1 and the second straight line K2 is acute, (Q) connected to the network. 7, 9, 11, 13, 15, 17, 19, and 21, when the angle? Formed by the first boundary line K1 and the second straight line K2 is obtuse, (Q) connected to the network.

When the tractor 1 is to be autonomously driven, as described above, the vehicle-side control unit 12 controls the braking device and the double speeding device so as to autonomously drive the tractor 1 along the turning path of a small turning radius . The path generating unit 23 is capable of generating the connection path Q having the turning radius in the first turning path Q1 and the turning path in the second turning path Q3 with the same turning radius, It is possible to generate a connection path Q in which the turning radius of the path Q1 and the turning path Q3 of the second turning path Q3 are different from each other.

Figs. 6 to 13 show a connection path Q generated with the turning radius of the first turning path Q1 and the turning path radius of the second turning path Q3 being the same. Figs. 14 to 21 show the connection path Q generated by making the turning radius in the first turning path Q1 and the turning path in the second turning path Q3 different from each other. 6 to 9 show a case in which the turning radius in the first turning path Q1 and the turning path in the second turning path Q3 is set to the turn radius when turning without controlling the brake device or the double speeding device Respectively. Figs. 10 to 13 show a case in which the turning radius in the first turning path Q1 and the second turning path Q3 is set to a turn radius when turning by controlling the braking device and the double speeding device. Figs. 14 to 17 show the turning radius of the first turning path Q1 when turning by controlling the braking device or the double speeding device, and the turning radius of the second turning path Q3 And the turning radius is a turning radius when turning without controlling the brake device or the double speed device. Figs. 18 to 21 are diagrams showing the relationship between the turning radius of the first turning path Q1 and the turning radius of the second turning path Q3 when turning without controlling the braking device or the double speeding device, And the turning radius is defined as a turning radius when turning by controlling the brake device or the double speed device.

As described above, the path generating section 23 is configured to be able to generate the connection path (Q) shown in each of Figs. 6 to 21 as the connection path (Q). In describing the connection path Q shown in each of Figs. 6 to 21, it is assumed that the pattern corresponds to which of the forward rotation pattern shown in Fig. 4 and the backward rotation pattern shown in Fig. 5, and the first boundary line K1, And the second straight line K2 are acute angles or obtuse angles, the group is divided into four groups.

(First group)

The first group in which the forward rotation pattern shown in Fig. 4 and the angle? (See Fig. 6) formed by the first boundary line K1 and the second straight line K2 are acute angles will be described. The first group corresponds to the connection paths (Q) shown in Figs. 6, 10, 14, and 18, respectively.

A description will be given of the connection path (Q) shown in Fig. The first turning path Q1 is connected to a trailing work path along a first circle E1 from a second straight line K2 (an extension extending along the preceding work path P1) and a contact of the first circle E1 P2) of the tractor 1 toward the side where the tractor 1 advances. Since the angle? Formed by the first boundary line K1 and the second straight line K2 is an acute angle, the turning angle? In the first turning path Q1 is set to an obtuse angle. The straight path Q2 continues from the end position of the first turning path Q1 and once the tractor 1 is retracted to the side away from the trailing work path P2 and then the tractor 1 is moved to the trailing work path P2 to the side nearer to the point of contact. The straight path Q2 is generated on the tangent line in contact with the first circle E1 and the second circle E2. In this connection, in Figs. 4 to 21, in order to clearly show the straight path Q2, a straight path (a straight line) is formed at a position slightly shifted from the tangent line tangent to the first circle E1 and the second circle E2 Q2). The straight path Q2 shown in Fig. 6 is generated so as to be in parallel with the first boundary line K1 and the outer periphery T of the package H, and the straight line X2 (the second straight line K2). The second turning path Q3 is formed by moving the trailing work path P2 along the second circle E2 from the end position of the straight path Q2 (the position where the straight path Q2 and the second circle E2 contact) As the tractor 1 advances toward the vehicle. In this regard, in a straight line extending along the trailing work path P2, a path portion on a straight line from a point in contact with the second circle E2 to an intersection with the first boundary line K1 ) Is also generated as the connection path Q.

