WO2017159615A1

WO2017159615A1 - Route generation device

Info

Publication number: WO2017159615A1
Application number: PCT/JP2017/009985
Authority: WO
Inventors: 敏史平松
Original assignee: ヤンマー株式会社
Priority date: 2016-03-16
Filing date: 2017-03-13
Publication date: 2017-09-21

Abstract

In order to enable route generation such that when a work route is generated, no uncultivated land is left even in a case where a work region is generated which is smaller than the work width of a work machine of an autonomous-travel working vehicle, the present invention is provided with: a storage unit 114 capable of storing information about a field H that is a travel region where a vehicle body part travels and information about a travel work width W1 that is the width of the vehicle body part and/or the width of a rotary tillage device 24 attached to the vehicle body part; and an operation-side control unit 130 capable of generating a work route Ra which is taken by the work machine in the field H. The field H includes a work region HA which is a first region including the work route Ra, and a head land HB and a side margin land HC which are a second region set around the first region. In a case where, when the work route Ra is generated in the first region, a narrow work route Rc that is narrower than the travel work width W1 is generated, the operation-side control unit 130 can generate, for the narrow work route Rc, the work route Ra entering the second region so as to have the travel work width W1.

Description

Path generator

The present invention relates to route generation in the case where there is a work area smaller than the work width in a work route where an unmanned travel work vehicle works in a work system where work is performed by the unmanned travel work vehicle.

Conventionally, by causing the work vehicle performing a predetermined work to run unmannedly in the work site of the predetermined section, the above-described predetermined work is performed in the work site, and the above-described work is performed There is known a technique for performing a rectilinear rectilinear rectilinear operation repeating a rectilinear rectilinear operation by turning 180 degrees (see Patent Document 1).

In addition, a working vehicle coordination system has been known in which work on the ground is performed by a parent work vehicle and an unmanned operation type sub-work vehicle that follows the parent work vehicle (see, for example, Patent Document 2). In the work vehicle coordination system, the parent work vehicle has a parent work travel route that travels in a straight line while performing ground work between turning areas at both ends in the turning area in the turning areas at both ends of the field by manned steering by the driver. The travel path of the sub work vehicle consists of a sub work travel path that follows the parent work vehicle while performing work on the ground between the turn areas at both ends, and a child turn travel path in the turn area, and that path by unmanned operation I was going to travel.

Japanese Patent Application Laid-Open No. 10-66405 JP, 2014-178759, A

In the above technology, when turning on a headland, a 180-degree U-turn was performed. However, in an actual field, there is also a deformed shape such as a trapezoid, and in such a shape, there is a possibility that a path to be turned may be generated by turning out an existing cultivated land or a field when turning. In addition, if the form of the turning path is wrong, the time required for turning becomes long.
In addition, when the unmanned traveling production vehicle that is a small work vehicle is located in the final work route, the work width of the route is small. If the work width of the work machine provided is shorter than the work width of the work machine, the unmanned travel production vehicle may work out of the work area, and thus the automatic travel may be stopped and the work may be finished. In this case, an unworked place will remain. In addition, when the final route passes through the diagonal work area, there is a risk that an unworked site may occur if it is not clearly set at which position to start or end work. The In addition, because the child work vehicle runs diagonally behind the parent work vehicle, and the work machine width of the parent work vehicle and the work machine width of the child work vehicle overlap partially, the parent work vehicle is adjacent to the child work vehicle There is a risk that the working machines will collide with each other if the work is shifted to the vertical direction.

The present invention has been made in view of the above circumstances, and when generating a work path, when a work area smaller than the work width of the work machine of the autonomous traveling work vehicle (unmanned travel production vehicle) is generated, It is possible to set how to process a work area that does not meet the work width, and when creating work paths for one work vehicle and the other work vehicle, one work vehicle turns at the end of the field and the other works. An object of the present invention is to provide a work path and a path generation device capable of generating an optimum turning path so that a collision does not occur when traveling in a direction opposite to a work vehicle.

The problem to be solved by the present invention is as described above, and next, means for solving the problem will be described.
That is, according to the present invention, a storage unit capable of storing information on a traveling region in which a vehicle body portion travels, a width of the vehicle body portion, and / or a width of a traveling work which is a width of a working machine mounted on the vehicle body portion When,
A control unit capable of generating a work path by the work machine in the travel area;
The travel area includes a first area including the work path, and a second area set around the first area, and the control unit generates a work path in the first area. When a narrower work path occurs more narrowly, it is possible to generate a work path of a travel work width across the narrow work path and the second area.

In the present invention, the storage unit stores information of a traveling working length which is a length from a front end to a rear end in a state where a working machine is mounted on the vehicle body portion, and the control unit is a path length of the narrow working path However, if the traveling working length is less than a predetermined length, the working path is not generated in the narrow working path.

In the present invention, the control unit can generate the work path based on a work start position, a work direction, and a work end position set for the traveling region, and the work path is set in the narrow work path. If not generated, the work end position set for the travel area can be set to a position different from the end position of the work by the work machine in the work path.

Further, according to the present invention, there is provided a setting unit configured to set a traveling mode by the first traveling working vehicle and the second traveling working vehicle, and a first traveling working vehicle according to the traveling mode set by the setting unit. A plurality of work paths traveled by the second traveling work vehicle are arranged in parallel adjacently, and a work path generation unit capable of generating a work path to which a continuous work order is assigned to the adjacent work paths And a control unit for performing predetermined control, and the setting unit sets that the work path along which the first traveling work vehicle and the second traveling work vehicle travel is a common work path as the traveling mode. When the control unit is turned on, the control unit can execute predetermined notification as the predetermined control.

Further, according to the present invention, there is provided a setting unit configured to set a traveling mode by the first traveling working vehicle and the second traveling working vehicle, and a first traveling working vehicle according to the traveling mode set by the setting unit. A plurality of work paths traveled by the second traveling work vehicle are arranged in parallel adjacently, and a work path generation unit capable of generating a work path to which a continuous work order is assigned to the adjacent work paths And a control unit for performing predetermined control, and the setting unit sets that the work path along which the first traveling work vehicle and the second traveling work vehicle travel is a common work path as the traveling mode. In the case where it is determined, the control unit can generate, as the predetermined control, the work path in the case where the work paths traveled by the first traveling work vehicle and the second traveling work vehicle are different work paths.

In the present invention, the work path generation unit works the work path in which the first traveling work vehicle and the second traveling work vehicle are adjacent to each other, and the work path length of the first traveling work vehicle and the first travel When the difference in the length of the work path of the work vehicle is equal to or greater than the predetermined length and the work path becomes shorter, the work path that becomes the work path of the first traveling work vehicle is the work path of the second traveling work vehicle The work path can be set according to the length of

In the present invention, when the work path generation unit is an adjacent work path with different travel modes, the work path of the second traveling work vehicle is continuous to the adjacent work path in the first reciprocation. The work path of the first traveling work vehicle is attached with a sequential work order to the two work paths disposed apart from the first one reciprocating path of the second traveling work vehicle. It is a thing.

Further, according to the present invention, a traveling region in which a vehicle body portion travels, a storage unit capable of storing a turning radius preset for the vehicle body portion, a traveling route of the vehicle body portion in the traveling region, and the vehicle body portion A control unit capable of generating a work path by a mounted working machine, the control unit generating a first area in which the work path is generated in the travel area, and a second area in which the travel path is generated It is possible to set an area, and of the plurality of work paths set in the first area, the movement of the vehicle body in the second area is necessary for the movement from the first work path to the second work path. In this case, based on the distance between the first working path and the second working path and the turning radius, the first turning path without going straight and going backward and the second turning go without going straight Between the turning path and the third turning path with reverse It is possible to generate the traveling path including a Re of the turning path.

In the present invention, the control unit includes a fourth turning path different from the first to third turning paths by changing the area ratio of the first area and the second area to widen the second area. The travel route can be generated.

The present invention is characterized in that the control unit includes the traveling path including a fifth turning path including turning in a first turning direction and turning in a second turning direction opposite to the first turning direction. It is possible.

In the present invention, the control unit performs the work by the work machine in the order of the first work path, the second work path, and the third work path, and the (n + 1) th work path from the predetermined n-th work path The traveling including the third turning path set across the (n + 1) th working path and the second region, when the movement to the second working path requires turning by the third turning path While the route can be generated, the travel route including the third turning route set across the n-th work route and the second area is not generated.

By using the means as described above, it is possible to generate an optimal turning path according to the path. In other words, it is possible to reduce the number of turns when turning at the end of the field, shorten the distance and time required for turning, and reduce the number of brake turns to prevent the scene from being damaged. In addition, after one traveling working vehicle turns at the end of the field and starts moving to the next working route, collision with the other traveling working vehicle can be prevented in advance, and both traveling working vehicles collide This enables route generation settings that can avoid the problem. In addition, even when a narrow work route occurs in the first area, the work route setting by the autonomous traveling work vehicle is performed according to a predetermined principle, and the route generation setting in which the uncultivated land does not remain To be done.

