Traveling Route Setting Device

Abstract

Provided are a work region setting portion which sets, within a traveling region, a work region for a working vehicle to perform predetermined work; and a traveling route setting portion which sets, within the traveling region, a target traveling route to make the working vehicle travel automatically. The traveling route setting portion includes: an initial route generation portion which generates an initial route based on a trajectory formed by the working vehicle traveling in the traveling region; a work route generation portion which generates work routes arranged in a parallel arrangement direction orthogonal to an extension direction; and a connection route generation portion which generates connection routes connecting, at either side of the work region, routes adjacent in the parallel arrangement direction among the initial route and the work routes. The target traveling route including the initial route, the work routes, and the connection routes is thereby set.

1 - 3 . (canceled) 
     
     
         4 . A traveling route setting device comprising:
 a traveling route setting portion which sets, within a traveling region, a target traveling route for travel guidance to make a working vehicle travel automatically, the traveling route setting portion setting the target traveling route including: a plurality of work routes extending in a traveling direction and arranged in a state of being parallel to each other in a parallel arrangement direction orthogonal to the traveling direction; and a plurality of connection routes each connecting an end edge and a start edge of the work routes that are adjacent to each other in the parallel arrangement direction, among the plurality of work routes;   a reference route selection portion which selects a part of the plurality of work routes as a reference route;   a traveling trajectory acquisition portion which acquires a traveling trajectory to be formed when the working vehicle is made to travel within the traveling region; and   a traveling route changing portion which changes the target traveling route so that the reference route conforms to the traveling trajectory.   
     
     
         5 . The traveling route setting device according to  claim 4 , wherein if the traveling trajectory acquired by the traveling trajectory acquisition portion is shorter than the reference route in length, the traveling route changing portion reduces the lengths of the reference route and the plurality of work routes so that start and end edges of the reference route match with start and end edges of the traveling trajectory, and moves the target traveling route. 
     
     
         6 . The traveling route setting device according to  claim 4 , wherein if a shape of the traveling trajectory acquired by the traveling trajectory acquisition portion is different from a shape of the reference route, the traveling route changing portion moves the target traveling route such that the reference route conforms to the traveling trajectory in a state of performing shape alteration to conform the shape of the reference route and the shapes of the plurality of work routes to the shape of the traveling trajectory. 
     
     
         7 . A traveling route setting device comprising:
 a traveling route setting portion which sets, within a traveling region, a target traveling route for travel guidance to make a working vehicle travel automatically, the traveling route setting portion setting the target traveling route including: a plurality of work routes extending in a traveling direction and arranged in a state of being parallel to each other in a parallel arrangement direction orthogonal to the traveling direction; and a plurality of connection routes each connecting an end edge and a start edge of work routes that are adjacent to each other in the parallel arrangement direction, among the plurality of work routes;   a reference route selection portion which selects a part of the plurality of work routes as a reference route;   a travel stop position acquisition portion which acquires a stopped position of the working vehicle within the traveling region; and   a traveling route changing portion which changes the target traveling route such that a start edge or an end edge of the reference route matches with the stopped position.   
     
     
         8 . The traveling route setting device according to  claim 4 , further comprising a traveling route adjusting portion which deletes, when the target traveling route is changed by the traveling route changing portion, a route, which is located outside the traveling region, of the target traveling route after change, and adds the deleted route to the target traveling route after change within the traveling region.