As described above, since the first circle E1 is a circle tangent to a straight line (second straight line K2) extending along the preceding work path P1, the first circle E1 The tractor 1 continuously generates the first turning path Q1 after the preceding work path P1 is subjected to the autonomous work (autonomous running in a state in which the working machine 5 is working) The route Q1 can be autonomously traveled (autonomous travel in a state where the worker 5 does not work). Since the second circle E2 is a circle tangent to a straight line extending along the trailing work path P2, by generating the second turning path Q3 along the second circle E2, the tractor 1 can autonomously work the trailing work path P2 continuously after autonomously running the second turning path Q3.

6 to 21, the path generating section 23 generates the first turning path Q1 along the first circle E1 and the second turning path Q1 along the second circle E2, The tractor 1 continuously operates the first work path P1 after the autonomous operation of the preceding work path P1 in the connection paths Q shown in Figs. Q1) can autonomously run, and after the second turning path (Q3) autonomously runs, the trailing work path (P2) can be autonomously operated.

The connection path Q shown in Fig. 10 will be described. The connection path Q shown in Fig. 10 is different from the connection path Q shown in Fig. 6 in that the turning radius of the first turning path Q1 and the second turning path Q3 is made smaller, Except that the route Q2 is generated so as to be orthogonal to the traveling direction X of the tractor 1 (second straight line K2). In this regard, in a straight line extending along the trailing work path P2, a path portion on a straight line from a point in contact with the second circle E2 to an intersection with the first boundary line K1 ) Is also generated as the connection path Q.

2, the radio communication terminal 2 is caused to generate a straight path Q2 so that the traveling direction X (second straight line K2) of the tractor 1 and the straight path Q2 are orthogonal to each other And an instruction unit 25 for instructing the path generation unit 23 is provided. The connection path Q shown in FIG. 10 shows a case where an instruction to the path generating unit 23 is made in the instruction unit 25. Then, when the user operates the wireless communication terminal 2, the instruction section 25 instructs the path generation section 23 to operate. 6 and the like, the path generating section 23 generates the straight path Q2 so that the traveling direction X (the second straight line K2) of the tractor 1 and the straight path Q2 are not orthogonal to each other, (Second straight line K2) of the tractor 1 and the straight path Q2 (the second straight line K2) in which the straight path Q2 is orthogonal to each other ) Can also be generated.

10, only when the angle? Formed by the first boundary line K1 and the second straight line K2 is an acute angle, the instructing section 25 instructs the advancing direction X of the tractor 1, The path generating section 23 can be instructed to generate the straight path Q2 such that the first straight line (second straight line K2) and the straight line passing path Q2 are orthogonal to each other. 7 and the like, when the angle? Formed by the first boundary line K1 and the second straight line K2 is an obtuse angle, (23) is not instructed.

The connecting path Q shown in Fig. 14 is different from the connecting path Q shown in Fig. 6 in that the turning radius of the first turning path Q1 is made smaller, The angle of the straight path Q2 is not parallel to the outer circumference T and the first boundary line K1 of the straight line H and the angle of the straight path Q2. In this regard, in a straight line extending along the trailing work path P2, a path portion on a straight line from a point in contact with the second circle E2 to an intersection with the first boundary line K1 ) Is also generated as the connection path Q.

The connection path Q shown in Fig. 18 is different from the connection path Q shown in Fig. 6 only in that the turning radius of the second turning path Q3 is made smaller. In this regard, in a straight line extending along the trailing work path P2, a path portion on a straight line from a point in contact with the second circle E2 to an intersection with the first boundary line K1 ) Is also generated as the connection path Q.

(Second group)

The second group in which the angle? Formed by the first boundary line K1 and the second straight line K2 (see FIG. 7) is an obtuse angle will be described. This second group corresponds to the connection path (Q) shown in Figs. 7, 11, 15, and 19, respectively.

The connection path Q shown in Fig. 7 is different from the connection path Q shown in Fig. 6 of the first group in that the angle? Formed by the first boundary line K1 and the second straight line K2 is an obtuse angle The turning angle? In the first turning path Q1 is set to an acute angle. In this regard, in the second straight line K2, a straight line portion (indicated by a solid line arrow in the figure) from the intersection point with the first boundary line K1 to the point contacting the first circle E1 is also shown, And is generated as a connection path (Q).

The connecting path Q shown in Fig. 11 is smaller in the turning radius of the first turning path Q1 and the second turning path Q3 than the connecting path Q shown in Fig. 7 of the second group Only the points are different. In this regard, in the second straight line K2, a straight line portion (indicated by a solid line arrow in the figure) from the intersection point with the first boundary line K1 to the point contacting the first circle E1 is also shown, And is generated as a connection path (Q).