Outline side view of autonomous traveling working vehicle and traveling working vehicle Control block diagram Diagram showing the initial screen Diagram showing farm setting Diagram showing the field area Figure showing a field where the last work path in the work area is a narrow work path Diagram showing the field when the work area is trapezoidal Figure showing the field when the work area is stepped Diagram showing the field when the first work path length is short Figure showing a field where a traveling work vehicle follows and works after an autonomously traveling work vehicle and turns to an adjacent strip A diagram showing a field where a traveling working vehicle accompanies and performs work diagonally to the rear of the autonomous traveling working vehicle, and the autonomous traveling working vehicle jumps one working route and turns. The figure which shows a field when the length of the work path of the adjacent strip differs by a predetermined length The figure which shows the field when the length of the work path of the adjacent strip differs by a predetermined length at the work end side Figure showing the field when the width of the work path of the adjacent strip is narrow by a predetermined length Diagram showing the field of collaborative work in which the autonomous traveling work vehicle performs the first work route Figure showing a field where there is an obstacle in the field and the work starting position of the autonomous mobile work vehicle is shifted A diagram showing a first turning path without going straight and going backward A diagram showing a second turning path without going reverse and with going straight Diagram showing a third turning path with reverse Diagram showing details of the third turning path with reverse The figure which shows the 4th turning path which widens a 2nd field and turns. Diagram showing the turning path when the third turning path is set in the modified field A diagram showing the turning path when the fifth turning path is set in the modified field Diagram showing the turning path when the third turning path can be set and not permitted Figure showing a field where the reverse side is the work start position to avoid the creation of a third turning path with reverse

An autonomous traveling work vehicle (which may be referred to as "unmanned vehicle" hereinafter) 1 capable of autonomous traveling unmanned and autonomously, and a manned traveling working vehicle operated by a worker (user) in coordination with the autonomous traveling work vehicle 1 An embodiment will be described in which the autonomous traveling working vehicle 1 and the traveling working vehicle 100 are respectively equipped with a rotary cultivating device as a working machine with the tractor 100 (which may be hereinafter referred to as a manned vehicle). However, the working vehicle is not limited to a tractor, and may be a combine, etc. The working machine is not limited to a rotary tiller, and may be a setting machine, a mower, a rake, a planter, a fertilizing machine, etc. May be

In the present specification, “autonomous traveling” means that the control unit (ECU) of the tractor controls a configuration related to traveling of the tractor and the tractor travels along a predetermined route.
Performing agricultural work in a single field with unmanned vehicles and manned vehicles may be referred to as cooperative work of agricultural work, follow-up work, accompanying work, and the like. In addition to "Performing farming work in a single field with unmanned vehicles and manned vehicles" as cooperative work of farming work, unmanned vehicles and manned vehicles at the same time farming operations in different fields such as adjacent fields "To perform" may be included.

FIG. 1 is a side view showing a schematic configuration of an autonomous traveling working vehicle and a traveling working vehicle, and FIG. 2 is a control block diagram showing a control configuration of them. In FIG. 1 and FIG. 2, an overall configuration of a tractor serving as the autonomous traveling work vehicle 1 will be described. In the body part of the tractor, the engine 3 is installed inside the bonnet 2, the dashboard 14 is provided in the cabin 11 at the rear of the bonnet 2, and the steering handle 4 serving as steering operation means is provided on the dashboard 14 It is done. The turning of the steering wheel 4 turns the direction of the

front wheels

9 and 9 via the steering device. A steering actuator 40 for operating the steering device is connected to a steering controller 301 constituting the control unit 30. The steering direction of the autonomous mobile work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 is an angle sensor such as a rotary encoder, and is disposed at the rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited as long as the steering direction is recognized, and the rotation of the steering wheel 4 may be detected or the operation amount of the power steering may be detected. The detected value obtained by the steering sensor 20 is input to the steering controller 301 of the control unit 30.

The control unit 30 includes a steering controller 301, an engine controller 302, a transmission control controller 303, a horizontal control controller 304, a work control controller 305, a positioning control unit 306, an autonomous traveling control controller 307, etc. And a storage device such as a RAM or a ROM, an interface, and the like, and the storage device stores programs, data, and the like for operation, and can be communicated so as to transmit and receive information, data, and the like by CAN communication.

A driver's seat 5 is disposed behind the steering wheel 4, and a transmission case 6 is disposed below the driver's seat 5. Rear axle cases 8 are connected to both left and right sides of the transmission case 6, and rear wheels 10 are supported by the rear axle cases 8 via axles. The power from the engine 3 is shifted by the transmission (main transmission or sub transmission) in the transmission case 6 to drive the

rear wheels

10 and 10. The transmission is, for example, a hydraulic stepless transmission, in which a movable swash plate of a variable displacement hydraulic pump is operated by transmission means 44 such as a motor so as to be shiftable. The transmission means 44 is connected to the transmission control controller 303 of the control unit 30. The rotational speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and is input to the transmission control controller 303 as the traveling speed. However, the detection method of the vehicle speed and the arrangement position of the vehicle speed sensor 27 are not limited.

A PTO clutch and a PTO transmission are accommodated in the transmission case 6, the PTO clutch is turned on and off by the PTO ON / OFF unit 45, and the PTO ON / OFF unit 45 and the autonomous traveling controller 307 of the control unit 30 via the display unit 49. It is connected and control of connection and disconnection of power to the PTO shaft is possible. In addition, when a seeding machine or a coating machine is attached as a work machine, the work machine controller 308 is provided so that control unique to the work machine can be performed, and the work machine controller 308 uses information communication wiring (so-called ISOBUS). And the work control controller 305.

A front axle case 7 is supported on a front frame 13 supporting the engine 3,

front wheels

9 and 9 are supported on both sides of the front axle case 7, and power from the transmission case 6 can be transmitted to the

front wheels

9 and 9. It is composed of The

front wheels

9 and 9 are steering wheels, and can be turned by the turning operation of the steering handle 4, and the

front wheels

9 and 9 are steered left and right by a steering actuator 40 composed of a power steering cylinder serving as a driving means of a steering device. It is rotatable. The steering actuator 40 is connected to the steering controller 301 of the control unit 30 and controlled.

An engine rotation number sensor 61, a water temperature sensor, an oil pressure sensor, and the like are connected to an engine controller 302 serving as an engine rotation control means so that the state of the engine can be detected. The engine controller 302 detects the load from the set number of revolutions and the actual number of revolutions and controls the load so as not to be overloaded, and transmits the state of the engine 3 to the remote control device 112 described later so that the display device 113 can display it. ing.

Further, a level sensor 29 for detecting the liquid level of fuel is disposed in the fuel tank 15 disposed below the step and connected to the display means 49. The display means 49 is provided on the dashboard of the autonomous traveling work vehicle 1 Display the remaining amount of. Then, the remaining amount of fuel is calculated as the workable time by the autonomous traveling controller 307, information is transmitted to the remote control device 112 through the communication device 110, and the remaining amount of fuel and work are displayed on the display device 113 of the remote control device 112. The available time can be displayed. The tachometer, the fuel gauge, the oil pressure, the display means for displaying an abnormality, and the display means capable of displaying the current position or the like may be configured separately.

On the dashboard 14, there are disposed an engine tachometer, a fuel gauge, a hydraulic pressure, a monitor indicating an abnormality, and a display means 49 for displaying a set value or the like. Like the remote control device 112, the display means 49 is a touch panel type, which also enables data input / selection, switch operation, button operation and the like.

In addition, a rotary tilling device 24 as a working machine is movably mounted on the rear of the vehicle body portion of the tractor as a working machine via a working machine mounting device 23. A lift cylinder 26 is provided on the transmission case 6, and by extending and retracting the lift cylinder 26, a lift arm constituting the work implement mounting device 23 is turned to be able to lift and lower the rotary cultivator 24. The lift cylinder 26 is expanded and contracted by the operation of the lift actuator 25, and the lift actuator 25 is connected to the horizontal control controller 304 of the control unit 30. Further, on the lift links on one side in the left and right of the work implement mounting device 23, tilt cylinders are provided, and a tilt actuator 47 for operating the tilt cylinders is connected to the horizontal control controller 304.

A mobile GPS antenna (positioning antenna) 34 for enabling detection of position information and a data reception antenna 38 are connected to the positioning control unit 306 serving as a position detection unit, and the mobile GPS antenna 34 and data reception antenna 38 Provided on top. The positioning control unit 306 is provided with a position calculation unit to calculate latitude and longitude, and can display the current position on the display unit 49 or the display device 113 of the remote control device 112. In addition to GPS (US), precise positioning can be performed using satellite positioning systems (GNSS) such as Quasi-Zenith Satellite (Japan) and Glonass Satellite (Russia), but in this embodiment GPS is used. explain.

The autonomous traveling working vehicle 1 includes a gyro sensor 31 for obtaining posture change information of a vehicle body portion, and an azimuth angle detection unit 32 for detecting a traveling direction, and is connected to a control unit 30. However, since the traveling direction can be calculated from GPS position measurement, the azimuth detection unit 32 can be omitted.

The gyro sensor 31 detects an angular velocity of inclination (pitch) in the longitudinal direction of the vehicle body portion of the autonomous traveling work vehicle 1, an angular velocity of inclination (roll) in the lateral direction of the vehicle body portion, and an angular velocity of turning (yaw). By integrating and calculating the three angular velocities, it is possible to determine the inclination angle in the front-rear direction and the left-right direction of the vehicle body portion of the autonomous traveling working vehicle 1 and the turning angle. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, a vibration gyro sensor, and the like. The gyro sensor 31 is connected to the control unit 30, and inputs information on the three angular velocities to the control unit 30.

The azimuth detecting unit 32 detects the direction (advancing direction) of the autonomously traveling working vehicle 1. As a specific example of the azimuth angle detection unit 32, a magnetic azimuth sensor or the like can be mentioned. The azimuth detecting unit 32 inputs information to the autonomous traveling control controller 307 via CAN communication means.

