Automatic travel method, automatic travel program, and automatic travel system

Abstract

Provided are an automatic travel method, an automatic travel program, and an automatic travel system with which it is possible to set automatic travel start conditions for improving the workability of a work vehicle. The travel processing unit (111) starts the automatic travel of the work vehicle (1) when the deviation of the work vehicle (1) from a preset target route satisfies a predetermined automatic travel start condition. The setting processing unit (112) sets an automatic travel start condition on the basis of travel information and / or work information of the work vehicle (1).

Description

Technical Field

[0001] The present invention relates to a technology for causing a work vehicle to automatically travel along a target path in a field. Background Art

[0002] In the past, it is known that a work vehicle is automatically driven according to a target path in a field. In addition, it is known that a work vehicle is automatically driven when the position and orientation of the work vehicle meet the start conditions of automatic driving (hereinafter referred to as the automatic driving start conditions) (for example, see patent document 1).

[0003] Patent Document 1: Japanese Patent No. 6253678

[0004] In the prior art, the automatic driving start conditions are uniformly set, so there is a problem of reduced operability of the working vehicle. For example, when the automatic driving start conditions are loose conditions (conditions that are easy to meet the automatic driving start conditions), automatic driving is easily allowed, so, for example, in the case of operations that require high-precision operating accuracy, the operating accuracy may be reduced. In addition, when the automatic driving start conditions are strict conditions (conditions that are not easy to meet the automatic driving start conditions), automatic driving is not easily allowed, so, for example, in the case of operations that do not require high-precision operating accuracy, the operating efficiency may be reduced. Summary of the invention

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system capable of setting an automatic driving start condition that improves the workability of a work vehicle.

[0006] The automatic driving method involved in the present invention executes: when the deviation of the working vehicle from a pre-set target path satisfies the specified conditions, the automatic driving of the above-mentioned working vehicle is started; and the above-mentioned conditions are set based on at least any one of the driving information and working information of the above-mentioned working vehicle.

[0007] The automatic driving program involved in the present invention is used to enable one or more processors to execute: when the deviation of the working vehicle from a pre-set target path satisfies specified conditions, start the automatic driving of the above-mentioned working vehicle; and set the above-mentioned conditions based on at least any one of the driving information and working information of the above-mentioned working vehicle.

[0008] The automatic driving system of the present invention comprises: a driving processing unit and a setting processing unit. The driving processing unit starts the automatic driving of the working vehicle when the deviation of the working vehicle from a preset target path satisfies a predetermined condition. The setting processing unit sets the condition based on at least one of the driving information and the working information of the working vehicle.

[0009] According to the present invention, it is possible to provide an automatic driving method, an automatic driving program, and an automatic driving system capable of setting an automatic driving start condition that improves the workability of a work vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a block diagram showing the structure of a work vehicle according to an embodiment of the present invention.

[0011] Figure 2 This is an external view showing an example of a work vehicle according to an embodiment of the present invention.

[0012] Figure 3 This is a diagram showing an example of a target path of a work vehicle according to an embodiment of the present invention.

[0013] Figure 4A It is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention.

[0014] Figure 4B It is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention.

[0015] Figure 5A It is a diagram for explaining the path generation method according to the embodiment of the present invention.

[0016] Figure 5B It is a diagram for explaining the path generation method according to the embodiment of the present invention.

[0017] Fig. 6A It is a diagram showing a specific example of the driving method of the work vehicle according to the embodiment of the present invention.

[0018] Figure 6B It is a diagram showing a specific example of the driving method of the work vehicle according to the embodiment of the present invention.

[0019] Figure 7 It is a diagram showing a specific example of the deviation of the work vehicle from the target path according to the embodiment of the present invention.

[0020] Figure 8 This is a diagram showing an example of setting information corresponding to the first setting method according to the embodiment of the present invention.

[0021] Fig. 9 It is a diagram showing an example of setting information corresponding to the second setting method involved in the embodiment of the present invention.

[0022] Fig.10It is a diagram showing an example of setting information corresponding to the third setting method involved in the embodiment of the present invention.

[0023] Fig.11 It is a diagram for explaining a fourth setting method according to the embodiment of the present invention.

[0024] Fig.12 It is a diagram showing an example of setting information corresponding to the fourth setting method involved in the embodiment of the present invention.

[0025] Fig.13 This is a flowchart showing an example of a procedure of an automatic driving process executed by the work vehicle according to the embodiment of the present invention.

[0026] Fig.14 It is a diagram showing an example of setting information corresponding to the sixth setting method involved in the embodiment of the present invention.

[0027] Fig.15 It is a diagram showing an example of setting information corresponding to the seventh setting method involved in the embodiment of the present invention.

[0028] Fig.16 It is a diagram showing an example of setting information corresponding to the eighth setting method involved in the embodiment of the present invention.

[0029] Description of Reference Numerals

[0030] 1…Work vehicle; 11…Vehicle control device; 12…Storage unit; 13…Driving device; 14…Work machine; 15…Communication unit; 16…Positioning unit; 17…Operation device; 111…Driving processing unit; 112…Setting processing unit; 711…Display processing unit; 712…Receiving processing unit; 713…Generation processing unit; F…Field; R…Target path; d1…Azimuth deviation; t1…Wheel angle deviation; x1…Lateral deviation; A1~A4…Setting information; Dth1…Driving threshold value (threshold value); Tth1…Driving threshold value (threshold value); Xth1…Driving threshold value (threshold value); Dth2…Working threshold value (working threshold value); Tth2…Working threshold value (working threshold value); Xth2…Working threshold value (working threshold value); L1…Baseline; M1, M2…Margin; a1…Working start target position; b1…Working end target position. DETAILED DESCRIPTION

[0031] The following embodiment is an example of embodying the present invention, and does not limit the technical scope of the present invention.

[0032] like Figure 1 and Figure 2As shown, the automatic driving system involved in the embodiment of the present invention includes a work vehicle 1, a satellite (not shown) and a base station (not shown). In this embodiment, the case where the work vehicle 1 is a vegetable transplanter is taken as an example for explanation. In addition, as other embodiments, the work vehicle 1 can also be a rice transplanter, a combine harvester, a tractor, etc. The work vehicle 1 is in the field F (refer to Figure 3 ) in the field F, the work vehicle 1 performs a predetermined operation (e.g., vegetable transplanting) while traveling along the target path R according to the operation of the operator (user). Specifically, the work vehicle 1 travels straight along the target path R according to the automatic steering operation, and turns according to the manual steering operation (driving operation) performed by the operator. The work vehicle 1 travels and works in the field F while switching between automatic driving of the straight path and manual driving of the turning path. The target path R may also be generated in advance based on the operation of the operator and stored as path data.

[0033] For example, the working vehicle 1 Figure 3 In the shown field F, the vehicle travels while repeating straight travel and turning travel until the work is completed. Each of the plurality of straight travel paths is substantially parallel to each other. Figure 3 The target route R shown is an example, and the target route R is appropriately determined according to the size of the work vehicle 1, the size (work width) of the work machine 14, the work content, the shape of the field F, and the like.

[0034] In addition, the automatic driving system may also include an operation terminal (tablet terminal, smart phone, etc.) for the operator to operate. The above-mentioned operation terminal can communicate with the working vehicle 1 via a communication network such as a mobile phone network, a packet network, and a wireless LAN. For example, the operator performs operations such as registering various information (working vehicle information, field information, working information, etc.) in the above-mentioned operation terminal. In addition, the operator can grasp the driving status and working status of the working vehicle 1 through the driving track displayed on the above-mentioned operation terminal at a place far away from the working vehicle 1.

