Travel route generation device and travel route generation method

Abstract

A travel route generation device includes circuitry configured to define a shape of a work field by calculating a first line connecting a starting point and one of intermediate points, and a second line connecting another of the intermediate points and an end point. The circuitry is configured to calculate a shape of an entrance passage in the work field though which a work vehicle is to enter a target work region in which the work vehicle is to work in the work field. The entrance passage has a shape of a substantially quadrangle including a first side extending along the first line from the starting point and a second side extending along the second line from the end point. The circuitry is configured to generate a travel route along which the work vehicle is to travel in the target work region.

What is claimed is: 
     
         1 . A travel route generation device comprising:
 a point input interface via which positions of a starting point, an end point, and intermediate points in a work field are input, the intermediate points defining a shape of the work field;   circuitry configured to
 define the shape of the work field by calculating a first line connecting the starting point and one of the intermediate points, and a second line connecting another of the intermediate points and the end point, the first line and the second line defining the shape of the work field, 
 calculate a shape of an entrance passage in the work field through which a work vehicle is to enter a target work region in which the work vehicle is to work in the work field, the entrance passage having a shape of a substantially quadrangle comprising:
 a first side extending along the first line from the starting point; and 
 a second side extending along the second line from the end point, the starting point and the end point being provided on a diagonal of the substantially quadrangle, and 
 
 generate a travel route along which the work vehicle is to travel in the target work region. 
   
     
     
         2 . The travel route generation device according to  claim 1 ,
 wherein the substantially quadrangle has vertices including the starting point, the end point, an inner point, and an outer point, the inner point being provided on the target work region, the first side and the second side connecting at the outer point, and   wherein a direction from the second side to a third side connecting the starting point and the inner point is an entry direction of the work vehicle into the target work region.   
     
     
         3 . The travel route generation device according to  claim 2 , wherein a position of the inner point is input via the point input interface. 
     
     
         4 . The travel route generation device according to  claim 1 , wherein the substantially quadrangle has vertices including the starting point, the end point, an inner point, and an outer point, the inner point being provided on the target work region, the first side and the second side connecting at the outer point. 
     
     
         5 . The travel route generation device according to  claim 1 ,
 wherein the positions of the starting point, the intermediate points, and the end point are input via the point input interface while the work vehicle travels along a boundary of the work field, and   wherein the positions of the starting point, the intermediate points, and the end point are calculated using a position of the work vehicle based on positioning data from a satellite positioning module mounted on the work vehicle.   
     
     
         6 . The travel route generation device according to  claim 5 ,
 wherein the work vehicle has a reference point out of at least one corner point positioned at at least one corner of the work vehicle, and   wherein the positions of the starting point, the intermediate points, and the end point are calculated by modifying the position of the work vehicle based on a distance from a point of the work vehicle indicating the position of the work vehicle to the reference point.   
     
     
         7 . A travel route generation device comprising:
 a point input interface via which original positions of a starting point, an end point, and intermediate points in a work field are input, the original positions indicating positions of a work vehicle when a reference point provided at a corner of the work vehicle reaches the starting point, the end point, and the intermediate points, respectively, the intermediate points defining a shape of a target work region in which the work vehicle is to work in a work field; and   circuitry configured to
 calculate positions of the starting point, the end point, and the intermediate points from the original positions of the starting point, the end point, and the intermediate points, respectively, based on a distance from a point of the work vehicle indicating the position of the work vehicle to the reference point, 
 define the shape of the target work region by calculating a line connecting the starting point, the intermediate points, and the end point, the line defining the shape of the target work region, and 
 generate a travel route along which the work vehicle is to travel in the target work region. 
   
     
     
         8 . The travel route generation device according to  claim 6 , wherein the reference point is selectable from points provided at corners of the work vehicle. 
     
     
         9 . The travel route generation device according to  claim 1 , wherein the first line, the first side, the second line, the second side, and a line passing through the intermediate points define the shape of the work field. 
     
     
         10 . The travel route generation device according to  claim 1 , wherein the circuitry is configured to generate an entrance passage information including an information of the shape of the entrance passage. 
     
     
         11 . The travel route generation device according to  claim 1 , wherein the work vehicle is to travel automatically in the travel route. 
     
     
         12 . A travel route generation method comprising:
 inputting positions of a starting point, an end point, and intermediate points in a work field, the intermediate points defining a shape of the work field;   defining the shape of the work field by calculating a first line connecting the starting point and one of the intermediate points, and a second line connecting another of the intermediate points and the end point, the first line and the second line defining the shape of the work field;   calculating a shape of an entrance passage in the work field through which a work vehicle is to enter a target work region in which the work vehicle is to work in the work field, the entrance passage having a shape of a substantially quadrangle including a first side extending along the first line from the starting point and a second side extending along the second line from the end point, the starting point and the end point being provided on a diagonal of the substantially quadrangle; and   generating a travel route along which the work vehicle is to travel in the target work region.