JP-2026075307-A - Route generation method, route generation program, and route generation system

JP2026075307AJP 2026075307 AJP2026075307 AJP 2026075307AJP-2026075307-A

Abstract

[Problem] To provide a route generation method, a route generation program, and a route generation system that can improve the driving accuracy of a work vehicle that automatically travels within a work area. [Solution] In the driving system 10, the generation processing unit 312 generates an automatic driving path for the combine harvester 1 to automatically drive over the entire inner working area on the inner side, excluding the outermost working area on the outermost side of the working area. [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)

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 for generating an automated driving route for the work vehicle to automatically travel over the entire inner working area on the inner side of the work area, excluding the outermost working area on the outermost side of the work area.
Based on the position information of the outermost work area, a first travel path is generated in which the work vehicle will travel first among the automated travel paths. The route generation method according to claim 1.
Based on the outline of the work area, the position of the outermost work area is determined, Based on the position information of the outermost working area and the working width of the work vehicle, the first travel path is generated. The route generation method according to claim 2.
The automatic driving path is generated such that a portion of the work trace in the inner working area and a portion of the work trace in the outermost working area overlap by a predetermined amount. The route generation method according to claim 1.
The aforementioned setting amount can be changed. The automatic driving path is generated at a position corresponding to the set amount. The route generation method according to claim 4.
The automatic travel path in the inner circumference work area includes an inclined work path for generating a direction change area when moving from the first work path to the second work path. The route generation method according to claim 1.
When performing work on the outermost work area after completing work on the inner work area, it is possible to select whether to perform the work on the outermost work area by manual movement or by automatic movement along the outer edge of the work area. The route generation method according to claim 1.
When work in the outermost work area is completed, the outline of the work area is generated or updated. The route generation method according to claim 1.
The aforementioned work vehicle is a harvesting work vehicle for harvesting crops, Before working in the outermost work area, it is determined whether or not to move to the crop discharge position set in the work area, based on the estimated amount of crop to be harvested by working in the outermost work area and the remaining harvestable amount of the work vehicle. A route generation method according to any one of claims 1 to 8.
A route generation program that generates a travel path for a work vehicle to perform a predetermined task within a work area, A path generation program that causes one or more processors to generate an automated driving path for the work vehicle to automatically travel over the entire inner working area, excluding the outermost working area of the work area.
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 an automatic driving route for the work vehicle to automatically travel over the entire inner working area on the inner side of the work area, excluding the outermost working area on the outermost side of the work area.

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