JP2018117566A - Travel route generation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To generate a travel route that allows a work vehicle to appropriately perform autonomous travel in a farm field without causing deterioration of work efficiency.SOLUTION: A travel route generation system includes a travel route generation part 24 for generating a travel route in a farm field for a work vehicle, and a storage part 25 in which various kinds of generation conditions necessary for the travel route generation part 24 to generate a travel route. The travel route generation part 24 selects at least an outer peripheral shape of the farm field, a position of an entry-exit route for the farm field, and an operation width of a work device provided to the work vehicle of the various kinds of generation conditions, and generates the travel route. The storage part 25 stores the travel route generated by the travel route generation part 24.SELECTED DRAWING: Figure 2

Description

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

In recent years, the position of a vehicle body and the position of a vehicle using a well-known GPS (Global Positioning System), which is an example of the Global Navigation Satellite System (GNSS), are applied to work vehicles such as passenger rice transplanters, tractors, and combines. It has been considered that a satellite navigation device for measuring the direction is provided and the work vehicle is autonomously traveled through a predetermined travel route in the field.
In order to allow a work vehicle to autonomously travel properly in various farm fields having different outer shapes, positions of entry / exit paths with respect to the farm field, it is important to generate a travel path for each farm field.

  Conventionally, as a method of generating a travel route in a farm field of a work vehicle, for example, a reference line having a work start position and a work end position is set based on a teaching work for manually maneuvering the work vehicle. N series of target routes parallel to the line and spaced apart at a fixed interval in consideration of the work width of the work vehicle are generated. There is one in which a travel route is obtained by generating (see, for example, Patent Document 1).

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

  In the above generation method, when work is performed in a plurality of farm fields, it is necessary to perform teaching work by manual operation for each farm field, resulting in a decrease in work efficiency. Further, since a reciprocating travel route for reciprocating the work vehicle in the field is only generated, a circuit traveling route for revolving the work vehicle along the outer periphery shape of the field is not generated in the outer periphery region of the field. However, there is room for improvement in generating a travel route for appropriately traveling the work vehicle autonomously.

  That is, it is desired to be able to generate a travel route that allows a work vehicle to appropriately travel autonomously in a farm field without causing a decrease in work efficiency.

As means for solving the above problems, the travel route generation system according to the present invention is:
A travel route generation unit that generates a travel route in a farm field of the work vehicle, and a storage unit that stores various generation conditions necessary for the travel route generation unit to generate the travel route,
The travel route generation unit adopts at least the outer peripheral shape of the field, the position of the entry / exit route with respect to the field, and the work width of the work device provided in the work vehicle among the various generation conditions, Generate a travel route,
The storage unit stores the travel route generated by the travel route generation unit.

  According to this means, for example, by storing the outer peripheral shape for each field obtained from the field map, the position of the entry / exit route with respect to the field, the work width of the work device obtained from the catalog, etc. in the storage unit, Appropriate travel routes for each field, taking into account the outer peripheral shape of the field, the entry / exit route, and the work width of the work device, for example, a work vehicle enters the field from the entry / exit route and travels through the field in an efficient procedure. A route for exiting the entry / exit route can be easily generated without performing a teaching operation for manually operating the work vehicle.

  Since the generated travel route is stored in the storage unit, by reading the stored travel route, the next work travel, the work travel using another work device with the same work width, or the same work It can be used during work traveling using other work vehicles having a width.

  In other words, the work vehicle can appropriately travel autonomously in the field without causing a decrease in work efficiency, and a travel route with a high utilization rate can be generated.

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

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

As one of the means for making the present invention more suitable,
The travel route generation unit includes a travel route for reciprocating the work vehicle over two opposite farm field ends as the travel route, and an outer peripheral shape of the farm field in the outer field of the farm field. And a lap traveling route that circulates along the lane.

  According to this means, it is possible to generate a travel route suitable for a work vehicle that requires a reciprocal travel route and a round travel route by providing an agricultural material supply device that supplies agricultural material to the field.

As one of the means for making the present invention more suitable,
The outer peripheral shape of the field includes the length of each field edge in the field,
The travel route generation unit may be configured to generate a pair of short lengths when there is a difference between the lengths of the pair of field ends extending in the vertical direction of the field and the lengths of the pair of field ends extending in the horizontal direction of the field. The farm field end is set as an end part for direction change in the reciprocating travel route.

