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JP-2026075305-A - Route generation method, route generation program, and route generation system

JP2026075305AJP 2026075305 AJP2026075305 AJP 2026075305AJP-2026075305-A

Abstract

[Problem] To provide a path generation method, a path generation program, and a path generation system that can improve the accuracy of work in corners within a work area. [Solution] In the travel system 10, when the generation processing unit 312 acquires travel or work stop information while the combine 1 is traveling along the first travel path within the work area, it sets a reference line that passes through a predetermined position corresponding to the travel stop position or work stop position of the combine 1 and has a predetermined angle with respect to the first travel path, and generates a second travel path for the combine 1 to work in the corner generated at the connection point between the first travel path and the reference line, or a recommended area representing the recommended work range of the corner. [Selection Diagram] Figure 1

Inventors

  • 李 昇圭
  • 山口 雄司

Assignees

  • ヤンマーホールディングス株式会社

Dates

Publication Date
20260508
Application Date
20241022

Claims (11)

  1. When information is obtained that a work vehicle is traveling or has stopped working while it is traveling along a first travel path within the work area, a reference line is set that passes through a predetermined position corresponding to the vehicle's stopping position or work stopping position, and has a predetermined angle with respect to the first travel path. To generate a second travel path for the work vehicle to perform work at the corner generated at the connection point between the first travel path and the reference line, or to generate a recommended area representing the recommended work range of the corner, A method for generating routes that executes this process.
  2. The predetermined angle can be changed after the reference line has been set. When the predetermined angle is changed, the second travel path or the recommended area is set based on the reference line whose predetermined angle has been changed. The route generation method according to claim 1.
  3. After the work vehicle has started moving toward the reference line, if a predetermined operation is received from the operator, or if the work vehicle reaches a predetermined state, the predetermined angle is changed. The route generation method according to claim 2.
  4. Based on the position of the work vehicle when the predetermined operation is received, or the position of the work vehicle when the work vehicle reaches the predetermined state, and the predetermined position, the predetermined angle of the reference line is changed. The route generation method according to claim 3.
  5. The aforementioned predetermined operation is one of the following: stopping the work vehicle, moving the work vehicle in reverse, or changing the work equipment installed on the work vehicle from a working position to a non-working position. The predetermined state is one of the following: the work vehicle is stopped; the work vehicle has started moving in reverse; or the work machine has changed from the working position to the non-working position. The route generation method according to claim 3.
  6. The aforementioned predetermined operation is performed before the work vehicle reaches the reference line or after the work vehicle crosses the reference line. The predetermined state is the state before the work vehicle reaches the reference line or after the work vehicle crosses the reference line. The route generation method according to claim 5.
  7. After the work vehicle has started traveling in a direction inclined with respect to the first travel path, if a predetermined operation is received from the operator, or if the work vehicle reaches a predetermined state, the reference line is set to be a straight line passing through the position of the work vehicle when the predetermined operation was received, or the position of the work vehicle when it reached the predetermined state, and the predetermined position. A second travel path is generated, with the endpoint being the aforementioned reference line. The route generation method according to claim 1.
  8. The operator is notified when the distance from the work vehicle to the reference line becomes within a predetermined distance after the work vehicle has started moving toward the reference line. A route generation method according to any one of claims 1 to 7.
  9. The second travel path is a path for traveling through the corner of the work area and is an inclined path that is inclined relative to the first travel path. A route generation method according to any one of claims 1 to 7.
  10. When information is obtained that a work vehicle is traveling or has stopped working while it is traveling along a first travel path within the work area, a reference line is set that passes through a predetermined position corresponding to the vehicle's stopping position or work stopping position, and has a predetermined angle with respect to the first travel path. To generate a second travel path for the work vehicle to perform work at the corner generated at the connection point between the first travel path and the reference line, or to generate a recommended area representing the recommended work range of the corner, A route generation program that causes one or more processors to execute.
  11. When information is obtained that a work vehicle is traveling or has stopped working while it is traveling along a first travel path within the work area, a reference line is set that passes through a predetermined position corresponding to the vehicle's stopping position or work stopping position and has a predetermined angle with respect to the first travel path. A route generation system comprising a generation processing unit that generates a second route for the work vehicle to perform work on the corner generated at the connection point between the first route and the reference line, or a recommended area representing the recommended work range of the corner.

Description

This invention relates to a technology for generating routes for work vehicles. Conventionally, a technology is known in which the shape of a field is acquired in advance, a travel path for a work vehicle is generated based on the field shape, and the work vehicle is automatically driven along that travel path (see, for example, Patent Document 1). Japanese Patent Publication No. 2021-83387 Figure 1 is a functional block diagram showing the configuration of a driving system according to an embodiment of the present invention.Figure 2 is an external view showing the configuration of a combine harvester according to an embodiment of the present invention.Figure 3 shows an example of a target path set in a field according to an embodiment of the present invention.Figure 4A shows an example of the operation procedure of a combine harvester according to an embodiment of the present invention.Figure 4B shows an example of the operation procedure of a combine harvester according to an embodiment of the present invention.Figure 4C shows an example of the operation procedure of a combine harvester according to an embodiment of the present invention.Figure 5A shows an example of corner mowing work performed by a combine harvester according to an embodiment of the present invention.Figure 5B shows an example of corner mowing work performed by a combine harvester according to an embodiment of the present invention.Figure 6A shows an example of an operation screen displayed on an operation terminal according to an embodiment of the present invention.Figure 6B shows an example of a route creation result screen displayed on an operating terminal according to an embodiment of the present invention.Figure 7A shows a specific example of the position (non-working height) of the harvesting section of a combine harvester according to an embodiment of the present invention.Figure 7B shows a specific example of the position (intermediate height) of the harvesting section of a combine harvester according to an embodiment of the present invention.Figure 7C shows a specific example of the position (working height) of the harvesting section of a combine harvester according to an embodiment of the present invention.Figure 8A shows a specific example of harvesting work in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 8B shows a specific example of harvesting work in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 8C shows a specific example of harvesting work in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 8D shows a specific example of harvesting work in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 8E shows a specific example of harvesting work in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 8F shows a specific example of harvesting work in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 8G shows a specific example of harvesting work in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 8H shows a specific example of harvesting work in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 9A shows a specific example of harvesting work in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 9B shows a specific example of harvesting work in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 9C shows a specific example of harvesting work in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 10 shows a specific example of a combine harvester turning according to the first embodiment of the present invention.Figure 11 shows the state after harvesting work has been completed in the outermost region of a combine harvester according to the first embodiment of the present invention.Figure 12 shows an example of a corner trimming path according to the first embodiment of the present invention.Figure 13 shows an example of an inner circumferential path in the inner circumferential region of a field according to the first embodiment of the present invention.Figure 14 shows an example of an inner circumferential path in the inner circumferential region of a field according to the first embodiment of the present invention.Figure 15 shows an example of an automated driving path in the inner perimeter of a field according to the first embodiment of the present invention.Figure 16 shows another method for generating a corner trimming path according to the first embodiment of the present inve