In this way, the autonomous traveling control controller 307 calculates the signals acquired from the gyro sensor 31 and the azimuth angle detection unit 32 by the attitude / orientation calculation means, and the attitude of the autonomous traveling work vehicle 1 (direction, vehicle body front and rear direction and vehicle body left and right Find the inclination of the direction, the turning direction).

Next, the position information of the autonomous mobile work vehicle 1 is acquired using GPS (Global Positioning System) which is one of the satellite positioning systems.
Positioning methods using GPS include various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematic-GPS) positioning, and any of these methods can be used. However, in this embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted.

RTK-GPS positioning simultaneously performs GPS observation with a reference station whose position is known and a mobile station whose position is to be determined, and transmits data observed by the reference station to the mobile station in real time by a method such as radio, etc. Is a method of obtaining the position of the mobile station in real time based on the position result of.

In this embodiment, a positioning control unit 306 serving as a mobile station, a mobile GPS antenna 34 and a data receiving antenna 38 are disposed in the autonomous traveling work vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36 and a data transmitting antenna 39 are disposed at predetermined positions. In the RTK-GPS positioning of this embodiment, phase measurement (relative positioning) is performed in both the reference station and the mobile station, and data measured by the fixed communication device 35 of the reference station is transmitted from the data transmission antenna 39 to the data reception antenna 38 .

The mobile GPS antenna 34 disposed on the autonomous mobile work vehicle 1 receives signals from the

GPS satellites

37, 37. This signal is transmitted to the positioning control unit 306 and positioned. Then, at the same time, signals from the GPS satellites 37 are received by the fixed GPS antenna 36 serving as a reference station, measured by the fixed communication device 35 and transmitted to the positioning control unit 306, and the observed data is analyzed and moved Determine the station's position.

Thus, the autonomous traveling controller 307 is provided as an autonomous traveling means for causing the autonomous traveling work vehicle 1 to autonomously travel. That is, the traveling state of the autonomous traveling working vehicle 1 is acquired as various information by the various information acquiring units connected to the autonomous traveling controller 307, and the autonomous traveling working vehicle 1 is acquired by the various control units connected to the autonomous traveling controller 307. Control autonomous driving. Specifically, the radio waves transmitted from the

GPS satellites

37, 37, ... are received, and the position control unit 306 obtains position information of the vehicle body portion at set time intervals, and the vehicle body from the gyro sensor 31 and the azimuth angle detector 32 The steering actuator 40 and the gear shift so that the vehicle body section travels along a preset route (traveling route and working route) R based on the position information, displacement information, and orientation information. Means 44, raising and lowering actuator 25, PTO on / off means 45, engine controller 302 and the like are controlled to enable autonomous traveling and automatic work.

In addition, an obstacle sensor 41 is disposed on the autonomous traveling work vehicle 1 and connected to the control unit 30 so as not to collide with the obstacle. For example, the obstacle sensor 41 is configured by a laser sensor, an ultrasonic sensor, or a camera, disposed at the front, side or rear of the vehicle body and connected to the controller 30, and the controller 30 controls the front or side of the vehicle It detects whether there is an obstacle on the side or the back, and controls to stop traveling when the obstacle approaches within the set distance.

The autonomous traveling work vehicle 1 is also connected to the control unit 30 with a camera 42F for photographing the front, a work machine for the rear, and a camera 42R for photographing the field condition after work. The

cameras

42F and 42R are disposed on the front and rear of the roof of the cabin 11 in this embodiment, but the arrangement position is not limited, and the front and rear of the cabin 11 and one camera 42 may be arranged around the body portion and rotated around the vertical axis to photograph the surroundings, or a plurality of cameras 42 may be arranged at the four corners of the body portion to photograph the periphery of the body portion. In addition, when an emblem of a manufacturer of the autonomous traveling work vehicle 1 is attached to the cabin 11, the hood 2, etc., the

cameras

42F and 42R may be disposed on the back side of the emblem. In that case, a through hole or a predetermined gap is set in the emblem, and the lenses of the

cameras

42F and 42R correspond to the position of the through hole or the gap, so that photographing is not hindered. The images taken by the

cameras

42F and 42R are displayed on the display device 113 of the remote control device 112 provided on the traveling work vehicle 100.

The remote control device 112 sets a route R of the autonomous traveling work vehicle 1 described later, remotely operates the autonomous traveling work vehicle 1, monitors the traveling state of the autonomous traveling work vehicle 1, and monitors the working state of the working machine. , And stores operation data, and includes a control unit (CPU or memory) 130 on the operation side, a communication device 111, a display device 113, a storage unit 114, and the like.

While the operator gets on and operates the traveling working vehicle 100 to be a manned traveling vehicle, the remote operating device 112 is mounted on the traveling working vehicle 100 to enable the autonomous traveling working vehicle 1 to be operated. The basic configuration of the traveling working vehicle 100 is substantially the same as that of the autonomous traveling working vehicle 1, and thus the detailed description will be omitted. The traveling work vehicle 100 (or the remote control device 112) may be configured to include a control unit for GPS.

The remote control device 112 can be attached to and detached from an attachment portion (an arm member capable of attaching and fixing, for example, the remote control device 112, not shown) provided on a dashboard of the traveling working vehicle 100 and the autonomous traveling working vehicle 1 or a pillar of the cabin 11. And The remote control device 112 may be operated while attached to the mounting portion of the traveling work vehicle 100 or may be carried out by carrying it out of the traveling working vehicle 100 and attached to the mounting portion of the autonomous traveling work vehicle 1 It is also possible to operate. The remote control device 112 can be configured by, for example, a wireless communication terminal such as a laptop computer or a tablet personal computer. In this embodiment, it is configured by a tablet computer.

Furthermore, the remote control device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote control device 112 are respectively provided with

communication devices

110 and 111 for communicating. ing. The communication device 111 is integrally configured with the remote control device 112. The communication means are configured to be able to communicate with each other via a wireless LAN such as WiFi. The remote control device 112 is provided with a display device 113 as a touch panel type operation screen that can be operated by touching a screen, and the communication device 111, the control unit 130, the storage unit 114, a battery, etc. in the case. In the storage unit 114, specifications of the autonomous traveling working vehicle 1, the traveling working vehicle 100, and the working machine (total length of the main body and the working machine, various lengths such as width and height, engine type and horsepower, gear ratio, working The capability etc.), the set value related to the route setting described later, the route after setting and the like are stored. In addition, after transferring to the control unit 30 of the autonomous traveling work vehicle 1 after the route generation setting, the information is also stored in the storage unit included in the control unit 30.

Next, a procedure for setting the route R by the remote control device 112 as a route generation device will be described. FIG. 3 shows an initial screen displayed on the display device of the remote control device. However, it is also possible to set the route R by the control unit 30 of the autonomous traveling work vehicle 1.
The display device 113 of the remote control device 112 is a touch panel type, and when the power is turned on to activate the remote control device 112, an initial screen appears. In the initial screen, as shown in FIG. 3, a tractor setting button 201, a field setting button 202, a route generation setting button 203, a data transfer button 204, a work start button 205, and an end button 206 are displayed.

First, tractor setting will be described.
When the tractor setting button 201 is touched, when the remote control device 112 performs work using a tractor in the past, that is, when there is a tractor set in the past, the tractor name (model) is displayed. When the tractor name to be used this time is touched and selected from among the displayed plurality of tractor names, it is possible to thereafter advance to field setting described later or return to the initial screen.
When setting a new tractor, specify the tractor model. In this case, enter the model name directly. Alternatively, the model of a plurality of tractors is displayed in a list on the display device 113 so that a desired model can be selected.

When the type of tractor is set, a screen for setting the size, shape, and position of the working machine to be mounted on the tractor appears. The position of the working machine is selected, for example, from the front, between the front wheel and the rear wheel, or from the rear, or offset.
When the setting of the work machine is completed, a setting screen for the vehicle speed during work, the engine speed during work, the vehicle speed during turning, and the engine speed during turning appears. The vehicle speed during work may be different between the forward and return routes.
When the setting of the vehicle speed and the engine speed is completed, it is possible to proceed to the field setting described later or return to the initial screen.

Next, the field setting will be described. FIG. 4 shows a state of traveling on the periphery performed by the user riding on the autonomous traveling work vehicle at the time of farmland setting. FIG. 5 shows a set area in the field such as a work area and a headland area.
When the field setting button 202 is touched, when the remote control device 112 performs work using a tractor in the past, that is, when there is a field set in the past, the name of the field set is displayed. If a farm field name to be worked this time is touched and selected from a plurality of farm field names displayed, then it is possible to proceed to path generation setting described later or return to the initial screen. In addition, it is also possible to edit or newly set the set field.

If there is no registered field, it will be a new field setting. When a new field setting is selected, as shown in FIG. 4, the tractor (autonomous traveling work vehicle 1) is positioned at one of the four corners in the field H, and the button "measurement start" is touched. Thereafter, the tractor is caused to travel along the outer periphery of the field H to register the field shape. Next, the operator registers the corner positions A, B, C, D and the inflection point from the registered field shape and specifies the field shape.