[0035] [Work vehicle 1]

[0036] like Figure 1 and Figure 2 As shown, the work vehicle 1 includes a vehicle control device 11, a storage unit 12, a travel device 13, a work machine 14, a communication unit 15, a positioning unit 16, an operating device 17, etc. The vehicle control device 11 is electrically connected to the storage unit 12, the travel device 13, the work machine 14, the positioning unit 16, the operating device 17, etc. In addition, the vehicle control device 11 and the positioning unit 16 may also be capable of wireless communication. In addition, the vehicle control device 11 and the operating device 17 may also be capable of wireless communication.

[0037] The communication unit 15 is a communication interface for connecting the work vehicle 1 to a communication network by wire or wirelessly, and performing data communication with an external device (such as an operation terminal) via the communication network in accordance with a predetermined communication protocol.

[0038] The storage unit 12 is a non-volatile storage unit such as a HDD (Hard Disk Drive), SSD (Solid State Drive) or flash memory that stores various information. The storage unit 12 stores information for causing the vehicle control device 11 to execute the automatic driving process described later (see Fig.13 ) of the working vehicle 1. For example, the automatic driving program is recorded non-temporarily on a computer-readable recording medium such as a CD or a DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12. In addition, the automatic driving program can also be downloaded from a server (not shown) to the working vehicle 1 via a communication network and stored in the storage unit 12. In addition, the storage unit 12 can also store data of the target path R generated by the operating device 17.

[0039] The body portion 2 of the work vehicle 1 includes a body frame 10, an engine 131, a transmission 134, and a pair of left and right travel devices 13. The engine 131 and the transmission 134 are mounted on the body frame 10. The engine 131 is arranged near the center of the body portion 2 in the left-right direction and is arranged at the front, and generates a rotary power to drive each part. The transmission 134 is connected to the lower part of the engine 131 to change the power of the engine 131. In addition, the transmission 134 is connected to a power output shaft (PTO shaft, not shown) provided at the rear of the body portion 2, and transmits the power of the engine 131 to the working machine 14 (transplanting working part) via the PTO shaft.

[0040] The pair of left and right traveling devices 13 includes: a pair of front wheels 13a rotatably mounted at the front at both ends in the left and right directions; and a pair of rear wheels 13b rotatably mounted at the rear at both ends in the left and right directions. The pair of left and right front wheels 13a are supported by the left and right ends of a front axle box 141 provided at the front of the machine frame 10, and the pair of left and right rear wheels 13b are supported by the left and right ends of a rear axle box 151 provided at the rear of the machine frame 10. The pair of left and right front wheels 13a and the pair of left and right rear wheels 13b are driven by transmitting the power from the engine 131 and the transmission device 134 to the pair of left and right front wheels 13a and the pair of left and right rear wheels 13b via the front axle box 141 and the rear axle box 151.

[0041] The pair of front wheels 13a and the pair of rear wheels 13b are driven to rotate according to the power transmitted from the engine 131 and the transmission 134, so that the vehicle body 2 travels forward or backward. In the manual travel mode or the automatic straight travel mode, the power from the engine 131 and the transmission 134 is transmitted to the pair of front wheels 13a and the pair of rear wheels 13b according to the operation of the speed change operation pedal 21 and the main gear lever, etc., or in the automatic travel mode, according to the control signal from the vehicle control device 11.

[0042] In addition, the pair of front wheels 13a are connected to a steering actuator (not shown), and in the manual driving mode, the steering actuator is driven according to the operation of the steering handle 20, so that the pair of front wheels 13a are rotated to perform manual steering of the vehicle body 2. On the other hand, in the automatic straight driving mode and the automatic driving mode, the steering actuator is driven according to the control signal from the vehicle control device 11, so that the pair of front wheels 13a are rotated to perform automatic steering of the vehicle body 2.

[0043] The vehicle body 2 is provided with a driver's seat 19 near the center of the upper part of the machine frame 10. In the upper part of the machine frame 10, a pedal 171 (step) is provided on the ground around the driver's seat 19 for the operator to move, and a plurality of seedling preparation platforms 18 are provided in front of the pedal 171 for placing seedling mats to be replenished to the working machine 14. The vehicle body 2 is provided with driving operating parts such as a steering handle 20, a speed change operating pedal 21, and a shift lever (not shown) around the driver's seat 19, and an operating device 17.

[0044] The steering handle 20 is an operating member for the operator to steer the work vehicle 1, and the steering operation transmitted to the pair of front wheels 13a is adjusted according to the operator's rotation operation of the steering handle 20. The speed change operation pedal 21 is an operating member for the operator to adjust the travel speed of the work vehicle 1, and the rotational power transmitted to the pair of travel devices 13 is adjusted according to the operator's stepping operation of the speed change operation pedal 21. The main gear lever transmits the speed change operation performed by the operator to the transmission device 134, switches the forward travel, reverse travel and stop of the work vehicle 1, and also switches the forward set speed or the reverse set speed.

[0045] The work machine 14 performs a transplanting operation of transplanting seedlings of vegetables or the like in units of a plurality of (e.g., two) rows to the ridges of the field F. The work machine 14 is disposed at the rear of the vehicle body 2 and is connected to the vehicle body 2 via a lifting mechanism 26 , which is configured to be able to lift the work machine 14 relative to the vehicle body 2 .

[0046] The working machine 14 includes: a seedling supply unit 27 for supplying seedlings; and a plurality of transplanting units 28. Each transplanting unit 28 includes, for example: a seedling taking-out unit (not shown) for taking out seedlings from the seedling supply unit 27; and a planting unit (not shown) for receiving the seedlings taken out by the seedling taking-out unit and planting them in a field. The seedling supply unit 27 includes: a seedling carrier 31 for placing a seedling mat; and a longitudinal transport mechanism (not shown) for longitudinally transporting the seedlings placed on the seedling carrier 31 downward. The plurality of transplanting units 28 are provided corresponding to the plurality of rows, respectively.

[0047] The working machine 14 is provided with a transmission shaft (not shown) extending in the left-right direction as an input shaft of the working machine 14, for example. The transmission shaft is connected to a power acquisition unit (not shown) that acquires power from the transmission device 134 of the vehicle body 2 via the PTO shaft, an output unit (not shown) that outputs the acquired power to the transplant unit 28, and a transplant clutch unit (not shown) that switches the connection and disconnection of the acquired power to the seedling supply unit 27 and the seedling removal unit. In addition, the working machine 14 is configured to transmit the power from the transmission device 134 to the transmission shaft via the PTO shaft, and transmit it from the transmission shaft to each transplant unit via the power acquisition unit and the output unit.

[0048] For example, the seedling removal section includes: a seedling removal claw (not shown), and a seedling removal working mechanism (not shown) for operating the seedling removal claw. The seedling removal working mechanism is configured to rotate the seedling removal claw between a seedling removal position for removing seedlings from the seedling supply section 27 and a seedling removal claw side handover position for releasing the seedlings downward, based on the power transmitted via the output section. The planting section includes: a planting claw (not shown), and a planting working mechanism (not shown) for operating the planting claw. The planting working mechanism is configured to rotate the planting claw between a planting claw side handover position for handing over seedlings from the seedling removal section and a planting position for releasing the seedlings into the field soil, based on the power transmitted via the output section. The work machine 14 transplants the seedlings to the field F by causing the above-mentioned parts to operate in a linked manner.

