JP-2026075306-A - Route generation method, route generation program, and route generation system

Abstract

[Problem] To provide a route generation method, a route generation program, and a route generation system that can improve the operator's work efficiency by easily generating a travel route desired by the operator. [Solution] In the travel system 10, when the combine harvester 1 is traveling along a first travel path and the generation processing unit 312 acquires information about stopping travel or work, it generates a second travel path to be traveled after the first travel path, based on a predetermined position corresponding to the travel stop position or work stop position of the combine harvester 1 and the work width of the combine harvester 1. [Selection Diagram] Figure 1

Inventors

• 山口 雄司
• 村山 昌章
• 西井 康人
• 李 昇圭

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. A route generation method for generating a travel path for a work vehicle to perform a predetermined task in a work area, A route generation method that generates a second route to be traveled after the first route, based on a predetermined position corresponding to the travel stop position or work stop position of the work vehicle and the work width of the work vehicle, when information on the stopping of travel or work is acquired while the work vehicle is traveling along a first route.
2. When the stop information is obtained, a reference point is set at the predetermined position corresponding to the first travel route, and a second travel route is generated based on the reference point. The route generation method according to claim 1.
3. The reference point is set at the left or right end of the work area corresponding to the first travel path, and the second travel path is generated such that a portion of the planned work area corresponding to the second travel path overlaps with the reference point. The route generation method according to claim 2.
4. The second travel path is generated such that the end of the completed work area corresponding to the first travel path and the end of the planned work area corresponding to the second travel path overlap by a predetermined width. The route generation method according to claim 3.
5. The starting point of the second travel path is set behind the direction of travel of the work vehicle in the first travel path. The route generation method according to claim 1.
6. The second travel route is generated when the work vehicle has traveled along the first travel route and a predetermined condition is met. The route generation method according to claim 1.
7. The second travel path is generated when the work vehicle, after traveling along the first travel path, moves backward by a predetermined distance or more calculated based on at least one of the following: the total length of the work vehicle, the working width of the work machine installed on the work vehicle, the left and right end positions of the work machine, and the overlap width of the individual work areas between adjacent travel paths. The route generation method according to claim 6.
8. The second travel path 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.
9. The second travel path is a path for traveling through the corner of the work area. The route generation method according to claim 8.
10. A route generation program that generates a travel path for a work vehicle to perform a predetermined task within a work area, A route generation program that causes one or more processors to generate a second route to be traveled after the first route, based on a predetermined position corresponding to the travel stop position or work stop position of the work vehicle and the work width of the work vehicle, when the work vehicle acquires travel or work stop information while traveling along a first route.
11. A route generation system that generates a travel path for a work vehicle to perform a predetermined task within a work area, A route generation system comprising a generation processing unit that generates a second route to be traveled after the first route, based on a predetermined position corresponding to the travel stop position or work stop position of the work vehicle and the work width of the work vehicle, when the work vehicle acquires travel or work stop information while traveling along a first route.

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