When the field H is specified, as shown in FIG. 5, the work start position S, the work start direction F, and the work end position G are set. If there is an obstacle in the field H, move the tractor to the position of the obstacle, touch the "set obstacle" button, travel around it, and set the obstacle. In addition, it is possible to display a map image of a field on the display device 113, and when the field shape specified above is displayed superimposed on the map image, the periphery of the obstacle is designated on the display device 113. To set an obstacle.
When the above work is completed, or when a field registered in the past is selected, a confirmation screen is displayed, and an OK (confirmation) button and an "edit / add" button are displayed. If there is a change in the field registered in the past, touch the "Edit / Add" button.

When the OK button is touched in the field setting, it becomes route generation setting. The route generation setting can also be made by touching the route generation setting button 203 on the initial screen.
In the route generation setting, a selection screen as to which position the traveling working vehicle 100 travels with respect to the autonomous traveling working vehicle 1 is displayed. That is, the positional relationship between the autonomously traveling working vehicle 1 and the traveling working vehicle 100 is set. Specifically, (1) the traveling work vehicle 100 is located at the left rear of the autonomously traveling work vehicle 1. (2) The traveling working vehicle 100 is located at the right rear of the autonomous traveling working vehicle 1. (3) The traveling work vehicle 100 is positioned directly behind the autonomously traveling work vehicle 1. (4) The traveling working vehicle 100 does not accompany (work is performed only with the autonomous traveling working vehicle 1). 4 types are displayed and can be selected by touching.

Next, the width of the work machine of the traveling work vehicle 100 is set. That is, the width of the working machine is entered numerically.
Next, set the number of skips. That is, when the autonomously traveling work vehicle 1 reaches the field outer peripheral end (pillow) and moves from the first route to the second route, how many routes are to be skipped is set. Specifically, (1) do not skip. (2) Skip one column. (3) Skip 2 columns. Choose one.
Next, set the overlap. That is, the overlap amount of the work width in the work route adjacent to the work route is set. Specifically, (1) there is no overlap. (2) Overlap. Choose If "Overlap" is selected, a numerical value input screen is displayed, and it is impossible to proceed to the next step without inputting a numerical value.

Next, perimeter setting is performed. That is, an area outside the work area HA where work is performed by the autonomous traveling work vehicle 1 and the traveling work vehicle 100 or by the autonomous traveling work vehicle 1 as shown in FIG. 5 is set. In other words, there is set a headland HB that turns in a non-working state at the end of the field, and a side margin HC that serves as a non-working area in contact with the field outer circumference on both left and right sides between the headland HB and the headland HB. . Therefore, it becomes field H = working area HA + headland HB + headland HB + side margin HC + side margin HC. Normally, autonomous traveling vehicle 1 and traveling working vehicle 100 have width Wb of headland HB and width Wc of side margin HC as a length equal to or less than twice the width of the working machine mounted by traveling working vehicle 100. After the completion of the accompanying work by the worker, the operator gets into the traveling work vehicle 100, and can finish by manually circling the outer circumference twice. However, when the shape of the field outer periphery is not complicated, it is also possible to work the outer periphery with the autonomous traveling work vehicle 1. In the outer circumference setting, the width Wb of the headland HB and the width Wc of the side margin HC are automatically calculated to a predetermined width according to the width of the work machine, but the calculated width of the headland HB The width Wc of the margin Wb and the side margin HC can be changed to any width, and the user changes the width Wb and the width Wc after the change to the desired width, respectively. It can be set as the width of the headroom HC. However, when the width can be changed to any width, the width can not be set smaller than the minimum setting width calculated in consideration of traveling, work and safety in the field. For example, when the autonomous traveling work vehicle 1 travels or turns in the headland HB or the side surplus land HC, a width that guarantees that the working machine does not fly out of the farmland is calculated as the minimum setting width.

When the input of the above-described various settings is completed, a confirmation screen appears, and when the confirmation is touched, the route R is automatically generated. The route R includes a work route Ra and a travel route Rb. The work route Ra is a route generated in the work area HA, and is a route that travels while performing work, and is a straight route. However, if the work area HA is not rectangular, it may be projected to an area outside the work area HA (headland HB and side margin HC). The travel route Rb is a route generated in an area outside the work area HA, and travels without any work, and is a combination of straight lines and curves. It mainly turns around in the headland HB.

As the route R, a route R of the autonomous traveling working vehicle 1 and the traveling working vehicle 100 is generated.
If it is desired to view the work path after the work path is generated, a simulated image can be displayed and confirmed by touching the path generation setting button 203. Note that the route R is generated without touching the route generation setting button 203. When each item of the route generation setting is set, the route generation setting is displayed, and “route setting button”, “transfer data”, and “return to home” are displayed selectable below it.

When transferring information on the route (route R) generated in the route generation setting, the data transfer can be performed by touching the data transfer button 204 provided on the initial screen. Since this transfer is performed by the remote control device 112, it is necessary to transfer the set information to the control device of the autonomous mobile work vehicle 1. There are (1) a method of transferring using a terminal and (2) a method of transferring wirelessly, and in this embodiment, when using a terminal, the remote control device 112 is autonomous with the remote control device 112 using a USB cable. The control device of the traveling work vehicle 1 is directly connected or temporarily stored in a USB memory, and then connected to the USB terminal of the autonomous traveling work vehicle 1 and transferred. Moreover, in the case of wireless transfer, transfer is performed using WiFi (wireless LAN).

Next, in the route generation setting, processing in the case where a strip or a narrow portion narrower than a predetermined width is present in the work route Ra of the autonomous traveling work vehicle 1 will be described. The width of the work area on the work route Ra is the work area width Wr, and the predetermined width is the work width of the work machine (rotary cultivator 24) mounted on the autonomous traveling work vehicle 1 or the traveling work vehicle 100 (hereinafter referred to as traveling work The width W1) or the width of the main body when the work machine is narrower than the width of the main body (tractor). In the present embodiment, the width of the work machine is longer than the width of the main body, the same work machine is mounted on the autonomous traveling work vehicle 1 and the traveling work vehicle 100, and the overlap is described as zero. Moreover, the path | route of the strip | line which has a part (work area) which does not reach a predetermined width is called narrow work path Rc.

In the route generation setting, when there is a narrow work route Rc in which a strip or a narrow portion narrower than a predetermined width (in the following embodiment, a traveling work width W1) is present in the work route Ra, the route R is displayed and the work is performed. You can choose to do or not do it. That is, if the autonomous traveling working vehicle 1 does not set in advance whether the autonomous traveling working vehicle 1 works the narrow working route Rc or not, when the autonomous traveling working vehicle 1 reaches the near side of the narrow working route Rc, the operation Since the route Ra is less than the traveling operation width W1, it is determined that the operation is impossible, and there is a possibility that the operation may be interrupted by stopping before entering the narrow operation route Rc. Moreover, if it is complete | finished without doing work of narrow work route Rc, an uncultivated land will remain. Therefore, in the route generation setting, when there is a narrow work route Rc, it is possible to select in advance whether to perform the operation or not. When the narrow work route Rc exists in the work route Ra of the traveling work vehicle 100 with man, the operator decides and the selection screen is not displayed. However, it may be selectable.

When it is set that the narrow work route Rc is to be worked, the work is carried out by protruding into the side margin HC (second region). When it is set that the narrow work route Rc is not set, the work area HA of the narrow work route Rc is performed when working the headland HB and the side margin HC after the work of the work area HA is completed. . Alternatively, it is possible to adjust the width of the left and right side margin HC to widen the narrow work route Rc so as to have the traveling work width W1 and eliminate the narrow work route Rc. When narrowing the width of left and right side margin HC and widening the narrow work route Rc so as to become the traveling work width W1, the width of the side margin HC after change (after narrowing) is the running operation It does not become less than the limit width specified based on the width W1 and the traveling work length L1. In other words, when the narrow work route Rc does not become the traveling work width W1 unless the width of the side margin HC is not more than the limit width, the width of the left and right side margin HC is not adjusted.

The process according to the shape of the field H is demonstrated concretely. First, in the case where the route R is generated in a rectangular field, a work route Ra of reciprocating operation work width W1 is generated in the work area HA. As shown in FIG. 6, in the final work route Ra (final row), the work area width Wr becomes shorter than the traveling work width W1 (predetermined width), and a narrow work route Rc is generated. In other words, since the width of the work area HA is hardly an integral multiple of the traveling work width W1, a narrow work path Rc is formed in the final row.

At the time of this route generation setting, the control unit 130 on the operation side displays a selection screen as to whether or not to work in the narrow work route Rc. When the worker selects “work”, the narrow work route Rc is generated as the work route Ra such that the control unit 130 on the operation side protrudes to the side margin HC and carries out the work. In addition, when it is set that the narrow work route Rc is not set, unlike the work end position G (FIG. 5, FIG. 6) set for the field H, it becomes the end of the strip one step before The work end position Ga is set in the work path Ra.

Further, when the shape of the field H is a trapezoidal shape and the side of the field end on the end side is an oblique shape, as shown in FIG. 7, a triangular work area smaller than the traveling work width W1 is formed. Also in this case, at the time of route generation setting, the control unit 130 on the operation side determines that the final row is less than the traveling operation width W1 (predetermined width) and sets it as a narrow operation route Rc. When the work is to be performed, a screen for selecting whether or not to work in the narrow work path Rc is displayed. When the worker selects “work”, the control unit 130 on the operation side generates the narrow work route Rc as the work route Ra so that the work is performed by protruding into the side margin HC.