[0049] The positioning unit 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, and a positioning antenna 164. Figure 2 As shown, the positioning antenna 164 is provided at the front upper part of the vehicle body 2. In addition, the positioning control unit 161, the storage unit 162, the communication unit 163 and the positioning antenna 164 of the positioning unit 16 may be dispersedly arranged at different positions in the work vehicle 1. In addition, as described above, the positioning unit 16 is connected to the above-mentioned battery, and the positioning unit 16 can also operate during the stop of the engine 131. In addition, for example, a mobile phone terminal, a smart phone, a tablet terminal or a quantum compass may be used instead of the positioning unit 16.

[0050] The positioning control unit 161 is a computer system having one or more processors, and non-volatile memory and storage memory such as RAM. The storage unit 162 is a non-volatile memory that stores a positioning control program for causing the positioning control unit 161 to perform positioning processing, as well as data such as positioning information and movement information. For example, the positioning control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown) and stored in the storage unit 162. In addition, the positioning control program can also be downloaded from a server (not shown) to the positioning unit 16 via a communication network and stored in the storage unit 162.

[0051] The communication unit 163 is a communication interface for connecting the positioning unit 16 to a communication network by wire or wirelessly, and performing data communication in accordance with a predetermined communication protocol with an external device such as a base station server via the communication network.

[0052] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0053] The positioning control unit 161 calculates the current position of the work vehicle 1 based on the GNSS signal received from the satellite by the positioning antenna 164. For example, when the work vehicle 1 is automatically traveling in the field F, if the positioning antenna 164 receives radio waves (transmission time, orbit information, etc.) respectively transmitted from a plurality of satellites, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 1 based on the calculated distance. In addition, the positioning control unit 161 may also perform positioning by a real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle 1 by using correction information corresponding to a base station (reference station) closer to the work vehicle 1. In this way, the work vehicle 1 automatically travels using the positioning information by the RTK method. In addition, the current position of the work vehicle 1 may be the same position as the positioning position (e.g., the position of the positioning antenna 164), or may be a position offset from the positioning position. Furthermore, the positioning control unit 161 may calculate (position) the current position of the work vehicle 1 using a quantum compass.

[0054] The operating device 17 is a device for the operator on the work vehicle 1 to operate, and displays various information or accepts the operator's operation. Specifically, the operating device 17 displays various setting screens and accepts various setting operations from the operator, and displays information related to the running work vehicle 1. Figure 2 As shown, the operating device 17 is disposed near a steering handle 20 in a driver's seat 19 .

[0055] like Figure 1As shown, the operating device 17 includes an operation control unit 71, a storage unit 72, an operation display unit 73, etc. The operating device 17 may also be a device that can be loaded and unloaded from the work vehicle 1. In addition, the operating device 17 may also be a mobile terminal (tablet terminal, smart phone, etc.) that can be carried by the operator. In addition, the operating device 17 is connected to the vehicle control device 11 by wire or wirelessly so that it can communicate.

[0056] The operation display unit 73 is a user interface including a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as an operation button or a touch panel that accepts operations. The operation display unit 73 displays various setting screens, operation screens, etc. according to the instructions of the operation control unit 71. In addition, the operation display unit 73 accepts the operation of the operator in the above-mentioned setting screens and the above-mentioned operation screens.

[0057] In addition, the operation unit includes: an automatic driving button for the operator to give a driving start instruction when the work vehicle 1 starts to drive automatically; a path shift button for performing a correction operation (shift operation) to correct the position deviation (position offset) between the work vehicle 1 and the target path R; and a plurality of selection buttons (not shown) for performing selection operations in the setting screen and the operation screen. The operation buttons may be physical buttons or electronic image buttons displayed on the touch panel.

[0058] The storage unit 72 is a non-volatile storage unit such as a HDD, SSD or flash memory that stores various information. The storage unit 72 stores a control program for causing the operating device 17 to perform various control processes. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a prescribed reading device (not shown) and stored in the storage unit 72. In addition, the control program can also be downloaded from a server (not shown) via a communication network to the operating device 17 and stored in the storage unit 72. In addition, the control program can also be stored in the storage unit 12 of the work vehicle 1. In addition, the storage unit 72 can also store data of the target path R generated in the operating device 17.

[0059] The operation control unit 71 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that performs various calculations. The ROM is a non-volatile storage unit that pre-stores control programs such as BIOS and OS for the CPU to perform various calculations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory (operating area) for various processes performed by the CPU. In addition, the operation control unit 71 controls the operation device 17 by executing various control programs pre-stored in the ROM or storage unit 72 using the CPU.

[0060] Specifically, if Figure 1As shown in FIG. 1 , the operation control unit 71 includes various processing units such as a display processing unit 711, a receiving processing unit 712, and a generating processing unit 713. In addition, the operation device 17 functions as the various processing units by executing various processes in accordance with the control program using the CPU. In addition, a part or all of the processing units may also be composed of electronic circuits. In addition, the control program may also be a program for causing a plurality of processors to function as the processing units.

[0061] The display processing unit 711 causes various information to be displayed on the operation display unit 73. For example, the display processing unit 711 causes a setting screen (eg, Figure 4A and Figure 4B A setting screen D1 of the work vehicle 1 and a driving screen (not shown) including driving information such as the driving status and working status of the work vehicle 1 are displayed on the operation display unit 73.

[0062] The receiving processing unit 712 receives various operations from the operator. For example, the receiving processing unit 712 receives operations for generating the target route R, that is, various operations related to the route generation work, from the operator on the above-mentioned setting screen.

[0063] The generation processing unit 713 generates a target path R including the reference line L1 set by the setting operation of the operator. Specifically, the generation processing unit 713 generates a target path R including a plurality of straight paths arranged at equal intervals based on the reference line L1 passing through point A (first reference point) and point B (second reference point) in the field F.

[0064] The following describes an example of a procedure for generating the target path R. For example, the display processing unit 711 displays a setting screen D1 (see FIG. 1 ) for receiving a setting operation for setting the reference line L1 from an operator. Figure 4A ) is displayed on the operation display unit 73. The operator moves the work vehicle 1 to an arbitrary position in the field F and presses the point A registration button Ka. For example, the operator moves the work vehicle 1 to the target position for starting the work (the target position for starting the work) at the outer peripheral end of the field F and presses the point A registration button Ka. If the operator presses the point A registration button Ka, the generation processing unit 713 registers the current position of the work vehicle 1 as the first reference point (point A). If the generation processing unit 713 registers point A, the display processing unit 711 displays the setting screen D1 (refer to Figure 4B ) is displayed on the operation display unit 73. The operator manually drives the work vehicle 1 in the direction (target direction) in which the work vehicle 1 is desired to be driven and operated (refer to Figure 5ASpecifically, the operator drives the work vehicle 1 straight in a direction parallel to the working direction (e.g., planting direction) of the work vehicle 1 when working in the work area. Then, the operator presses the B point registration button Kb (see Figure 4B ). For example, the operator moves the work vehicle 1 to the target position for ending the work (the target position for ending the work) at the outer peripheral end of the field F and presses the point B registration button Kb. If the operator presses the point B registration button Kb, the generation processing unit 713 registers the current position of the work vehicle 1 as the second reference point (point B).

[0065] When the generation processing unit 713 obtains the position information of point A and point B, it sets a straight line passing through point A and point B as the reference line L1 (refer to Figure 5A ). In addition, the generation processing unit 713 may also be able to adjust the orientation of the baseline L1 that has been created. For example, the generation processing unit 713 displays the baseline L1 that has been created on the setting screen D1, and sets (registers) the baseline L1 when receiving a registration operation from the operator. On the other hand, if the generation processing unit 713 receives an operation to change the orientation of the baseline L1 from the operator (such as a touch operation on the screen, etc.), the orientation of the baseline L1 is adjusted according to the operation. The generation processing unit 713 may also display a selection screen for registering the baseline L1 or adjusting the baseline L1 when receiving an operation to register point B.