The connection path Q shown in Fig. 15 is different from the connection path Q shown in Fig. 7 of the second group in that the turning radius of the first turning path Q1 is made small, Q2 are not parallel to the outer circumference T of the package H and the first boundary line K1 and the angles of the straight path Q2 are different. In this regard, in the second straight line K2, a straight line portion (indicated by a solid line arrow in the figure) from the intersection point with the first boundary line K1 to the point contacting the first circle E1 is also shown, And is generated as a connection path (Q).

The connecting path Q shown in Fig. 19 differs from the connecting path Q shown in Fig. 7 of the second group only in that the turning radius of the second turning path Q3 is made smaller. In this regard, in the second straight line K2, a path portion (indicated by a solid line arrow in the figure) on a straight line from an intersection point with the first boundary line K1 to a point contacting the first circle E1, and A path portion (a portion indicated by a solid line arrow in the figure) on a straight line from a point in contact with the second circle E2 to a point of intersection with the first boundary line K1 in a straight line extending along the trailing work path P2 , And a connection path (Q).

(Third group)

A third group in which the angle? Formed by the first boundary line K1 and the second straight line K2 (see FIG. 8) is an acute angle will be described. The third group corresponds to the connection path (Q) shown in each of Figs. 8, 12, 16, and 20.

A description will be given of the connection path (Q) shown in Fig. The first turning path Q1 is a line connecting the first circle E1 from the contact point of the second straight line K2 (extension line extending along the preceding work path P1) and the first circle E1, And the tractor 1 is turned backward while moving toward the side away from the tractor P2. Since the angle? Formed by the first boundary line K1 and the second straight line K2 is an acute angle, the turning angle? In the first turning path Q1 is set to an obtuse angle. The straight path Q2 continues from the end position of the first turning path Q1 to a straight path that advances the tractor 1 to the side closer to the trailing work path P2. The straight path Q2 is generated on the tangent line tangent to the first circle E1 and the second circle E2 and is perpendicular to the traveling direction X of the tractor 1 (second straight line K2) It is not. The second turning path Q3 is formed by moving the trailing work path P2 along the second circle E2 from the end position of the straight path Q2 (the position where the straight path Q2 and the second circle E2 contact) As the tractor 1 advances toward the vehicle. In this regard, in the second straight line K2, a path portion (indicated by a solid line arrow in the figure) on a straight line from an intersection point with the first boundary line K1 to a point contacting the first circle E1, and A path portion (a portion indicated by a solid line arrow in the figure) on a straight line from a point in contact with the second circle E2 to a point of intersection with the first boundary line K1 in a straight line extending along the trailing work path P2 , And a connection path (Q).

The connection path Q shown in Fig. 12 differs from the connection path Q shown in Fig. 8 only in that the turning radius of the first turning path Q1 and the turning path Q3 is made small . In this regard, in the second straight line K2, a path portion (indicated by a solid line arrow in the figure) on a straight line from an intersection point with the first boundary line K1 to a point contacting the first circle E1, and A path portion (a portion indicated by a solid line arrow in the figure) on a straight line from a point in contact with the second circle E2 to a point of intersection with the first boundary line K1 in a straight line extending along the trailing work path P2 , And a connection path (Q).

The connection path Q shown in Fig. 16 differs from the connection path Q shown in Fig. 8 only in that the turning radius of the first turning path Q1 is made smaller. In this regard, in the second straight line K2, a path portion (indicated by a solid line arrow in the figure) on a straight line from an intersection point with the first boundary line K1 to a point contacting the first circle E1, and A path portion (a portion indicated by a solid line arrow in the figure) on a straight line from a point in contact with the second circle E2 to a point of intersection with the first boundary line K1 in a straight line extending along the trailing work path P2 , And a connection path (Q).

The connecting path Q shown in Fig. 20 is different only in that the turning radius of the second turning path Q3 is made smaller as compared with the connecting path Q shown in Fig. In this regard, in the second straight line K2, a path portion (indicated by a solid line arrow in the figure) on a straight line from an intersection point with the first boundary line K1 to a point contacting the first circle E1, and A path portion (a portion indicated by a solid line arrow in the figure) on a straight line from a point in contact with the second circle E2 to a point of intersection with the first boundary line K1 in a straight line extending along the trailing work path P2 , And a connection path (Q).