In addition, when the shape of the work area HA is stepped as shown in FIG. 8, a narrow work path Rc which does not satisfy the traveling work width W1 can be formed in the protruding convex area. Also in this case, at the time of route generation setting, the control unit 130 on the operation side determines that the work area width Wr is less than the traveling work width W1 (predetermined width) and sets it as a narrow work route Rc. When the work vehicle 1 is to work, a screen for selecting whether to work the narrow work route Rc or not is displayed. When the worker selects “work”, the narrow work route Rc is generated as the work route Ra such that the control unit 130 on the operation side protrudes to the side margin HC and carries out the work.

In addition, when the shape of the field H is trapezoidal or the side of the field end on the start side is oblique, as shown in FIG. 9, a triangular work area having a portion less than the traveling work width W1 can be created and narrow work It becomes route Rc. If the path length (traveling direction length) Lc of the narrow work path Rc does not reach a length obtained by multiplying the traveling work length L1 by a predetermined length, the work path Ra is not generated in the narrow work path Rc. That is, the traveling work length L1 is the length from the front end to the rear end of the state where the work machine is mounted on the vehicle body, and is stored in the storage unit 114 of the remote control device 112. If the route length Lc of the narrow work route Rc becomes equal to the traveling work length L1 at the time of route generation setting, the working route Ra is set to the narrow work route Rc if the length is less than a predetermined multiple. It does not generate. The predetermined multiple is, for example, double. With such a short work path, it is possible for the worker to work more efficiently if the worker drives the traveling work vehicle 100 to perform work processing, back and return to the work start position and perform the coordinated work. However, the narrow working route Rc can be excluded from the extension of the working route Ra as shown in FIGS. 7 and 8.

In this embodiment, it is possible to select whether or not to work in the narrow work route Rc, but as described above, since the width of the work area HA is hardly a constant multiple of the traveling work width W1, In principle, the work may be performed in the narrow work path Rc without allowing the worker to select, and the work may not be performed in the narrow work path Rc under predetermined conditions. As a predetermined condition, the case where the path length of the narrow work path Rc mentioned above is less than a constant multiple of traveling work length L1 is illustrated.

As described above, using the satellite positioning system, the field H serving as the traveling area for traveling the vehicle body of the autonomous traveling work vehicle 1 capable of traveling the set route R, the width of the vehicle body, and / or A storage unit 114 capable of storing information on a traveling work width W1 which is the width of a work machine (a rotary cultivator 24) mounted on the vehicle body, and generation of a work path Ra by the work machine in the field H And the field H is a work area HA which is a first area including the work path Ra, and a headland HB which is a second area set around the first area. And the side margin HC, and the control unit 130 on the operation side generates a narrow work path Rc narrower than the traveling work width W1 when the work path Ra is generated in the first area In the work route Rc, the second Since the work route Ra of the travel work width W1 straddling the area can be generated, even if the narrow work route Rc occurs in the first area, the setting of the work route Ra by the autonomous traveling work vehicle 1 is predetermined in principle. The route generation setting is performed according to which no uncultivated land remains.

Further, the storage unit 114 stores information of a traveling work length L1 which is a length from the front end to the rear end in a state where the work machine is mounted on the vehicle body portion, and the control unit 130 on the operation side performs the narrow work If the path length Lc of the path Rc is less than a length obtained by multiplying the traveling work length L1 by a predetermined length, a work path is not generated in the narrow work path Rc, so a particularly short work path does not repeat U-turns or turning Work can be done in another form to improve work efficiency.

In addition, the control unit 130 on the operation side can generate the work route Ra based on the work start position S, the work direction F, and the work end position G set for the traveling area (field H). When the work path Ra is not generated in the narrow work path Rc, the work end of the work end position G set for the travel area and the work end of the work path at a position different from the end position of the work by the work machine Since it is possible to set at the position Ga, there is no need to move the work to the work end position G without performing work on the narrow work route Rc after the work is finished at the work end position Ga. It can prevent traveling. It should be noted that the vehicle may travel from the work end position Ga to the work end position G through the headland HB and the side margin HC. As a result, the autonomous traveling work vehicle 1 is moved to the work end position G set in the field setting by the work vehicle, and the worker operates the autonomous traveling work when the field exit is near the work end position G etc. There is no need to move the vehicle 1 to the work end position G, and it is possible to save the labor of the operator.

Next, in the route generation setting by the route generation device included in the control unit 130, one autonomous traveling working vehicle 1 travels earlier than the other traveling working vehicle 100 (early departs), and the other traveling working vehicle 100 The control for avoiding a collision when traveling behind the autonomous traveling work vehicle 1 (starting late and starting work late) will be described.

At the time of route generation setting, work routes Ra for working in work area HA are generated in parallel adjacently, and as shown in FIG. 10 and FIG. Numbers are assigned (work path numbers 1 2 3 ...). Then, in the control unit 130 (or the control unit 30) serving as the route generation device, the work route Ra on which the autonomous traveling work vehicle 1 works is assigned the work order (hereinafter, work order X1, X2, ...) And a second work order setting unit for assigning the work order (hereinafter referred to as work order Y1, Y2,...) To the work route Ra along which the traveling work vehicle 100 carries out the work.

For example, as shown in FIG. 6, when the traveling work vehicle 100 is positioned directly behind the autonomous traveling work vehicle 1, "do not skip" and "overlap" are selected in the route generation setting, as shown in FIG. The work order of X1, X2 and so on 1 and the work order Y1, Y2 and so on of the traveling working vehicle 100 and the

work route numbers

1, 2, 3 and so on become numbers in the same order.

In addition, as shown in FIG. 7, in the case where “running work vehicle 100 is positioned at the rear left of autonomous traveling work vehicle 1”, “skip one row” and “overlap” are selected in the route generation setting, as shown in FIG. The work route number is an odd number (1 · 3 · 5 ···) for the work order X1 · X2 ··· of the work vehicle 1 and the work path for the work order Y1 · Y2 ··· of the traveling work vehicle 100 The number is an even number (2/4 6 ...).

Then, from the work route number assigned in the predetermined work order of the autonomous traveling working vehicle 1 which is one traveling working vehicle in the route generation setting, the control unit 130 performs the above-mentioned traveling traveling vehicle 100 which is the other traveling working vehicle. The difference between the work path numbers allocated in the work order immediately before the predetermined work order is calculated, and when the difference is 1, when the work path generation unit creates the work path Ra, the predetermined It is possible to execute a predetermined notification as control of. That is, in the case where the traveling work vehicle 100 works behind the autonomous traveling work vehicle 1 in FIG. 10, as the predetermined operation sequence of the autonomous traveling work vehicle 1, for example, when the operation order is X2, the operation route number is 2, travel When the work order of the work vehicle 100 is one before, the work path number is 1 in the work order Y1. The difference (2-1) in the work path number at this time is 1, and as described above, “overlap” is selected in the path generation setting, so that the autonomous traveling work vehicle 1 turns at the headland HB. As it travels from the opposite direction, it will partially collide with the traveling work vehicle 100. As described above, when the difference between the work path numbers becomes 1, it is possible to notify by the notifying means. The notification means and the notification mode are not particularly limited, and for example, when the notification means is the display device 113, the display device 113 performs a display prompting attention such as "collision" as the notification manner. . When the notification means is an audio output means such as a speaker, a sound or an alarm sound is emitted as the notification mode. In addition, when the notification means is an issuing means such as an LED, a light emission mode can be mentioned as a notification mode, and specifically, lighting is performed by combining lighting, blinking, a light emitting color and the like. Naturally, the notification means and the notification mode are not limited to the above. In addition, when notification is unnecessary, it is possible to set so as not to notify.

In the route generation setting, for example, the operator drives the vehicle even when "the traveling work vehicle 100 is positioned directly behind the autonomous traveling work vehicle 1", "do not skip", and "do not overlap" is selected. If a shift occurs in the traveling position of the traveling working vehicle 100, there is a possibility that the autonomous traveling working vehicle 1 and the working vehicle 100 facing each other in the adjacent work route Ra may partially collide with each other. The notification may be performed by the notification means.

Further, when the traveling work vehicle 100 works diagonally rearward of the autonomous traveling working vehicle 1 in FIG. 11, as a predetermined work order of the autonomous traveling working vehicle 1, for example, the work route number is 3, when the work order is X2, and traveling When the work order of the work vehicle 100 is one before, the work path number is 2 in the work order Y1. The difference (3-2) in the work path number at this time is 1, and the autonomous traveling work vehicle 1 makes a partial collision with the traveling work vehicle 100 when it turns on the headland HB and proceeds from the opposite direction. Become. Also in such a case, it is possible to notify by the notification means in the same manner as described above.

In addition, as described above, when a collision is expected, the control unit 130 performs display to propose that the difference in work path number is 2 or more so as not to cause a collision. For example, if the difference between the work path numbers is 1 and a collision is expected, a warning such as "Set to 1 column skip or 2 columns skip" should be displayed and suggested. May be At this time, a selection screen of whether to adopt the proposal or not to be adopted is simultaneously displayed, and if “1 column skip” is adopted, a route R of “1 column skip” is displayed, and “2 column skip” is adopted. For example, a route R of “skip 2 rows” is displayed, and a selection screen of whether to adopt this proposal or not is also displayed simultaneously.

In addition, as a proposal (or selection) other than “one row skip”, the traveling working vehicle 100 has the autonomous traveling working vehicle 1 next to the work route so that the traveling working vehicle 100 and the autonomous traveling working vehicle 1 do not collide. It is also possible to set to wait at a position where there is no collision until the operation of the work path having a path number larger by one is completed. When this setting is performed, the notification means gives notification before the traveling working vehicle 100 enters the work route Ra where the collision may occur. That is, there is a possibility of a collision on the display device 113 of the remote control device 112, and the display on the route R is displayed so as to stop traveling or notified by voice or the like.