[0066] The generation processing unit 713 generates a driving path (target path R) including the reference line L1 and a plurality of straight lines parallel to the reference line L1. For example, the generation processing unit 713 generates a plurality of straight lines (see FIG. 1 ) parallel to the reference line L1 and arranged at equal intervals based on a preset working width (lateral width of the working machine 14) and an overlap width (width of overlap with an adjacent work completion area). Figure 5B ). The generation processing unit 713 registers the generated target route R in the storage unit 72 and displays it on the operation display unit 73 .

[0067] According to the above method, the target path R can be generated using the reference line L1 passing through two points (point A and point B) at both ends of the field F (for example, the work start target position and the work end target position). In addition, the operator can also make the work vehicle 1 perform the work (transplantation work) on the travel path when registering the points A and B. In this way, the work vehicle 1 can perform the work of the first trip (first trip) while generating the target path R. In this case, the reference line L1 is, for example, a straight line connecting the starting end (point A, the work start target position) and the terminal end (point B, the work end target position) of the first work path.

[0068] After generating the target path R, the operator issues an instruction (driving start instruction) to start automatic driving of the work vehicle 1 in the field F. For example, when the work vehicle 1 satisfies the automatic driving start conditions (described later) and becomes capable of automatic driving, the operator can issue a driving start instruction by pressing an automatic driving button (not shown) on the operation display unit 73.

[0069] If the work vehicle 1 satisfies the automatic driving start condition and the operator issues a driving start instruction, the vehicle control device 11 receives the driving start instruction and starts automatic steering of the work vehicle 1 so as to guide the work vehicle 1 along the target path R. Thus, the vehicle control device 11 causes the work vehicle 1 to automatically drive along the straight path of the target path R by automatic steering.

[0070] In addition, the vehicle control device 11 may also terminate the automatic steering operation at the terminal of each straight path. For example, if the work vehicle 1 is traveling straight on the straight path by automatic steering and approaches a position (work end target position) obtained by parallel movement of the terminal of the straight path (for example, the terminal of the reference line L1 (point B, work end target position)) where the work adjacent to the straight path is completed (immediately before) the work is completed, the vehicle control device 11 reports to the operator and terminates the automatic steering operation according to the operation of the operator.

[0071] Here, an example of a driving method of the work vehicle 1 according to the present embodiment will be described. Fig. 6A and Figure 6B 1 is a diagram for explaining a driving method of the work vehicle 1. Fig. 6A As shown in FIG. 1 , when the work vehicle 1 starts to travel automatically, it will travel along the target path R (straight path) in the first stroke while performing the transplantation work. When the work vehicle 1 finishes the work in the first stroke, it will turn and move to the second stroke according to the manual steering operation of the operator. When the operator aligns the work vehicle 1 with respect to the target path R and satisfies the automatic travel start condition, the automatic travel of the second stroke will start. Figure 6B As shown, the work vehicle 1 performs the transplantation work while automatically traveling along the target path R (straight path) in the second trip. According to the above-described driving method, the work vehicle 1 can automatically travel along the work path in the straight direction and perform the transplantation work at a constant interval in the left-right direction.

[0072] For example, when the transplanting work of the field F is completed, the rows of planted seedlings (planting rows) are tilled in the next work process ( Figure 6BThe intertillage operation between the planting rows (r1 to r3) shown in the figure. In the intertillage operation, it is necessary to accurately operate between the planting rows r1 to r3 in a manner that does not damage the planted seedlings. In this way, if the intertillage operation in the subsequent process is taken into consideration, a higher operating accuracy (positioning accuracy) is required in the transplanting operation in the previous process. Specifically, it is desirable to set the automatic driving start condition strictly, and to perform the transplanting operation in a manner that the planting row forms a straight line from the operation start position (starting end) to the operation end position (terminal end) on each operation path. In contrast, in operations that do not require high operating accuracy, such as the cultivation operation of cultivating the entire field F, if the automatic driving start condition is set strictly, the operating efficiency will be reduced, so it is desirable to improve the operating efficiency by setting the automatic driving start condition loosely.

[0073] In this regard, in the prior art, the automatic driving start conditions are uniformly set (fixed), which causes a problem of reducing the operability (operation accuracy and operation efficiency) of the work vehicle 1. In contrast, as shown below, the work vehicle 1 involved in this embodiment has a structure that can set the automatic driving start conditions that improve the operability of the work vehicle 1.

[0074] Specifically, the vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that performs various calculations. The ROM is a non-volatile storage unit that pre-stores control programs such as BIOS and OS for the CPU to perform various calculations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory (operating area) for various processes performed by the CPU. Moreover, the vehicle control device 11 controls the working vehicle 1 by executing various control programs pre-stored in the ROM or storage unit 12 using the CPU. In addition, the vehicle control device 11 uses the CPU to perform various processes in accordance with the automatic driving program.

[0075] The vehicle control device 11 controls the operation of the work vehicle 1 according to various operations of the user on the work vehicle 1. In addition, the vehicle control device 11 executes automatic driving processing of the work vehicle 1 based on the current position of the work vehicle 1 calculated by the positioning unit 16 and a preset target path R.

[0076] like Figure 1 As shown, the vehicle control device 11 includes various processing units such as a driving processing unit 111 and a setting processing unit 112. In addition, the vehicle control device 11 functions as the various processing units by executing various processing in accordance with the automatic driving program using the CPU. In addition, a part or all of the processing units may also be composed of electronic circuits. In addition, the automatic driving program may also be a program for causing a plurality of processors to function as the processing units.

[0077] The driving processing unit 111 controls the driving of the work vehicle 1. For example, when the driving mode of the work vehicle 1 is manual driving (manual driving mode), the driving processing unit 111 causes the work vehicle 1 to drive manually based on the operation of the operator (manual steering operation). For example, the driving processing unit 111 obtains operation information corresponding to driving operations such as handle operation, speed change operation, gear shift operation, accelerator operation, and brake operation performed by the operator, and causes the driving device 13 to perform a driving action based on the operation information.

[0078] In addition, when the driving mode of the work vehicle 1 is automatic driving (automatic driving mode), the driving processing unit 111 causes the work vehicle 1 to drive automatically based on the position information (positioning information) indicating the current position of the work vehicle 1 measured by the positioning control unit 161. For example, if the work vehicle 1 satisfies the prescribed automatic driving start conditions and obtains a driving start instruction from the operator, the driving processing unit 111 causes the work vehicle 1 to start automatic driving based on the positioning information. In addition, the driving processing unit 111 causes the work vehicle 1 to drive automatically according to the pre-generated target path R (straight path).

[0079] In addition, if the work vehicle 1 reaches the terminal of the straight path (work path), the driving processing unit 111 switches the driving mode to manual driving. The driving processing unit 111 may switch the driving mode to manual driving when it is determined that the work vehicle 1 has reached the terminal, or may switch the driving mode to manual driving according to the operation of the operator. If the driving mode is switched to manual driving, for example, the operator makes the work vehicle 1 turn (manual driving) by manual steering. In addition, the terminal of the work path is set to a position obtained by parallel movement of point B or the immediately preceding work end position, for example.

[0080] As described above, the travel processing unit 111 switches the travel mode according to the operator's operation of the operating device 17 so that the work vehicle 1 automatically travels on the straight path (target path R) by automatic steering and manually travels on the turning path by manual steering.