  According to this means, the number of turns of the vehicle body at the shore can be reduced, and the traveling performance of the vehicle body in the field can be improved.

As one of the means for making the present invention more suitable,
The outer peripheral shape of the field includes the length of each field edge in the field,
The travel route generation unit has one of a pair of field ends extending in the vertical direction of the field and a pair of field ends extending in the horizontal direction of the field having a length that is an integral multiple or a substantially integer multiple of the work width. If so, a pair of field ends that do not have a length that is an integral multiple or substantially an integral multiple of the work width are set as direction change ends in the reciprocating travel route.

  According to this means, in a riding rice transplanter equipped with an agricultural material supply device that supplies agricultural materials in a plurality of rows to the field, the vehicle body can be driven without using each strip clutch (not shown) that changes the number of working strips. Can be made.

As one of the means for making the present invention more suitable,
In the case where there is a difference between the length of the straight line portion at the pair of farm field ends extending in the vertical direction of the farm field and the length of the straight line part at the pair of farm field ends extending in the horizontal direction of the farm field, A pair of agricultural field ends having a short length of the straight line portion is set as an end portion for direction change in the reciprocating travel route.

  According to this means, it is possible to lengthen the straight route that does not require steering, and to improve the traveling performance of the vehicle body in the field.

As one of the means for making the present invention more suitable,
The various generation conditions include the position of the farm road side field edge adjacent to the farm road in the field,
The travel route generation unit sets the farm road side field end as an end portion for direction change in the reciprocating travel route.

According to this means, for example, when the work vehicle is an agricultural material supply vehicle equipped with an agricultural material supply device, the supply of the work vehicle such as spare agricultural materials or fuel loaded on a truck stopped on the farm road is performed. It becomes easy.
For example, when the work vehicle is a harvesting work vehicle such as a combine equipped with a harvesting device, it becomes easy to transfer the harvested product to a truck bed stopped on a farm road.

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

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

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

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

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

According to this means, for example, when the work vehicle that uses the current travel route is an agricultural material supply vehicle and the other work vehicle is a scraping work vehicle, it is preferable to pass along the scraping route leveled by the scraping work vehicle. Can supply materials.
For example, if the work vehicle that uses the current travel route is a self-removal combine and the other work vehicle is a passenger rice transplanter, harvesting of rice planted in multiple rows by the passenger rice transplanter This makes it easier to harvest properly along the row of rice.

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

  According to this means, it is possible to avoid the formation of groove-like ridges on the cultivator in the field by the same work vehicle always traveling on the same travel route.

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

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

As one of the means for making the present invention more suitable,
The reciprocating travel route includes a plurality of alternately forward route work routes and a plurality of return route work routes,
The travel route generation unit is configured such that the shape of the field is a shape in which farm field ends facing each other in the vertical direction and the horizontal direction of the field are arranged at regular intervals or substantially regular intervals, and the work device is In the case of the agricultural material supply apparatus that supplies agricultural material to the field, the forward work route that is farthest from the entry / exit route is set as the travel start route of the work vehicle in the reciprocating travel route.

  According to this means, since the travel end point on the reciprocating travel route is closer to the travel start point on the revolving travel route that is generated so that the exit of the work vehicle from the entry / exit route is good, the reciprocating travel The work vehicle can be efficiently moved in a short time from the travel end point on the route to the travel start point on the circuit travel route.

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

  According to this means, since the travel end point on the reciprocating travel route is closest to the travel start point on the revolving travel route that is generated so that the exit of the work vehicle from the entry / exit route is favorable, The work vehicle can be efficiently moved in a shorter time from the travel end point of the travel route to the travel start point of the circuit travel route.

As one of the means for making the present invention more suitable,
An artificially operated order setting unit for setting priorities to the various generation conditions,
The travel route generation unit generates the travel route in consideration of the priority order set by an artificial operation of the order setting unit.

  According to this means, a travel route suitable for each field can be generated.

As one of the means for making the present invention more suitable,
A display for displaying a predetermined number of selection information relating to the selection of the travel route;
An operation unit that enables artificial selection of a predetermined number of the selection information displayed on the display unit,
The various generation conditions include a predetermined number of priority generation conditions with high priority,
The travel route generation unit generates a predetermined number of the travel routes according to a predetermined number of the priority generation conditions, and displays a predetermined number of the selection information according to a predetermined number of the travel routes on the display unit. An actual travel route in which the work vehicle actually travels on a travel route according to the selected selection information when one of the predetermined number of the selection information is selected by a manual operation of the operation unit. To decide.