As described above, the autonomous mobile work vehicle 1 serving as the first mobile work vehicle and the remote control device 112 serving as a setting unit for setting the travel mode by the mobile work vehicle 100 serving as the second mobile work vehicle, and the setting unit And a plurality of work paths Ra traveled by the first traveling work vehicle and the second traveling work vehicle are arranged in parallel and adjacent to each other according to the traveling mode set by And a control unit 30 (or control unit 130) for performing predetermined control, and the setting unit performs the traveling mode as the traveling mode, When it is set that the work route Ra along which the first traveling working vehicle and the second traveling working vehicle travel is a common work route Ra, the control unit 30 executes a predetermined notification as the predetermined control. Since the ability notification of alarm or the like it is made as a path R that may collision is generated.

In other words, the autonomous traveling working vehicle 1 serving as one traveling working vehicle having first traveled and equipped with the rotary cultivating device 24 as a working machine and the rotary tilling equipment attached as the working machine behind the autonomous traveling working vehicle 1 A plurality of work paths Ra to be operated by the traveling work vehicle 100 serving as the other traveling work vehicle traveling in parallel are arranged in parallel and adjacent to each other, and a work path number continuous to each work path Ra is attached A work route generation unit in which a route Ra is set, a first work order setting unit for allocating the work order by the autonomous traveling work vehicle 1 to the work path number, and the work order by the traveling work vehicle 100 A second work order setting unit that assigns a route number, and a control unit 130 (or control unit 30) that performs predetermined control, the control unit 130 is an autonomous traveling work vehicle When the difference between the work path numbers allocated in the work order immediately preceding the predetermined work order of the traveling work vehicle 100 from the work path numbers allocated in the predetermined work order of 1 is 1, the work path generation unit Since a predetermined notification can be executed as the predetermined control before the work route Ra is created, the selection of the skip number and the positional relationship between the autonomous traveling working vehicle 1 and the traveling working vehicle 100 can be performed at the time of route generation setting. Whether or not there is a possibility of collision by selection can be easily recognized, and generation of a collision path R at the time of path generation setting can be prevented in advance.

Further, as the traveling mode by the setting unit, the autonomous traveling working vehicle 1 as the first traveling working vehicle and the working route Ra along which the traveling working vehicle 100 as the second traveling working vehicle travels are common working routes Ra. When there is a setting, the control unit 30 (or the control unit 130) sets the work route Ra on which the autonomous traveling work vehicle 1 and the traveling work vehicle 100 travel as mutually different work routes as the predetermined control. Can be generated. That is, even if the work route Ra in which the work route Ra of the autonomous traveling working vehicle 1 and the work route Ra of the traveling working vehicle 100 are adjacent is generated, the work route Ra of the autonomous traveling working vehicle 1 and the work route Ra of the traveling working vehicle 100 May generate a work route Ra that is not adjacent to each other. For example, if there is no overlap, it is possible to generate an adjacent work path Ra, and if there is an overlap, there is a possibility of collision, so it is preferable to generate a non-adjacent work path Ra. However, the traveling work vehicle 100 may be kept waiting. In this way, the work path Ra in which both vehicles do not collide with each other is generated, so that work can be performed with ease.
Further, specifically, the control unit 130 (or the control unit 30) is one in front of the predetermined work order of the traveling work vehicle 100 from the work path number allocated to the autonomous traveling work vehicle 1 in the predetermined work order. If the difference between the work path numbers assigned in the work order is 1, the work order may be set as the predetermined control so that the difference is 2 or more. In this case, the operator at the time of path generation setting By setting the difference, that is, the number of skips presented, it is possible to create a work path Ra that does not collide with certainty, and path generation setting can be easily performed.

In addition, at the time of route generation setting, the work route generation unit calculates the length of each work route Ra, or the length of each work route Ra is stored in the storage unit 114, and the autonomous traveling work vehicle 1 When working with parallel running work vehicles 100 in parallel, the control unit 130 calculates the difference between the length of the work route Ra of the autonomous running work vehicle 1 and the length of the work route Ra of the running work vehicle 100 If the difference is equal to or greater than the predetermined length L and the next work route Ra becomes shorter, the work route Ra that becomes the long work route Ra is adjusted to the length of the short work route Ra. The route Ra can be set. Thus, the work vehicle traveling on the long side is prevented from stopping as a dead end.

For example, when the autonomous traveling working vehicle 1 and the traveling working vehicle 100 carry out parallel running work with a step-like farmland as shown in FIG. 8, the length L4 of the working path No. 1 of the traveling working vehicle 100 and the autonomous traveling When the difference L3 of the length L2 of the work path No. 2 of the work vehicle 1 becomes shorter than the predetermined length L (L3 <L), the work path No. 1 on the long side is the length L2 of the work path No. 2 on the short side The work path Ra is set to the combined length. When the work is performed up to the end of the work route Ra in consideration of the total length of the machine body, the minimum turning radius, the width of the working machine, etc., the predetermined length L becomes a dead end, and it turns without stepping on the cultivated land at the field end. Length which can not move to the next work route Ra. Thus, by setting the length of the work route Ra of the work route No. 1 to the same length as the length L2 of the adjacent work route No. 2 (work route Ra), the traveling work vehicle 100 can easily move to the next work route No. 3 It is possible to move and improve work efficiency. The change from the long work route Ra to the short work route Ra is similarly set in the work route number 2 and later.

Further, also in the case where the traveling work vehicle 100 follows the rear of the autonomous traveling working vehicle 1 to work in the field shape, the length of the work route Ra when moving to the adjacent work route Ra as described above When the difference L3 of the distance L3 is shorter than the predetermined length L, the length of the work path Ra before the shortening is made to be the work path Ra in accordance with the length of the next work path Ra.
When the length of the next adjacent work route Ra is longer than a predetermined length, as shown in FIG. 13, the work can be completed by performing the work until the end of the long work route Ra as it is. , Do not adjust the working path length.

Further, as described above, in the step field, the decision to shorten the work route Ra when moving to the adjacent work route Ra, instead of calculating the difference in the length of the work route Ra, the autonomous traveling work vehicle 1 The width of the work route Ra or the width of the work route Ra of the traveling work vehicle 100 may be calculated, and it may be determined whether the width of the work route Ra narrows in the range of a predetermined length halfway. In this case, when a narrow working route Ra is generated from the middle to the headland, the working route Ra is matched to the length of the next working route Ra except for the narrow portion. That is, as shown in FIG. 14, when the width of the work route Ra of the autonomous traveling working vehicle 1 which is one working vehicle (or the working route Ra of the traveling working vehicle 100 which is the other working vehicle) becomes narrow in the middle Assuming that the width W of the autonomous traveling working vehicle 1 (or the traveling working vehicle 100) is W1, it is determined whether the width Wr of the working path to be narrowed is within a predetermined range. The predetermined range is, for example, not less than the overlap and less than the work width W1. Thus, when the width of the work route Ra is narrowed in a predetermined range from the middle of the work route Ra to the headland, the work route Ra excluding the narrow portion is taken.

As described above, the work path generation unit works on the work path Ra where the autonomous traveling working vehicle 1 as the first traveling working vehicle and the traveling working vehicle 100 as the second traveling working vehicle are adjacent to each other. When the difference between the length of the working route Ra of the first traveling working vehicle and the length of the working route Ra of the second traveling working vehicle is equal to or greater than a predetermined length and the working route Ra becomes short, the autonomous traveling working vehicle 1 Since the length of the work route Ra can be set in accordance with the length of the work route Ra of the traveling working vehicle 100, the autonomous traveling working vehicle 1 can be set to a dead end at the end of the blind alley way along the work path. As a result, cooperation work between the autonomously traveling working vehicle 1 and the traveling working vehicle 100 can be efficiently performed without interruption of work.

Next, setting of the work path for finishing the boundary between the work area HA on the work start position S side and the side margin HC will be described.
When the traveling work vehicle 100 is located on the side margin HC side and the autonomous traveling work vehicle 1 works inside the work area HA obliquely ahead of the traveling work vehicle 100, the operator operates the traveling work vehicle 100 Sometimes do not get straight to work. For this reason, the autonomous traveling work vehicle 1 works on the side margin HC side, and the traveling work vehicle 100 works with the diagonally backward inside of the work area HA, thereby the work area HA and the side margin HC The boundary part of can be finished cleanly.

However, when the autonomous traveling work vehicle 1 skips one row from the work route number 1 and shifts to the work route number 3, as described above, it collides with the traveling work vehicle 100. Therefore, as shown in FIG. 15, when the autonomous traveling work vehicle 1 first starts work from the side margin HC side of the work area HA, the control unit 130 terminates the work path number 1 (work order X1) The process is skipped from the second column to the work path number 4 (work order X2), and then the skip by one column is repeated (work path number 1 → 4 → 6 → 8 ...). Mandatory traveling work vehicle 100 is adjacent to work path number 2 (work order Y1) with work path number 3 (work order Y2) adjacent to work path number 2 (work order Y1) along with diagonally rearward of autonomous traveling work vehicle 1 on the center side of work area HA. Then, the process skips one column repeatedly (work path number 2 → 3 → 5 → 7...) To generate a path R. By generating such a route R, the work route No. 1 on the work start position S side of the work area HA can be finished cleanly, and a substantially straight straight line is formed, and the autonomous traveling work vehicle 1 runs with Even when the outer periphery of the headland HB and the side margin HC is processed after completion of the coordination work with the work vehicle 100, the finish can be finished cleanly.