[0081] The setting processing unit 112 sets the automatic driving start condition. The automatic driving start condition is determined based on the lateral deviation x1 from the target path R, the azimuth deviation d1, and the wheel angle deviation t1. Figure 7A specific example of the determination object is shown in . The lateral deviation x1 is the distance from the current position P1 of the work vehicle 1 to the target path R, that is, the shortest distance from the current position P1 to the target path R (the straight path closest to the current position P1 among the multiple straight paths). The azimuth deviation d1 is the angular difference between the orientation (orientation) of the vehicle at the current position P1 of the work vehicle 1 and the orientation (orientation) of the target path R. The wheel angle deviation t1 is the angular difference between the orientation (orientation) of the wheel (front wheel 13a) at the current position P1 of the work vehicle 1 and the orientation of the target path R.

[0082] For example, when each of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 satisfies the automatic driving start condition, the start of the automatic driving is permitted. The setting processing unit 112 sets the automatic driving start condition for each of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1. In addition, the upper limit value (threshold value) that becomes the judgment standard of whether the automatic driving start condition is satisfied is hereinafter referred to as the "driving threshold value".

[0083] Specifically, the setting processing unit 112 sets an upper limit value (traveling threshold value Xth1) corresponding to the lateral deviation x1, an upper limit value (traveling threshold value Dth1) corresponding to the azimuth deviation d1, and an upper limit value (traveling threshold value Tth1) corresponding to the wheel angle deviation t1. Thus, for example, when the lateral deviation x1 is less than the driving threshold value Xth1, the azimuth deviation d1 is less than the driving threshold value Dth1, and the wheel angle deviation t1 is less than the driving threshold value Tth1, that is, when each of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 satisfies the automatic driving start condition, the start of automatic driving is permitted. On the other hand, when at least any one of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 does not satisfy the automatic driving start condition, the start of automatic driving is prohibited.

[0084] Here, the setting processing unit 112 sets the automatic driving start condition based on at least one of the driving information and the operation information of the work vehicle 1. That is, the setting processing unit 112 sets the driving threshold value Xth1 of the lateral deviation x1, the driving threshold value Dth1 of the azimuth deviation d1, and the driving threshold value Tth1 of the wheel angle deviation t1 based on at least one of the driving information and the operation information of the work vehicle 1. Specifically, the setting processing unit 112 sets the automatic driving start condition by any one of the first setting method, the second setting method, the third setting method, and the fourth setting method described below.

[0085] [First setting method]

[0086] In the first setting method, the setting processing unit 112 sets the automatic driving start condition (driving threshold value Xth1, driving threshold value Dth1, driving threshold value Tth1) based on the traveling direction of the work vehicle 1 (an example of the above-mentioned driving information). Specifically, the setting processing unit 112 sets the automatic driving start condition to a strict condition when the traveling direction of the work vehicle 1 is the forward direction, and sets the automatic driving start condition to a loose condition when the traveling direction of the work vehicle 1 is the backward direction. For example, the setting processing unit 112 sets the above-mentioned driving threshold value to a first driving threshold value when the traveling direction of the work vehicle 1 is the forward direction, and sets the above-mentioned driving threshold value to a second driving threshold value greater than the above-mentioned first driving threshold value when the traveling direction of the work vehicle 1 is the backward direction.

[0087] For example Figure 8 As shown, when the working vehicle 1 is traveling in the forward direction, the setting processing unit 112 sets the travel threshold value Xth1 of the lateral deviation x1 to “50 cm”, the travel threshold value Dth1 of the azimuth deviation d1 to “10 degrees”, and the travel threshold value Tth1 of the wheel angle deviation t1 to “10 degrees”. On the other hand, when the working vehicle 1 is traveling in the backward direction, the setting processing unit 112 sets the travel threshold value Xth1 of the lateral deviation x1 to “60 cm”, the travel threshold value Dth1 of the azimuth deviation d1 to “15 degrees”, and the travel threshold value Tth1 of the wheel angle deviation t1 to “15 degrees”.

[0088] Thus, when the work vehicle 1 is traveling forward, it is considered that the work (here, transplantation work) is being performed, so the travel threshold is set to a small value, so that the work start position is close to the target path R. On the other hand, when the work vehicle 1 is traveling backward, it is considered that the work is being performed for positioning rather than for work, so the travel threshold is set to a large value, so that automatic travel in the backward direction is easily started.

[0089] Figure 8 The setting information A1 shown is pre-set by the setting processing unit 112 and stored in the storage unit 12. In addition, the setting information A1 can also be pre-set by the operating device 17 and stored in the storage unit 72. The driving processing unit 111 refers to the driving threshold corresponding to the driving direction in the setting information A1 to determine whether the work vehicle 1 meets the automatic driving start condition. In addition, the driving processing unit 111 determines the driving direction (forward direction, reverse direction) based on the position of the main gear lever ("forward", "reverse"), the positioning information of the work vehicle 1, etc.

[0090] For example, when the lateral deviation x1 of the current position P1 of the work vehicle 1 is "55 cm", the azimuth deviation d1 is "8 degrees", and the wheel angle deviation t1 is "8 degrees", the lateral deviation x1 is larger than the driving threshold value Xth1 ("50 cm") in the forward direction, so the automatic driving in the forward direction is not allowed, but the lateral deviation x1 is less than the driving threshold value Xth1 ("60 cm") in the backward direction, so the automatic driving in the backward direction is allowed. In this case, if the operator issues a driving start instruction, the work vehicle 1 automatically drives along the target path R in the backward direction. Thereafter, the operator switches to manual steering, for example, to align the work vehicle 1 to the target path R (the work start target position of the work path). If the lateral deviation x1 becomes less than the driving threshold value Xth1 ("50 cm"), the azimuth deviation d1 becomes less than the driving threshold value Dth1 ("10 degrees"), and the wheel angle deviation t1 becomes less than the driving threshold value Tth1 ("10 degrees") due to the operator's positioning, the automatic driving in the forward direction is allowed. Thus, when the operator issues a travel start instruction, the work vehicle 1 starts automatically traveling along the target route R in the forward direction.

[0091] Furthermore, after the work vehicle 1 starts the automatic travel in the reverse direction, if the work vehicle 1 satisfies the automatic travel start condition, the travel processing unit 111 may stop the automatic travel of the work vehicle 1 .

[0092] If the work vehicle 1 starts to travel automatically in the forward direction and satisfies the work start condition, the work vehicle 1 starts the work. For example, when each of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 satisfies the work start condition, the start of the work is allowed. In addition, when at least any one of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 does not satisfy the work start condition, the start of the work is prohibited. The work start condition is set to a condition that is stricter than the automatic driving start condition (a threshold value that is smaller than the driving threshold value of the automatic driving start condition). In addition, the upper limit value (threshold value) that will become the judgment standard for whether the work start condition is met is referred to as the "work threshold value" below.

[0093] For example Figure 8 As shown, the setting processing unit 112 sets the operation threshold value Xth2 of the lateral deviation x1 to "10 cm", the operation threshold value Dth2 of the azimuth deviation d1 to "5 degrees", and the operation threshold value Tth2 of the wheel angle deviation t1 to "5 degrees". If the work vehicle 1 starts to travel automatically and each of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 is less than the operation threshold value, the start of the work is allowed.

[0094] The work start condition (work threshold) is preset by the setting processing unit 112. Alternatively, the work start condition may be preset by the operating device 17. The travel processing unit 111 refers to the work threshold in the setting information A1 to determine whether the work vehicle 1 satisfies the work start condition.