(Fourth group)

A fourth group in which the backward turning pattern shown in Fig. 5 and the angle? (See Fig. 9) formed by the first boundary line K1 and the second straight line K2 are obtuse angles will be described. The fourth group is the connection path (Q) shown in each of Figs. 9, 13, 17, and 21.

A connection path Q shown in Fig. 9 is added. The path generating section 23 generates the intermediate turning path Q4 in addition to the first turning path Q1, the straight path Q2 and the second turning path Q3 as the connection path Q . The intermediate turning path Q4 is set between the first turning path Q1 and the straight path Q2. The first turning path Q1 is a line connecting the first circle E1 from the contact point of the second straight line K2 (extension line extending along the preceding work path P1) and the first circle E1, And the tractor 1 is turned backward while moving toward the side away from the tractor P2. The intermediate turning path Q4 continues from the contact point of the first circle E1 and the third circle E3 and runs along the third circle E3 toward the side away from the trailing work path P2 to the tractor 1, The vehicle is turning backward. Here, the third circle E3 has the same radius as the first circle E1 and the second circle E2 and is a circle tangent to the first circle E1. The straight path Q2 is a straight line that continues from the end position of the intermediate turning path Q4 and advances the tractor 1 to the side closer to the trailing work path P2. The straight path Q2 is formed on a tangent line tangential to the third circle E3 and the second circle E2 and is perpendicular to the traveling direction X of the tractor 1 (second straight line K2) It is not. The second turning path Q3 is formed by moving the trailing work path P2 along the second circle E2 from the end position of the straight path Q2 (the position where the straight path Q2 and the second circle E2 contact) As the tractor 1 advances toward the vehicle. In this regard, in the second straight line K2, a path portion (indicated by a solid line arrow in the figure) on a straight line from an intersection point with the first boundary line K1 to a point contacting the first circle E1, and A path portion (a portion indicated by a solid line arrow in the figure) on a straight line from a point in contact with the second circle E2 to a point of intersection with the first boundary line K1 in a straight line extending along the trailing work path P2 , And a connection path (Q).

In the connection path Q shown in Fig. 13, the first turning path Q1 is connected to the first circle E1 from the contact point between the second straight line K2 (extension line extending along the preceding work path P1) And the tractor 1 turns backward along the first circle E1 toward the side away from the trailing work path P2. The straight path Q2 continues from the end position of the first turning path Q1 and once the tractor 1 is retracted to the side away from the trailing work path P2 and then the tractor 1 is moved to the trailing work path P2 to the side nearer to the point of contact. The straight path Q2 is generated on the tangent line tangent to the first circle E1 and the second circle E2 and is perpendicular to the traveling direction X of the tractor 1 (second straight line K2) It is not. The second turning path Q3 is formed by moving the trailing work path P2 along the second circle E2 from the end position of the straight path Q2 (the position where the straight path Q2 and the second circle E2 contact) As the tractor 1 advances toward the vehicle. In this regard, in the second straight line K2, a straight line portion (indicated by a solid line arrow in the figure) from the intersection point with the first boundary line K1 to the point contacting the first circle E1 is also shown, And is generated as a connection path (Q).

The connecting path Q shown in Fig. 17 is different only in that the turning radius of the second turning path Q3 is made larger as compared with the connecting path Q shown in Fig. In this regard, in the second straight line K2, a straight line portion (indicated by a solid line arrow in the figure) from the intersection point with the first boundary line K1 to the point contacting the first circle E1 is also shown, And is generated as a connection path (Q).

The connecting path Q shown in Fig. 21 is different only in that the turning radius of the first turning path Q1 is made larger than the connecting path Q shown in Fig. In this regard, in the second straight line K2, a path portion (indicated by a solid line arrow in the figure) on a straight line from an intersection point with the first boundary line K1 to a point contacting the first circle E1, and A path portion (a portion indicated by a solid line arrow in the figure) on a straight line from a point in contact with the second circle E2 to a point of intersection with the first boundary line K1 in a straight line extending along the trailing work path P2 , And a connection path (Q).