In the case of this route R, the working accuracy is high, but since the traveling work vehicle 100 with human beings turns like a gear shift, there is a possibility that an error will occur in the route traveling, so the operator operates the remote control device at the time of turning It is also possible to notify by notification means so that the route R to be traveled can be recognized by looking at the route R displayed on the display device 113 at 112.

As described above, when the travel route is different from each other and the work route Ra is adjacent to each other, the route R of the traveling work vehicle 100 serving as the second traveling work vehicle is adjacent in the first one reciprocation. A working order is assigned to the working route Ra continuously, and the route R of the autonomous traveling working vehicle 1 as the first traveling working vehicle is arranged to be separated from the first one reciprocating route of the traveling working vehicle 100 Since the continuous work order is attached to the work path Ra, the work path number 1 on the work start position S side of the work area HA can be finished cleanly.

Further, as shown in FIG. 16, when there is an inoperable obstacle 400 in the work area HA, an entry prohibited area K for prohibiting entry of the work vehicle around the obstacle 400, and the entry prohibition An obstacle area J in which the travel route Rb is generated but the work route Ra is not generated is set around the area K. In this case, when the work start position S is set to one end of the work path number 1 at the end of the work area HA, one of the paths R of the autonomous traveling work vehicle 1 or the traveling work vehicle 100 is stopped by the obstacle area J halfway In some cases, it may not be possible to generate a route. In such a case, by shifting the work start position S from the work path number 1 to the adjacent work path number 8, the autonomous traveling work vehicle 1 and the traveling work vehicle 100 can turn in the obstacle area J and continue the work It becomes possible to generate a route. Then, a route is generated around the obstacle area J, and the work by the autonomous traveling working vehicle 1 and the traveling working vehicle 100 can be completed.

Next, in the route generation setting performed by the route generation device included in the control unit 130, the type of turning in the second region is determined based on the number of skips, the separation distance between the working path and the working path, the turning radius, and the like. A travel route Rb is generated by selecting from the turning route.

As a turning form, a first turning path Rb1 without going straight and going backward as shown in FIG. 17 and a second turning path Rb2 not going with reverse and going straight as shown in FIG. 18 and going backward as shown in FIG. There are a third turning route Rb3, a fourth turning route Rb4 without going reverse and a straight movement with left and right turning shown in FIG. 21, and a fifth turning route Rb5 using many turns as shown in FIG.

As shown in FIG. 6, the first turning route Rb1 without going straight and going backward is mainly the traveling route Rb when turning to the adjacent strip in the second region. In the first turning route Rb1, half the length (Wt / 2) of the distance (inter-strip distance) Wt between the working route Ra and the working route Ra is compared with the preset turning radius Tr, and the length The difference is selected in the case where the difference of height is within the predetermined range α (Tr + α ≧ Wt / 2 ≧ Tr−α).

Specifically, in the route generation setting, when “running work vehicle 100 is positioned directly behind autonomous traveling work vehicle 1”, “do not skip”, and “overlap” is selected, work route Ra and work route Ra The half length (Wt / 2) of the distance Wt between them and the preset turning radius Tr are compared and calculated, and if the difference is equal to or less than the predetermined range α (Tr + αtWt / 2-Tr−α) , The first turning route Rb1 without going straight and going backward is selected, and a route R is generated, and as shown in FIG. 17, the autonomous traveling work vehicle 1 and the traveling work vehicle 100 in the second region A path of a semicircular (or semi-elliptical) curve in plan view when moving from the work route No. 2 and the work route No. 2 to the work route Ra adjacent to the work route No. 3 etc. Turn right 180 degrees with R only (R The other is a left turn) to. The above (Tr−α) must be set to a minimum turning radius of the autonomous traveling working vehicle 1 (or the traveling working vehicle 100) or a length equal to or more than the minimum turning radius using a shorter single brake. That is, even if the autonomous traveling working vehicle 1 or the traveling working vehicle 100 is turned at the end of the work route Ra at a distance equal to or less than the minimum turning radius, the next working route Ra can not be entered even if maximum turning operation is performed. It is because

As shown in FIG. 18, the second turning route Rb2 accompanied by going straight is mainly a traveling route Rb when the working route Ra (stripe) is skipped and turned in the second region, as shown in FIG. 18. In the second turning route Rb2, a half length (Wt / 2) of the distance Wt between the working route Ra and the working route Ra after the route is generated has a predetermined range α to the preset turning radius Tr. It is selected if it is longer than the added length (Wt / 2> Tr + α). For example, in the route generation setting, when “traveling work vehicle 100 is positioned to the left rear of autonomous traveling work vehicle 1”, “skip in a single row”, and “overlap” is selected, the second step is straight ahead and not accompanied by reverse travel The turning route Rb2 is selected to generate a route R, and as shown in FIG. 18, the autonomous traveling work vehicle 1 changes from work route No. 2 to work route No. 4 in the second area, and the traveling work vehicle 100 does work route No. When moving from 1 to work path No. 3, it becomes a semi-elliptical curve in plan view, turns 90 degrees right (or left turn) from the end of work path No. 1 and 2 and travels a straight line for a predetermined distance, Turn 90 degrees right (or left) on the curve and move to the beginning of the work path number 3 · 4.

As shown in FIG. 19, the third turning route Rb3 with reverse travel is mainly the traveling route Ra when turning to the adjacent strip in the second region. In the third turning route Rb3, a half length (Wt / 2) of the distance (inter-strip distance) Wt between the working route Ra and the working route Ra subtracts a predetermined range α from the preset turning radius Tr It is selected if the length is smaller than the length (Tr-α). That is, even if the maximum turning operation is performed at the end of the work path Ra, the next work path Ra can not be entered, and it is selected when it is necessary to switch back. For example, in the route generation setting, when “the traveling work vehicle 100 is positioned directly behind the autonomous traveling work vehicle 1”, “does not skip”, and “overlap” is selected, between the work route Ra and the work route Ra. A half length (Wt / 2) of the distance Wt and a length (Tr−α) obtained by subtracting a predetermined range α from a preset turning radius Tr are compared and calculated, and the distance between the work route Ra and the work route Ra is calculated. When the half length (Wt / 2) of the distance Wt is shorter than the length obtained by subtracting the predetermined range α from the preset turning radius Tr (Wt / 2 <Tr-α), the third turning route Rb3 with reverse movement Is selected to generate a route R. In this route R, as shown in FIG. 19, the autonomous traveling working vehicle 1 (the traveling working vehicle 100 travels one row later so as not to collide) in the second region is the working route number 1 to the working route number 2, When moving from the work route No. 2 to the work route Ra (adjacent bars) adjacent as in the work route No. 3 ..., like the tail shape of a fish in plan view, the curve is 90 degrees right from the end of the work route Ra Turn (or turn left), travel a straight line for a predetermined distance and then stop, then straight back a predetermined distance on a straight line and stop, then turn right 90 degrees (or turn left) on a curve to move to the next work route Ra Do the work. Then, when it reaches the end of the work path Ra, it is turned along the third turning path Rb3 in the same manner as described above, and the work is repeated.

The third turning path Rb3 will be described in more detail. When the width of the headland HB is the shortest at the end of the work path Ra, and the third turning path Rb3 is generated by turning at the set turning radius Tr, as shown in FIG. Turn 90 degrees with radius Tr. At the time of this turning, the rear end of the rotary cultivating device 24 passes inside the safety boundary line hb of the headland set inside the boundary line h of the field, and at the time of turning, the rotary cultivating device 24 I try not to hit an obstacle. Then, the vehicle travels a predetermined distance (about 1 meter) and stops until the posture of the vehicle body portion is stabilized. In other words, if you stop immediately after turning 90 degrees and reverse in the next step, there is a risk that the front wheel 9 will move backward and meander before returning to the straight-ahead position, so go straight a predetermined distance after turning 90 degrees I have to. Next, the robot travels straight to the rear and stops at a position near the extension of the work path Ra before turning (a position where it is possible to enter the next work path Ra by turning 90 degrees again). Next, it turns 90 degrees so as to enter the work path Ra. Thus, even in the case of a narrow strip, it is possible to turn 180 degrees with a small number of turning operations (one turning operation).

As described above, the route generation device includes the storage unit 114 capable of storing the traveling area (the identified field H) in which the vehicle body unit is to travel and the turning radius set in advance for the vehicle body unit; And a control unit 130 (or control unit 30) capable of generating a working route Ra of the vehicle body unit and a work route Ra by a working machine attached to the vehicle unit, the control unit 130 (or control unit 30) In the travel area, it is possible to set a first area (work area HA) in which the work route Ra is generated and a second area (headland HB and side margin HC) in which the travel path Rb is generated When it is necessary for the movement from the first work path Ra to the second work path Ra among the plurality of work paths Ra set in the first area, the turning of the vehicle body in the second area is necessary. , First work route Ra Based on the distance Wt between the second working route Ra and the swing radius Tr, a first swing route Rb1 without going straight and moving backward, and a second swing route Rb2 not going straight with reverse and not going backward Since it is possible to generate the traveling route Rb including any turning route with the third turning route Rb3 accompanied by reverse movement, the turning route which can travel and work most efficiently can be selected according to the field shape and work. Route generation.