[0095] For example, if each of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 is below the operation threshold and satisfies the operation start condition (alignment of the work vehicle 1 is completed), the travel processing unit 111 notifies the operator by playing a buzzer sound or causing the operating device 17 to display a message. If the operator recognizes that the operation start condition has been met, the work machine 14 is lowered to the operation position to start the operation (transplantation operation). For example, when the work vehicle 1 starts to travel automatically from near the operation start target position (starting end) of the operation path, if the operation start condition is met at the time of reaching the operation start target position, the operation can be started from the operation start target position. In this way, high-precision transplantation operations can be performed. The operation start target position is, for example, point A (refer to Figure 3 ) or a position obtained by parallel movement of the work start position of the immediately preceding work path.

[0096] As another embodiment, the travel processing unit 111 may also automatically lower the work machine 14 to the work position to start the work (transplantation work) without the operator's operation when the work start condition is met. For example, when the work start condition is met, the travel processing unit 111 adjusts the timing of lowering the work machine 14 so that the work vehicle 1 can start the work from the work start target position.

[0097] In contrast, when the operation start conditions are not met, the work vehicle 1 performs alignment driving. For example, when the work vehicle 1 starts to drive automatically from near the operation start target position (starting end) of the operation path, if the operation start conditions are not met when the operation start target position is reached, the driving processing unit 111 stops the automatic driving of the work vehicle 1 and notifies the operator by playing a buzzer sound or displaying a message on the operating device 17. If the operator recognizes that the operation start conditions are not met, the work vehicle 1 is aligned through manual steering operation. The driving processing unit 111 can also drive automatically in the forward direction and the reverse direction during the alignment driving. If the work vehicle 1 meets the operation start conditions through alignment driving, the start of the operation is allowed.

[0098] As described above, in the first setting method, the setting processing unit 112 makes the automatic driving start condition different according to the traveling direction of the work vehicle 1. Specifically, the setting processing unit 112 sets the automatic driving start condition for forward driving when the traveling direction of the work vehicle 1 is the forward direction to a stricter condition than the automatic driving start condition for reverse driving when the traveling direction of the work vehicle 1 is the reverse direction.

[0099] [Second setting method]

[0100] In the second setting method, the setting processing unit 112 sets the automatic driving start condition (driving threshold value Xth1, driving threshold value Dth1, driving threshold value Tth1) based on the posture of the working machine 14 (an example of the above-mentioned working information). Specifically, the setting processing unit 112 sets the automatic driving start condition to a strict condition when the posture of the working machine 14 is a working posture, and sets the automatic driving start condition to a loose condition when the posture of the working machine 14 is a non-working posture. For example, the setting processing unit 112 sets the above-mentioned driving threshold value to a first driving threshold value when the posture of the working machine 14 is a working posture, and sets the above-mentioned driving threshold value to a second driving threshold value greater than the above-mentioned first driving threshold value when the posture of the working machine 14 is a non-working posture.

[0101] The working machine 14 involved in this embodiment has a structure that can be raised and lowered, and can be raised and lowered between a non-working position (uppermost position) and a working position (lowermost position). Therefore, the state of the working machine 14 in the non-working position (uppermost position) corresponds to a non-working posture, and the state of the working machine 14 in the working position (lowermost position) corresponds to a working posture.

[0102] For example Fig. 9 As shown, when the working machine 14 is in the lowermost position, the setting processing unit 112 sets the running threshold value Xth1 of the lateral deviation x1 to "50 cm", the running threshold value Dth1 of the azimuth deviation d1 to "10 degrees", and the running threshold value Tth1 of the wheel angle deviation t1 to "10 degrees". On the other hand, when the working machine 14 is in the uppermost position, the setting processing unit 112 sets the running threshold value Xth1 of the lateral deviation x1 to "60 cm", the running threshold value Dth1 of the azimuth deviation d1 to "15 degrees", and the running threshold value Tth1 of the wheel angle deviation t1 to "15 degrees".

[0103] Thus, when the work vehicle 1 is at the lowest position, it is considered that work (here, transplant work) is being performed, so the travel threshold is set to a smaller value, so that the work start position is closer to the target path R. On the other hand, when the work vehicle 1 is at the highest position, it is considered that the work vehicle 1 is traveling for alignment rather than for work, so the travel threshold is set to a larger value, so that automatic travel in the reverse direction is easily started.

[0104] Fig. 9 The setting information A2 shown is pre-set by the setting processing unit 112 and stored in the storage unit 12. In addition, the setting information A2 can also be pre-set by the operating device 17 and stored in the storage unit 72. The driving processing unit 111 refers to the driving threshold corresponding to the position of the work machine 14 in the setting information A2 to determine whether the work vehicle 1 meets the automatic driving start condition. In addition, the driving processing unit 111 determines the position (lowermost position, uppermost position) of the work machine 14 based on the position of the lifting rod of the work machine 14 ("up", "down", etc.).

[0105] For example, when the lateral deviation x1 of the current position P1 of the work vehicle 1 is "55 cm", the azimuth deviation d1 is "8 degrees", and the wheel angle deviation t1 is "8 degrees", the lateral deviation x1 is larger than the driving threshold value Xth1 ("50 cm") of the lowest position and smaller than the driving threshold value Xth1 ("60 cm") of the highest position, so when the work machine 14 is at the lowest position, automatic driving is not allowed, but when the work machine 14 is at the highest position, automatic driving is allowed. When the work machine 14 is at the highest position, the work vehicle 1 is generally not operated but is aligned, so the operator issues a driving start instruction to make the work vehicle 1 automatically drive along the target path R in the forward direction or the reverse direction. After that, the operator switches to manual steering, for example, to align the work vehicle 1 with respect to the target path R (the work start target position of the work path). If the operator performs positioning so that the lateral deviation x1 becomes less than the driving threshold value Xth1 ("50 cm"), the azimuth deviation d1 becomes less than the driving threshold value Dth1 ("10 degrees"), and the wheel angle deviation t1 becomes less than the driving threshold value Tth1 ("10 degrees"), automatic driving is permitted even when the work machine 14 is in the lowest position. Thus, if the operator issues a driving start instruction, the work vehicle 1 maintains the work machine 14 in the working position and starts automatic driving along the target path R in the forward direction.

[0106] and Fig. 9The processing related to the operation start condition shown is the same as the processing related to the operation start condition of the above-mentioned [first setting method]. In addition, in the second setting method, when the work vehicle 1 maintains the work machine 14 at the lowest position and starts automatic driving from the front of the operation start target position (starting end) of the operation path, if the operation start condition is met at the moment of reaching the operation start target position, the planting action starts from the operation start target position.

[0107] As described above, in the second setting method, the setting processing unit 112 makes the automatic driving start condition different according to the posture (position) of the working machine 14. Specifically, the setting processing unit 112 sets the automatic driving start condition when the posture of the working machine 14 is the working posture to a stricter condition than the automatic driving start condition when the posture of the working machine 14 is the non-working posture.

[0108] [Third setting method]

[0109] In the third setting method, the setting processing unit 112 sets the automatic driving start condition (driving threshold value Xth1, driving threshold value Dth1, driving threshold value Tth1) based on the work content of the work vehicle 1 (an example of the above-mentioned work information). Specifically, the setting processing unit 112 sets the automatic driving start condition to a strict condition when the work content is a work that requires a work accuracy higher than a predetermined accuracy, and sets the automatic driving start condition to a loose condition when the work content is a work that requires a work accuracy lower than the above-mentioned predetermined accuracy. For example, the setting processing unit 112 sets the above-mentioned driving threshold value to a first driving threshold value when the work content is a work that requires a high-precision work accuracy, and sets the above-mentioned driving threshold value to a second driving threshold value greater than the above-mentioned first driving threshold value when the work content is a work that does not require a high-precision work accuracy.