6 and 7, the path generating section 23 sets the turning radius of the first turning path Q1 and the turning radius of the second turning path Q3 to the same turning radius have. The path generating unit 23 calculates the distance W2 between the straight path Q2 and the outer circumference T of the non-work area R2a to be greater than the distance W1 between the straight path Q2 and the first boundary line K1, ) Is shortened. Thus, the straight path Q2 can be generated on the side farthest from the first boundary line K1. Therefore, the turning radius Q2 of the second turning path Q3 subsequent to the straight path Q2 or the trailing work path The time required for adjusting the position and posture of the tractor 1 can be secured and the position and posture of the tractor 1 can be adjusted The autonomous operation in the trailing work path P2 can be started in a stable state.

In the connection path Q shown in Figs. 14 to 17, the path generating section 23 calculates the first turning radius V1 of the first turning path Q1 and the second turning radius of the second turning path Q3 (V2) are set to be different from each other. The path generating section 23 is set so that the second turning radius V2 is longer than the first turning radius V1. Thereby, the second turning radius V2 in the second turning path Q3 can be made larger, and time for adjusting the position and attitude of the tractor 1 can be secured. Therefore, The autonomous operation in the trailing work path P2 can be started with the position and posture of the work path P2 stabilized.

As described above, the path generating unit 23 can generate different connection paths Q according to various conditions. For example, the path generating unit 23 may generate the connection path Q shown in Figs. 6 to 21 to the wireless communication terminal 2, And by allowing the user to operate the wireless communication terminal 2, any of the connection paths Q shown in Figs. 6 to 21 can be selected.

Although the path generating section 23 is capable of setting two turning radii as turning radii in the first turning path Q1 and the second turning path Q3, the path generating section 23 is not limited to two turning radii Alternatively, three or more turning radii can be set.

Industrial availability

INDUSTRIAL APPLICABILITY The present invention can be applied to various route generation systems having a route generation section for generating a travel route autonomously traveled by a work vehicle.

1: tractor (working vehicle)
22:
23:
24:
25: Indicator
K1: the boundary between the working area and the non-working area (first boundary)
K2: a straight line extending along the traveling direction of the tractor in the work area (second straight line)
P: Work path
Q: Connection path
Q1: First turning path
Q2: Straight path
Q3: The second turning path
R1: working area
R2: Non-working area
T: Outside of non-working area
V1: first turning radius of the first turning path
V2: second turning radius of the second turning path
X: direction of the tractor

Claims (5)

An area registration unit for registering a shape of a work area in which an autonomous work is performed by the work vehicle and a shape of a non-work area in which the autonomous work is not performed by the work vehicle,
A route generating unit for generating a traveling route autonomously traveled by the working vehicle in the working area and the non-working area,
And a direction setting section for setting a traveling direction of the working vehicle in the working area,
Wherein the route generating unit includes a plurality of work paths in which an autonomous work is performed by the working vehicle in the working area and a plurality of work paths in which the working paths are connected The path including a plurality of connection paths,
Wherein the path creating section is capable of generating, as the connection path, a path including a first turning path, a second turning path, and a straight path set between the first turning path and the second turning path, And the straight path can be generated so that the traveling direction and the straight path are not orthogonal. The method according to claim 1,
The first turning path is set on the front side in the traveling direction with respect to the straight traveling path while the second turning path is set on the inner side in the traveling direction with respect to the straight traveling path,
Wherein the path generating unit sets the turning angle of the working vehicle in the first turning path to an obtuse angle when the angle formed by the straight line extending along the boundary between the working area and the non- and,
Wherein the turning angle of the working vehicle in the first turning path is set to an acute angle when the angle is an obtuse angle. 3. The method of claim 2,
Wherein the path generating unit sets the turning radius of the first turning path and the turning radius of the second turning path to the same turning radius and further sets the turning radius of the second turning path to be equal to the turning radius of the outer periphery of the straight path and the non- And the straight path is generated so that the distance between the straight line and the straight line becomes shorter. 3. The method of claim 2,
The path generating section sets the turning radius of the first turning path and the turning radius of the second turning path to be different from each other and also the second turning radius is longer than the first turning radius Path generation system. 5. The method according to any one of claims 2 to 4,
And an instruction section capable of instructing the path generation section to generate the straight path so that the traveling direction and the straight path are orthogonal when the angle is an acute angle,
Wherein the instruction unit does not issue the instruction to the path generation unit when the angle is an obtuse angle.

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