The control unit 130 (or the control unit 30) changes the area ratio of the first area (working area HA) to the second area (headland HB and side margin HC) to widen the second area. Since it is possible to generate the traveling route Rb including the fourth turning route Rb4 different from the first to third turning routes Rb1, Rb2, Rb3, the time required for turning back is shortened to achieve smooth turning. It is possible to generate an efficient route R.

That is, a narrow work route Rc may occur in which the width of the work route Ra generated in the work area HA is narrower on the way or on the final strip than the work width (the distance Wt between the work route Ra and the work route Ra). . In such a case, as shown in FIG. 22, the work is carried out by protruding into the side margin HC, and the area for turning substantially becomes narrow. In such a case, when the first turning path Rb1 or the third turning path Rb3 is generated, the first turning path Rb1 or the third turning path Rb3 may be protruded from the field or to the existing cultivated land. In addition, although it is possible to turn within the range of the side margin HC by making extensive use of turning, it takes time for turning and it may also damage the field.

In such a case, as shown in FIG. 21, it is possible to turn 180 degrees by widening the width of the side margin HC and generating a fourth turning path Rb4 without going backwards with going straight and turning left and right. It becomes. Such a fourth turning route Rb4 has a hook shape in a plan view, and performs a right turn (or a left turn) within a range of 180 degrees or more and less than 270 degrees from the end of the work path Ra and turns left in the opposite direction (Or turn right) to enter the next work path Ra. By generating the fourth turning path Rb4 like this, it is possible to quickly enter the next working path without using a lot of turning and working.

In addition, the side margin HC may be a little rough, so it is possible to save time and effort after the expanded side margin HC and to make a turn within the range of the side margin HC. Alternatively, the control unit 30) may move the traveling route Rb including the fifth pivoting path Rb5 accompanied by the pivoting in the first pivoting direction and the pivoting in the second pivoting direction opposite to the first pivoting direction. It is possible to generate. That is, as shown in FIG. 23, the fifth turning route Rb5, which uses many rounds (two rounds in the present embodiment), is generated within the range of the side margin HC. Thus, although it takes some time and it is necessary to switch between forward and reverse travel frequently, work can be performed without spilling onto existing cultivated land or outside the field.

Further, the control unit 130 (or the control unit 30) performs the work by the work machine in the order of the first work route Ra, the second work route Ra, and the third work route Ra, and the predetermined n-th If it is necessary to move from the work route Ra to the (n + 1) th work route Ra by turning along the third turning route Rb3, setting is made across the (n + 1) th work route Ra and the second area The traveling route Rb including the third turning route Rb3 can be generated, while the traveling route Rb including the third turning route Rb3 set across the nth working route and the second region Not to generate That is, although the turning path over the existing cultivated land is not generated and set, the turning path over the uncultivated land can be generated and set. Here, n is an integer of 1 or more.

For example, as shown in FIG. 24, assuming that work route No. 1 3. 5 is an existing cultivated land and work route No. 2. 4 6 .. is an uncultivated land, from the first work route Ra (work route No. 1) When the third turning route Rb3 is adopted when moving to the second work route Ra (working route No. 2), when turning 90 degrees backward and going backward, and turning 90 degrees next time, It is possible to generate and set a travel route Rb such that the autonomously traveling work vehicle 1 enters the work route Ra (work route number 2) of 2. When the third swing route Rb3 is adopted when moving from the third work route (work route No. 3) to the fourth work route Ra (work route No. 4), the vehicle first turns 180 degrees or more. Stop. At this time, it becomes possible for the autonomous traveling work vehicle 1 to enter the fourth work route Ra (work route number 4) of the uncultivated area, and then reverse and then stop and perform a turn of less than 90 degrees. It is possible to generate and set a travel route Rb. However, route generation is not permitted in the following cases. That is, when the third turning route Rb3 is adopted when moving from the fifth work route Ra (work route number 5) to the sixth work route Ra (work route number 6), first 90 Does not permit the autonomous traveling work vehicle 1 to enter the fifth work route Ra (work route number 5) of the cultivated land when it stops by turning less than 50 degrees and then reverses, and generates the running route Rb I am trying not to set it.

Further, if it is not desired to expand the side margin HC and do not want to adopt the fifth turning route Rb5, as shown in FIG. 25, the work start position S is opposite to the work end position G. It is also possible to arrange and create a path which starts from the opposite side and pivots in the opposite direction. In this case, it is possible to generate the first turning path Rb1 or the third turning path Rb3. By generating such a path, the final finishing operation can be performed only by making two rounds of the outer circumference which becomes the second area (the headland HB and the side margin HC).

INDUSTRIAL APPLICABILITY The present invention is applicable to a route generation device capable of generating a traveling and working route of an agricultural work vehicle that enables autonomous traveling and automatic work in a field.

Reference Signs List 1 autonomous traveling working vehicle 30 control unit 110 · 111 communication device 112 remote control device 114 storage unit 130 control unit on operation side G · Ga work end position H field L1 running work length R route Ra work route Rb travel route Rc narrow work route HA work area W1 travel work width

Claims

A storage area capable of storing information of a travel area in which a vehicle body section is traveled, a width of the vehicle body section, and / or a width of a traveling work which is a width of a work machine mounted on the vehicle body section;
A control unit capable of generating a work path by the work machine in the travel area;
The travel area includes a first area including the work path, and a second area set around the first area.
When the narrow work path narrower than a predetermined width occurs when the work path is generated in the first area, the control unit can generate the work path of the traveling work width across the narrow work path and the second area. What is claimed is:
The storage unit stores information of a traveling working length which is a length from a front end to a rear end in a state where the work machine is mounted on the vehicle body portion,
The control unit according to claim 1, wherein when the path length of the narrow work path is less than a length obtained by multiplying the traveling work length by a predetermined length, the control unit does not generate the work path in the narrow work path. Path generator.
The control unit can generate the work path based on a work start position, a work direction, and a work end position set for the traveling region,
When the work path is not generated in the narrow work path, the work end position set for the traveling area can be set to a position different from the end position of the work by the work machine in the work path. The path generation device according to claim 1, wherein
A setting unit configured to set a traveling mode by the first traveling work vehicle and the second traveling work vehicle;
According to the traveling mode set by the setting unit, a plurality of work paths traveled by the first traveling work vehicle and the second traveling work vehicle are arranged in parallel and adjacent to each other, and adjacent work paths A work path generation unit capable of generating a work path to which a continuous work order is attached;
A control unit that performs predetermined control;
When it is set by the setting unit that the work path on which the first traveling work vehicle and the second traveling work vehicle travel is a common work path as the traveling mode,
The route generation device, wherein the control unit can execute a predetermined notification as the predetermined control.
A setting unit configured to set a traveling mode by the first traveling work vehicle and the second traveling work vehicle;
According to the traveling mode set by the setting unit, a plurality of work paths traveled by the first traveling work vehicle and the second traveling work vehicle are arranged in parallel and adjacent to each other, and adjacent work paths A work path generation unit capable of generating a work path to which a continuous work order is attached;
A control unit that performs predetermined control;
When it is set by the setting unit that the work path on which the first traveling work vehicle and the second traveling work vehicle travel is a common work path as the traveling mode,
The control unit is capable of generating the work path when the work paths traveled by the first traveling work vehicle and the second traveling work vehicle are different work paths as the predetermined control. Path generator.
The work path generation unit
The first traveling working vehicle and the second traveling working vehicle work in an adjacent work path, and the difference between the working path length of the first traveling working vehicle and the working path length of the first traveling working vehicle is When the working path is shorter than a predetermined length,
The work route which becomes the work route of the first traveling work vehicle can be set according to the length of the work route of the second traveling work vehicle so that the work route can be set. The path generation device as described.
The work path generation unit
When the traveling modes are mutually different work paths, the work path of the second traveling work vehicle is given a continuous work order with respect to the adjacent work path in the first one reciprocation, and the first traveling work vehicle The work path according to claim 1, wherein a continuous work order is given to two work paths arranged apart from the first one reciprocating path of the second traveling work vehicle. Path generator.
A traveling region in which a vehicle body unit travels and a storage unit capable of storing a turning radius preset for the vehicle body unit;
And a control unit capable of generating a travel path of the vehicle body portion in the travel region and a work path by a work machine mounted on the vehicle body portion.
The control unit can set, in the travel area, a first area in which the work path is generated and a second area in which the travel path is generated.
Among the plurality of work paths set in the first area, when it is necessary to move the vehicle body in the second area to move from the first work path to the second work path, the first work path Based on the distance between the bars and the second working path and the turning radius, a first turning path without going straight and going backward, a second turning path not going with going straight and a second turning path, and going back A route generating device characterized in that it is possible to generate the traveling route including any turning route with three turning routes.
The control unit changes the area ratio of the first region and the second region to widen the second region, thereby including the traveling route including a fourth turning route different from the first to third turning routes. The path generation device according to claim 1, which can be generated.
The control unit is capable of the travel path including a fifth turning path including turning in a first turning direction and turning in a second turning direction opposite to the first turning direction. The path generation device according to claim 1, characterized in that
The control unit performs the work by the work machine in the order of the first work path, the second work path, and the third work path, and an (n + 1) th work path from a predetermined n-th work path When it is necessary to move to a third turning route, it is possible to generate the traveling route including a third turning route set across the (n + 1) th working route and the second region The route generation device according to claim 1, wherein the travel route including the third turning route set across the n-th work route and the second area is not generated.