[0110] If the automatic driving start condition is set to a strict condition, the automatic driving starts from a position closer to the target path R, so the work accuracy is improved. On the contrary, it is difficult to start the automatic driving, so the work efficiency is reduced. On the contrary, if the automatic driving start condition is set to a loose condition, the automatic driving can be started from a position far from the target path R, so the work efficiency is improved. On the contrary, the seedlings are planted at a position deviated from the target path R, so the work accuracy is reduced.

[0111] As described above, since the automatic driving start condition affects the work accuracy after the start of automatic driving, the setting processing unit 112 sets the driving threshold value to a smaller value in the case of high-precision work and sets the driving threshold value to a larger value in the case of low-precision work.

[0112] For example Fig.10As shown in FIG. 1 , when the work content is high-precision work, the setting processing unit 112 sets the running threshold value Xth1 of the lateral deviation x1 to “50 cm”, the running threshold value Dth1 of the azimuth deviation d1 to “10 degrees”, and the running threshold value Tth1 of the wheel angle deviation t1 to “10 degrees”. On the other hand, when the work content is low-precision work, the setting processing unit 112 sets the running threshold value Xth1 of the lateral deviation x1 to “60 cm”, the running threshold value Dth1 of the azimuth deviation d1 to “15 degrees”, and the running threshold value Tth1 of the wheel angle deviation t1 to “15 degrees”.

[0113] Fig.10 The setting information A3 shown is pre-set by the setting processing unit 112 and stored in the storage unit 12. In addition, the setting information A3 can also be pre-set by the operating device 17 and stored in the storage unit 72. The driving processing unit 111 refers to the driving threshold corresponding to the work content in the setting information A3 to determine whether the work vehicle 1 meets the automatic driving start condition. In addition, the driving processing unit 111 determines the work content (high-precision work, low-precision work, etc.) based on the type of the work machine 14. In addition, the information on the work content and the work accuracy can be associated according to the type of the work machine 14 and pre-registered in the storage unit 12. In addition, the operator can select the work content and the work accuracy in the operating device 17, and the driving processing unit 111 determines the work accuracy based on the operator's selection operation.

[0114] For example, when the lateral deviation x1 of the current position P1 of the work vehicle 1 is "55 cm", the azimuth deviation d1 is "8 degrees", and the wheel angle deviation t1 is "8 degrees", the lateral deviation x1 is larger than the driving threshold value Xth1 ("50 cm") of high-precision operation, and smaller than the driving threshold value Xth1 ("60 cm") of low-precision operation. Therefore, when the operation content is high-precision operation, automatic driving is not allowed, but when the operation content is low-precision operation, automatic driving is allowed.

[0115] When the automatic travel start conditions according to the above-mentioned work content are satisfied, if the operator issues a travel start instruction, the work vehicle 1 starts automatic travel along the target route R.

[0116] and Fig.10 The processing related to the work start condition shown is the same as the processing related to the work start condition in the above-mentioned [first setting method].

[0117] As described above, in the third setting method, the setting processing unit 112 makes the automatic driving start condition different according to the operation content. Specifically, the setting processing unit 112 sets the automatic driving start condition when the operation content is a high-precision operation to a condition that is stricter than the automatic driving start condition when the operation content is a low-precision operation. In addition, high-precision operations not only include situations where the accuracy of the operation content of the current operation requires high precision, but also include situations where the accuracy of the operation content of the operation after the current operation requires high precision. High-precision operations include, for example, operations such as ridging, transplanting, reinforcing ridges, and weeding, and low-precision operations include, for example, operations such as tilling, mowing, and prevention. In addition, in the third setting method, the work vehicle 1 may also be a work vehicle that performs operations while driving forward and backward, respectively.

[0118] [Fourth setting method]

[0119] In the fourth setting method, the setting processing unit 112 sets the automatic driving start condition (driving threshold value Xth1, driving threshold value Dth1, driving threshold value Tth1) based on the distance from the current position P1 of the work vehicle 1 to the work start target position or the work end target position on the target path R (an example of the above-mentioned driving information). Specifically, the setting processing unit 112 sets the automatic driving start condition to a strict condition when the above-mentioned distance is less than a predetermined distance (margin M1), and sets the automatic driving start condition to a loose condition when the above-mentioned distance is greater than the margin M1. For example, the setting processing unit 112 sets the above-mentioned driving threshold value to a first driving threshold value when the above-mentioned distance is less than the margin M1, and sets the above-mentioned driving threshold value to a second driving threshold value greater than the above-mentioned first driving threshold value when the above-mentioned distance is greater than the margin M1.

[0120] For example Fig.11 As shown, on the extension line of the work path R1 (target path R) connecting the work start target position a1 corresponding to point A and the work end target position b1 corresponding to point B, a determination reference point a2 is set at a position closer to the work start target position a1 and away from the specified distance (margin M1), and a determination reference point b2 is set at a position farther from the work end target position b1 and away from the specified distance (margin M2). Here, when the work vehicle 1 is at a position far from the work start target position a1, the distance for aligning the work vehicle 1 at the work start target position a1 can be ensured, so the alignment driving is mostly performed by the operator. In contrast, when the work vehicle 1 is at a position close to the work start target position a1, the start of automatic driving is mostly required.

[0121] Therefore, when the distance H1 from the current position P1 of the work vehicle 1 before the work start target position a1 to the work start target position a1 of the work path R1 is greater than the margin M1, the setting processing unit 112 sets the travel threshold value to a larger value so that automatic travel can be easily started. In contrast, when the distance H1 is less than the margin M1, the setting processing unit 112 sets the travel threshold value to a smaller value so that the work accuracy does not decrease. Similarly, when the distance H2 (not shown) from the current position P1 of the work vehicle 1 after passing the work end target position b1 to the work end target position b1 of the work path R1 is greater than the margin M2, the setting processing unit 112 sets the travel threshold value to a larger value, and when the distance H2 is less than the margin M2, the setting processing unit 112 sets the travel threshold value to a smaller value.

[0122] For example Fig.12 As shown, for the section with insufficient margin (the section from the determination reference point a2 to the determination reference point b2), the setting processing unit 112 sets the running threshold value Xth1 of the lateral deviation x1 to "50 cm", the running threshold value Dth1 of the heading angle deviation d1 to "10 degrees", and the running threshold value Tth1 of the wheel angle deviation t1 to "10 degrees". On the other hand, for the section with more than the margin (outside of the section from the determination reference point a2 to the determination reference point b2), the setting processing unit 112 sets the running threshold value Xth1 of the lateral deviation x1 to "60 cm", the running threshold value Dth1 of the heading angle deviation d1 to "15 degrees", and the running threshold value Tth1 of the wheel angle deviation t1 to "15 degrees".

[0123] Fig.12 The setting information A4 shown is pre-set by the setting processing unit 112 and stored in the storage unit 12. In addition, the setting information A4 may be pre-set by the operating device 17 and stored in the storage unit 72. The travel processing unit 111 refers to the travel threshold values ​​corresponding to the distances H1 and H2 in the setting information A4 to determine whether the work vehicle 1 satisfies the automatic travel start condition.

[0124] For example, when the lateral deviation x1 of the current position P1 of the working vehicle 1 before approaching the work start target position a1 is "55 cm", the azimuth deviation d1 is "8 degrees", and the wheel angle deviation t1 is "8 degrees", the lateral deviation x1 is larger than the driving threshold value Xth1 ("50 cm") when the margin is insufficient, and smaller than the driving threshold value Xth1 ("60 cm") when the margin is greater than the margin. Therefore, when the working vehicle 1 is in the interval from the judgment reference point a2 to the judgment reference point b2, automatic driving is not allowed, but when the working vehicle 1 is outside this interval, automatic driving is allowed.