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

It is the whole left side view of a riding rice transplanter. It is a block diagram which shows the structure of a driving route generation system, etc. It is a figure which shows an example of the driving | running route produced | generated based on the basic conditions. It is a figure which shows the other example of the driving | running route produced | generated based on the basic conditions. It is a figure which shows the driving | running route produced | generated considering the obstacle. It is a figure which shows the driving | running route produced | generated considering the auxiliary | assistant work point. It is a figure which shows the driving | running route produced | generated considering the two entrance / exit routes in basic conditions. It is a figure which shows the driving | running route produced | generated considering the length of the linear part in an agricultural field edge.

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

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

  As shown in FIG. 1 and FIG. 2, the traveling vehicle body 1 has an engine 5 mounted on the front of the traveling vehicle body 1 in an anti-vibration manner, a hydrostatic continuously variable transmission, and the like to shift power from the engine 7. Planted from the transmission unit 6, the left and right steerable wheels 7 driven by the power after the shift by the transmission unit 6, the left and right rear wheels 8 driven by the power after the shift by the transmission unit 6, and the transmission unit 6. Control of the operation of the lifting / lowering driving unit 11, the hydraulic lifting / lowering driving unit 11, etc., which has a clutch unit 9 for intermittently transmitting power to the device 3 and the fertilizer application device 4, a hydraulic cylinder 10, etc. An electronic control unit (hereinafter referred to as ECU) 12, an automatic driving system 13 that enables automatic driving of the traveling vehicle body 1, and a travel route generation system 14 that generates a travel route are provided.

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

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

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

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

  The travel route generation system 14, the travel route generation unit 24 that generates the travel route R in the field of the work vehicle, and the storage unit that stores various generation conditions necessary for the travel route generation unit 12 </ b> B to generate the travel route R. 25, an input device 26 that enables input of data such as an agricultural field map or various generation conditions to the travel route generation unit 24 or the storage unit 25, and an output device that enables output of the generated travel route R, etc. 27, a communication module 29 that is connected and set to be able to perform wireless communication with a communication terminal 28 such as a smartphone or a tablet.

  The travel route generation unit 24 is constructed by a control program or the like inside the ECU 12. The storage unit 25 is constructed by an EEPROM or the like inside the ECU 12. In the storage unit 25, work widths of various work devices such as the seedling planting device 3 as various generation conditions, as well as a field map in which various information such as the position and shape of each field to be worked are recorded. W, the outer peripheral shape of the field for each field to be operated, the position of the entry / exit route Rz with respect to the field, the position and shape of the obstacle in the field, the position of the farm road side field edge adjacent to the farm road in the field, and the traveling of the work vehicle Specific auxiliary work points that perform auxiliary work related to the supply and discharge of in-vehicle items that change the on-board amount, the existing travel route on which other work vehicles such as tractors or combines have traveled, the existing travel route on which this passenger rice transplanter has traveled before In addition, the sunlight condition of the farm field, ventilation in the farm field, and the like are stored. The outer peripheral shape of the field includes the length of each field edge in the field.

  In the input device 26, a number input unit 26A for inputting a registration number assigned to each field to be worked, a display unit 26B for displaying various input conditions for the input registration number and the field corresponding to the registration number, and the like. A selection operation unit 26C that enables selection of various generation conditions, a work order input unit 26D that sets a work order when working in a plurality of fields, and the like are provided. Thus, the operator can perform auxiliary workability such as generation of a travel route R that places importance on the travelability of the riding rice transplanter in the field and replenishment of seedlings to the passenger rice transplanter among various generation conditions related to the field to be worked. It is possible to select a generation condition necessary for generation of the travel route R with emphasis or generation of the travel route R with emphasis on seedling growth in the field.

