Traveling route setting device
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. A traveling route setting device comprising:
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 for travel guidance to make the working vehicle travel automatically, wherein
the traveling route setting portion comprises:
an initial route generation portion which generates an initial route based on a traveling trajectory formed by traveling of the working vehicle within the traveling region;
a work route generation portion which generates, based on the initial route, a plurality of work routes arranged in a state of being parallel to the initial route in a parallel arrangement direction orthogonal to a traveling direction of the initial route; and
a connection route generation portion which generates a plurality of connection routes each connecting, at one end side or the other end side of the work region, routes adjacent to each other in the parallel arrangement direction among the initial route and the plurality of work routes, and
the target traveling route including the initial route, the plurality of work routes, and the plurality of connection routes is set
wherein the work route generation portion generates an extended route by extending the initial route within the work region, and generates the plurality of work routes arranged in a state of being parallel to the extended route in the parallel arrangement direction.
2. The traveling route setting device according to claim 1 , further comprising a route exclusion portion which excludes a route located outside the work region, among the initial route and the plurality of work routes, from the target traveling route.