As illustrated in FIGS. 3 and 4, for example, the travel route generation unit 24 generates the travel route R when generating a travel route R in a rectangular field and the operator does not select a generation condition. The travel route R is generated on the basis of the work width W of the work device, the outer peripheral shape of the field, and the position of the entry / exit route Rz with respect to the field, which are basic conditions. In this case, first, a pair of first field ends Aa extending in the vertical direction of the field and a pair of second field ends Ab extending in the horizontal direction of the field are an integral multiple or a substantially integer multiple of the work width W of the seedling planting device 3. It is determined whether it has the length of. When only the length of the second field end Ab is an integral multiple or substantially an integral multiple of the work width W, the reciprocating travel path Ra for reciprocating the vehicle in the vertical direction of the field and the field in the outer peripheral area of the field A round traveling route Rb that circulates along the outer peripheral shape of the vehicle is generated. Next, based on the fact that the work vehicle is a passenger rice transplanter and the position of the entry / exit route Rz, from the entry / exit route Rz among the plurality of forward route work routes Raa and the plurality of return route work routes Rab included in the reciprocating travel route Ra. The farthest outbound work route Raa is set as the first work route R1, and the traveling order is set so that the vehicle body travels back and forth in order from the first work route R1 toward the entry / exit route Rz. Then, a route adjacent to the final route R10 of the reciprocating travel route Ra in the round travel route Rb is set as an eleventh work route R11 following the final route R10 of the reciprocating travel route Ra, and the input / output route Rz in order from the eleventh work route R11. The traveling order is set so that the vehicle body travels toward the vehicle (see FIG. 3).
By generating the travel route R in this way, the vehicle body is moved from the first work route R1 to the entry / exit route Rz without using each strip clutch (not shown) that changes the number of planting strips of the seedling planting device 3. Can be continuously and efficiently driven.

In the above-mentioned field, when the lengths of both the first field edge Aa and the second field edge Ab are an integral multiple or a substantially integral multiple of the work width W, or are not an integral multiple or a substantially integral multiple, first, Of the field end Aa and the second field end Ab, the first field end Aa having a short length is set as an end portion for changing direction in the reciprocating travel route Ra, and the travel route R is used as a pair of first field ends Aa. And a reciprocating travel route Ra for reciprocating the vehicle body and a revolving travel route Rb for revolving the vehicle body along the outer peripheral shape of the field in the outer peripheral region of the field. Next, based on the fact that the work vehicle is a passenger rice transplanter and the position of the entry / exit route Rz, the forward work route Raa farthest from the entry / exit route Rz in the reciprocating travel route Ra is set as the first work route R1. The traveling order is set so that the vehicle body reciprocates toward the entrance / exit route Rz in order from the first work route R1. Then, a route adjacent to the final route R6 of the reciprocating travel route Ra in the round travel route Rb is set as a seventh work route R7 following the final route R6 of the reciprocating travel route Ra, and the entry / exit route Rz in order from the seventh work route R7. The traveling order is set so that the vehicle body travels toward the vehicle (see FIG. 4).
By generating the travel route R in this way, the number of turns of the vehicle body at the shore can be reduced, and the travel performance of the vehicle body in the field can be improved. Further, the vehicle body can be continuously and efficiently traveled from the first work route R1 toward the entry / exit route Rz.

In the above-mentioned field, when the length of both the first field end Aa and the second field end Ab is not an integral multiple or substantially an integral multiple of the work width W, the field end Aa, in which the distance to use each line clutch becomes long, Ab is set as an end portion for direction change in the reciprocating travel route Ra, and the reciprocating travel route Ra and the revolving travel route Rb are generated.
Thereby, the work travel distance which uses each strip clutch can be shortened.

As shown in FIG. 5, for example, when the travel route generation unit 24 generates a travel route R in a rectangular farm field where the obstacle 30 such as a drain outlet or a steel tower exists, the position and shape of the obstacle 30 are set. Since it is included in the basic conditions related to the generation of the travel route R, the travel route R is generated in consideration of the position and shape of the obstacle 30. For example, the generation condition for setting the position and shape of the obstacle 30 in the position and shape illustrated in FIG. 5 and setting the first field end Aa as the end portion for turning in the reciprocating travel route is satisfied. For example, the reciprocating travel route Ra includes a reciprocating travel route Ra that includes a path from the obstacle 30 toward the first field end Aa, and the revolving travel route Rb includes a route adjacent to the reciprocating travel route Rb. A round traveling route Rb is generated. Next, based on the fact that the work vehicle is a passenger rice transplanter and the position of the entry / exit route Rz, the aforementioned closest route (outward route work route Raa) is set as the first work route R1, and this first work route is set. An adjacent route (return route work route Rab) across R1 and the round travel route Rb is set as the second work route R2, and the vehicle travels in order from the second work route R2 toward the entry / exit route Rz. Set the ranking. Then, a route adjacent to the final route R6 of the reciprocating travel route Ra in the round travel route Rb is set as a seventh work route R7 following the final route R6 of the reciprocating travel route Ra, and the entry / exit route Rz in order from the seventh work route R7. The traveling order is set so that the vehicle body travels around.
By generating the travel route R in this manner, the vehicle body can be moved while the traveling performance in the field is improved by reducing the number of turns of the vehicle body at the shore while the obstacle 30 is present. It is possible to continuously and efficiently travel from one work route R1 toward the entry / exit route Rz.

For example, when the travel route generation unit 24 generates a travel route R in a rectangular farm field, and the position of the farm road side field edge Ac adjacent to the farm road is set as a generation condition by the operator, the farm road side field If the end Ac is the first field end Aa, the first field end Aa is set as an end portion for direction change in the reciprocating travel route, and the travel route R and the reciprocating travel route Ra illustrated in FIG. A route Rb is generated. Next, based on the fact that the work vehicle is a passenger rice transplanter and the position of the entry / exit route Rz, the travel rank illustrated in FIG. 4 is set. Further, if the farm road side field end Ac is the second field end Ab, the second field end Ab is set as an end portion for direction change in the reciprocating travel route, and the travel route R illustrated in FIG. A route Ra and a round travel route Rb are generated. Next, based on the fact that the work vehicle is a passenger rice transplanter and the position of the entry / exit route Rz, the travel rank illustrated in FIG. 3 is set.
By generating the traveling route R in this manner, it becomes easy to supply the riding rice transplanter such as spare seedlings and fertilizers loaded on the truck stopped on the farm road.

As shown in FIG. 6, for example, when the travel route generation unit 24 generates a travel route R in a rectangular farm field, the operator supplements spare seedlings, fertilizer, and the like to the riding rice transplanter. When the specific auxiliary work point P for performing is set as the generation condition, the auxiliary work point P exists at the first field end Aa away from the entry / exit route Rz, and the first field end Aa is in the reciprocating travel route. If the generation condition to be set at the direction change end is satisfied, the vehicle travels along the outer periphery shape of the field in the outer periphery region of the field and the reciprocating travel route Ra that causes the vehicle body to reciprocate across the pair of first field ends Aa. And a round travel route Rb that circulates around the vehicle. Next, based on the fact that the work vehicle is a passenger rice transplanter and the auxiliary work point P, the forward work route Raa farthest from the auxiliary work point P is set as the first work route (travel start route) R1, and this The traveling order is set so that the vehicle body reciprocates toward the auxiliary work point P in order from the first work route R1. Then, the route farthest from the final route R6 of the reciprocating travel route Ra in the round travel route Rb is set as the seventh work route R7 following the final route R7 of the reciprocating travel route Ra, and the entry / exit routes in order from the seventh work route R7. The traveling order is set so that the vehicle body travels around Rz.
By generating the travel route R in this way, the work travel on the reciprocal travel route Ra progresses and the passenger rice transplanter approaches the auxiliary work point P. Therefore, the vehicle travels between the work travel interruption point and the auxiliary work point P. Move efficiently in a short time.

As shown in FIG. 7, for example, when the traveling route generation unit 24 generates a traveling route R in a rectangular field having two entry / exit routes Rz, the work order and the position of the field set by the operator. Based on the information or the like, the entry / exit route Rz close to the field performing the work immediately before this field is set as the entry route Rza, and the entry / exit route Rz close to the field performing the work following this field is set as the exit route Rzb, A reciprocal travel route Ra and a round travel route Rb suitable for these settings are generated, and a travel order is set.
By generating the travel route R in this way, the vehicle body can be moved between the fields in a short time and efficiently when working on a plurality of fields.

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

As shown in FIGS. 3, 4, 7, and 8, the travel route generation unit 24 is configured such that, for example, the shape of the farm field is such that the farm field ends facing each other in the vertical direction and the horizontal direction of the farm field are at regular intervals or approximately. In the case of a shape that is arranged at regular intervals, since the work device is the seedling planting device 3 for planting seedlings in the field, the forward work route Raa that is farthest from the entry / exit route Rz is defined as the first work route (travel start route). ) Set to R1.
With this setting, the travel end point on the reciprocating travel route Ra is closer to the travel start point on the circuit travel route Rb that is generated so that the vehicle exits from the entry / exit route Rz. Thus, the vehicle body can be efficiently moved in a short time from the travel end point on the reciprocal travel route Ra to the travel start point on the circuit travel route Rb.

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

The travel route generation unit 24 matches the existing travel route as much as possible when the operator sets the existing travel route traveled by the tractor (an example of another work vehicle) in this field in the field. A travel route R is generated.
By generating the traveling route R in this way, it is possible to perform good planting through the scraping route leveled by the scraping operation of the tractor.

The travel route generation unit 24, when the operator sets the existing travel route traveled by the riding rice transplanter in this field as the generation condition, the reciprocal travel route Ra of the existing travel route is as much as possible. A travel route R is generated so that the route directions intersect.
By generating the travel route R in this way, it is possible to avoid the formation of groove-like ridges on the cultivating pad in the field by causing the same work vehicle to always travel the same travel route R.

The travel route generation unit 24 generates the reciprocating travel route Ra so that the route direction of the reciprocating travel route Ra is along the sunny direction when the day condition of the farm field is set as the generation condition by the operator.
By generating the reciprocating travel path Ra in this manner, the sunlight of the seedling can be improved and the growth of the seedling can be improved.

The travel route generator 24 generates the reciprocating travel route Ra so that the route direction of the reciprocating travel route Ra is along the direction of good ventilation when the operator sets the ventilation in the field as the generation condition.
By generating the reciprocating travel path Ra in this manner, ventilation of the seedling can be improved, and the growth of the seedling can be improved.

As shown in FIG. 2, the input device 26 includes an artificially operated rank setting unit 12 </ b> F that sets priorities for various generation conditions.
The travel route generation unit 24 generates the travel route R in consideration of the set priority when the priority order of the generation conditions is set by an artificial operation of the order setting unit 12F.
Thereby, generation | occurrence | production of the driving | running route R suitable for each agricultural field is attained.

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

[Another embodiment]
The present invention is not limited to the configuration exemplified in the above-described embodiment, and typical other embodiments relating to the present invention will be exemplified below.

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

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

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

[4] The travel route generation system 14 displays a predetermined number of selection information regarding the selection of the travel route R on the display unit 26B of the input device 26, and the input device 26 displays the predetermined number of selections displayed on the display unit 26B. An operation unit 26C that enables artificial selection of information is provided, and various generation conditions include a predetermined number of priority generation conditions with high priority, and the travel route generation unit 24 generates a predetermined number of priority generations. A predetermined number of travel routes R corresponding to the conditions are generated, a predetermined number of selection information corresponding to the predetermined number of travel routes R is commanded to the display unit 26B, and the predetermined number is selected by an artificial operation of the operation unit 26C. When one of the selection information is selected, the travel route R corresponding to the selected selection information may be determined as the actual travel route on which the work vehicle actually travels.

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

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

3 Working device (Agricultural material supply device)
24 Travel Route Generation Unit 25 Storage Unit 26B Display Unit 26C Operation Unit 26E Order Setting Unit 30 Obstacle Aa First Field End Ab Second Field End Ac Farm Road Side Field End P Auxiliary Work Point R Travel Route R1 Travel Start Route Ra Reciprocating Travel Route Raa Outbound work route Rab Return route work route Rb Circumferential travel route Rz Entry / exit route Rzb Exit route W Work width

Claims (16)

A travel route generation unit that generates a travel route in a farm field of the work vehicle, and a storage unit that stores various generation conditions necessary for the travel route generation unit to generate the travel route,
The travel route generation unit adopts at least the outer peripheral shape of the field, the position of the entry / exit route with respect to the field, and the work width of the work device provided in the work vehicle among the various generation conditions, Generate a travel route,
The storage unit is a travel route generation system that stores the travel route generated by the travel route generation unit. The various generation conditions include the position and shape of the obstacle in the field,
The travel route generation system according to claim 1, wherein the travel route generation unit generates the travel route in consideration of a position and a shape of the obstacle.   The travel route generation unit, as the travel route, a reciprocal travel route that causes the work vehicle to reciprocate across two opposite farm field ends of the field, and an outer peripheral shape of the field in the outer peripheral region of the field. The traveling route generation system according to claim 1, wherein a traveling route that circulates along the route is generated. The outer peripheral shape of the field includes the length of each field edge in the field,
The travel route generation unit may be configured to generate a pair of short lengths when there is a difference between the lengths of the pair of field ends extending in the vertical direction of the field and the lengths of the pair of field ends extending in the horizontal direction of the field. The travel route generation system according to claim 3, wherein the farm field end is set to an end portion for direction change in the reciprocating travel route. The outer peripheral shape of the field includes the length of each field edge in the field,
The travel route generation unit has one of a pair of field ends extending in the vertical direction of the field and a pair of field ends extending in the horizontal direction of the field having a length that is an integral multiple or a substantially integer multiple of the work width. 4. The travel route according to claim 3, wherein a pair of field ends that do not have a length that is an integral multiple or substantially an integral multiple of the work width is set as an end portion for direction change in the reciprocating travel route. Generation system.   In the case where there is a difference between the length of the straight line portion at the pair of farm field ends extending in the vertical direction of the farm field and the length of the straight line part at the pair of farm field ends extending in the horizontal direction of the farm field, The travel route generation system according to claim 3, wherein a pair of farm field ends having a short length of the straight line portion are set as direction change end portions in the reciprocating travel route. The various generation conditions include the position of the farm road side field edge adjacent to the farm road in the field,
The travel route generation system according to claim 3, wherein the travel route generation unit sets the farm road side field end as an end portion for direction change in the reciprocating travel route. The various generation conditions include a specific auxiliary work point for performing auxiliary work related to the supply and discharge of the vehicle-mounted object whose vehicle-mounted amount changes as the work vehicle travels,
The reciprocating travel route includes a plurality of alternately forward route work routes and a plurality of return route work routes,
The travel route generation system according to claim 3, wherein the travel route generation unit sets an outward work route farthest from the auxiliary work point as a travel start route of the work vehicle on the reciprocating travel route.   4. The travel route according to claim 3, wherein, when there are a plurality of entry / exit routes, the travel route generation unit sets the exit / exit route closest to the field in which the work vehicle travels next as the exit route of the work vehicle. Generation system. The various generation conditions include existing travel routes on which other work vehicles have traveled in the field,
The travel route generation system according to claim 3, wherein the travel route generation unit generates the travel route in consideration of the existing travel route. The various generation conditions include an already traveled route on which the work vehicle has traveled before in the field,
The travel route generation system according to claim 3, wherein the travel route generation unit generates the travel route in consideration of the existing travel route. The various generation conditions include a field environment including the condition and ventilation of the field,
The travel route generation system according to claim 3, wherein the travel route generation unit generates the travel route in consideration of the field environment. The reciprocating travel route includes a plurality of alternately forward route work routes and a plurality of return route work routes,
The travel route generation unit is configured such that the shape of the field is a shape in which farm field ends facing each other in the vertical direction and the horizontal direction of the field are arranged at regular intervals or substantially regular intervals, and the work device is The agricultural material supply apparatus for supplying agricultural material to a farm field, wherein the forward work route farthest from the entry / exit route is set as a travel start route of the work vehicle in the reciprocating travel route. Travel route generation system.   The travel route generation unit sets the end of the reciprocating travel route to a position closest to the entry / exit route in the reciprocating travel route when the work device is an agricultural material supply device that supplies agricultural material to a farm field. The travel route generation system according to claim 3. An artificially operated order setting unit for setting priorities to the various generation conditions,
The travel route generation system according to any one of claims 1 to 14, wherein the travel route generation unit generates the travel route in consideration of the priority set by an artificial operation of the order setting unit. A display for displaying a predetermined number of selection information relating to the selection of the travel route;
An operation unit that enables artificial selection of a predetermined number of the selection information displayed on the display unit,
The various generation conditions include a predetermined number of priority generation conditions with high priority,
The travel route generation unit generates a predetermined number of the travel routes according to a predetermined number of the priority generation conditions, and displays a predetermined number of the selection information according to a predetermined number of the travel routes on the display unit. An actual travel route in which the work vehicle actually travels on a travel route according to the selected selection information when one of the predetermined number of the selection information is selected by a manual operation of the operation unit. The travel route generation system according to any one of claims 1 to 14, which is determined as follows.

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