[0125] When the automatic travel start condition corresponding to the above distance is satisfied, the work vehicle 1 starts automatic travel along the target route R if the operator issues a travel start instruction.

[0126] and Fig.12 The processing related to the work start condition shown is the same as the processing related to the work start condition in the above-mentioned [first setting method].

[0127] As described above, in the fourth setting method, the setting processing unit 112 makes the automatic driving start condition different according to the distance from the current position P1 of the work vehicle 1 to the work start target position or the work end target position on the target path R. Specifically, the setting processing unit 112 sets the automatic driving start condition when the distance is less than the predetermined distance to a stricter condition than the automatic driving start condition when the distance is greater than the predetermined distance.

[0128] In addition, in the fourth setting method, the setting processing unit 112 may also set the above-mentioned margin according to specified conditions. For example, the setting processing unit 112 may also set the margin according to the skills and proficiency of the operator who makes the work vehicle 1 perform alignment driving through manual steering operation. For example, for the setting processing unit 112, the higher the skill of the operator, the smaller the value of the margin is set, and the lower the skill of the operator, the larger the value of the margin is set. In addition, the setting processing unit 112 may also set the margin according to the operator's selection operation (such as the input operation of the margin). In addition, in the fourth setting method, the work vehicle 1 may also be a work vehicle that performs operations in forward driving and reverse driving.

[0129] As another embodiment, the setting processing unit 112 may set the automatic driving start condition by combining at least two of the first setting method, the second setting method, the third setting method, and the fourth setting method described above.

[0130] For example, when the first setting method and the second setting method are combined, the setting processing unit 112 sets the automatic driving start condition when the work vehicle 1 puts the work machine 14 in a non-working posture (uppermost position) and drives forward to a condition that is looser than the automatic driving start condition when the work vehicle 1 puts the work machine 14 in a working posture (lowermost position) and drives forward. In addition, the setting processing unit 112 sets the automatic driving start condition when the work vehicle 1 puts the work machine 14 in a non-working posture (uppermost position) and drives backward to a condition that is looser than the automatic driving start condition when the work vehicle 1 puts the work machine 14 in a working posture (lowermost position) and drives backward.

[0131] In addition, the threshold values ​​of the above-mentioned setting information A1 to A4 are just examples, and the present invention is not limited thereto. The threshold values ​​of the setting information A1 to A4 may be different values.

[0132] [Automatic driving processing]

[0133] Below, refer to Fig.13 An example of the automatic driving process performed by the vehicle control device 11 is described below. Fig.13 An example of the automatic driving process corresponding to the above-mentioned [first setting method] is shown in FIG. In addition, the present invention can also be understood as an invention of an automatic driving method in which the vehicle control device 11 executes a part or all of the above-mentioned automatic driving process, or an invention of an automatic driving program for causing the vehicle control device 11 to execute a part or all of the automatic driving method. In addition, the above-mentioned automatic driving process can also be executed by one or more processors.

[0134] In step S1, the vehicle control device 11 causes the work vehicle 1 to perform alignment travel according to the manual steering operation performed by the operator. The operator causes the work vehicle 1 to perform alignment travel so as to align with the work start target position of the target path R.

[0135] Next, in step S2, the vehicle control device 11 obtains the measured values ​​of the automatic driving start condition determination object. Specifically, the vehicle control device 11 obtains the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 relative to the target path R based on the current position P1 of the work vehicle 1 (see Figure 7 ).

[0136] Next, in step S3, the vehicle control device 11 determines whether the traveling direction of the work vehicle 1 is the reverse direction. Specifically, the vehicle control device 11 determines the traveling direction (forward direction, reverse direction, parking) based on the position of the main gear lever ("forward", "reverse", "neutral"), the positioning information of the work vehicle 1, etc. The vehicle control device 11 moves the processing to step S31 when the traveling direction of the work vehicle 1 is the reverse direction (S3: Yes). The vehicle control device 11 moves the processing to step S4 when the traveling direction of the work vehicle 1 is not the reverse direction (S3: No), that is, when the traveling direction is the forward direction or the work vehicle 1 is parked.

[0137] Next, in step S4, the vehicle control device 11 determines whether the automatic driving start condition that the traveling direction is the forward direction is satisfied. Specifically, the vehicle control device 11 refers to the setting information A1 (refer to Figure 8), respectively determine whether the lateral deviation x1 is less than the driving threshold value Xth1 corresponding to the “forward direction”, whether the azimuth deviation d1 is less than the driving threshold value Dth1 corresponding to the “forward direction”, and whether the wheel angle deviation t1 is less than the driving threshold value Tth1 corresponding to the “forward direction”. The vehicle control device 11 moves the processing to step S5 when each of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 satisfies the automatic driving start condition corresponding to the “forward direction” (S4: Yes). On the other hand, when at least any one of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 does not satisfy the automatic driving start condition corresponding to the “forward direction” (S4: No), the vehicle control device 11 moves the processing to step S31. As another embodiment, the vehicle control device 11 may also return the processing to step S1 when the above-mentioned automatic driving start condition is not satisfied (S4: No), and switch to manual steering operation performed by the operator to make the work vehicle 1 perform alignment driving.

[0138] In step S5, the vehicle control device 11 permits the automatic travel in the forward direction of the work vehicle 1. Thus, for example, when the operator issues a travel start instruction, the vehicle control device 11 causes the work vehicle 1 to automatically travel in the forward direction.

[0139] Next, in step S6, the vehicle control device 11 determines whether the work vehicle 1 satisfies the work start condition. Specifically, the vehicle control device 11 refers to the setting information A1 (refer to Figure 8 ), respectively determine whether the lateral deviation x1 is less than the driving threshold value Xth1 corresponding to the work start condition, whether the azimuth deviation d1 is less than the driving threshold value Dth1 corresponding to the work start condition, and whether the wheel angle deviation t1 is less than the driving threshold value Tth1 corresponding to the work start condition. The vehicle control device 11 moves the processing to step S7 when each of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 satisfies the work start condition (S6: Yes). On the other hand, when at least any one of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 does not satisfy the work start condition (S6: No), the vehicle control device 11 returns the processing to step S1. If returning to step S1, the vehicle control device 11 switches to manual steering operation performed by the operator to make the work vehicle 1 perform alignment driving.

[0140] In step S7, the vehicle control device 11 causes the operation to be performed. Specifically, if the operation vehicle 1 meets the operation start conditions, the vehicle control device 11 notifies the operator by playing a buzzer sound or causing the operating device 17 to display a message. If the operator recognizes that the operation start conditions have been met, the operator causes the work machine 14 to descend to the operation position to start the operation (transplantation operation). Thus, the operation vehicle 1 automatically drives in the forward direction according to the target path R while performing the operation (refer to Fig. 6A ).

[0141] Next, in step S8, the vehicle control device 11 determines whether the work vehicle 1 has finished the work on the field F. If the vehicle control device 1 determines that the work vehicle 1 has finished the entire work on the field F (S8: Yes), the vehicle control device 11 ends the above-mentioned automatic driving process. If the vehicle control device 1 determines that the work vehicle 1 has not finished the entire work on the field F (S8: No), the process moves to step S81.

[0142] In step S81, the vehicle control device 11 determines whether the work vehicle 1 has reached the end of the work path. Specifically, the vehicle control device 11 determines whether the work vehicle 1 has reached the work end target position on the work path of the target path R. In addition, the work end target position may be point B (refer to Figure 3 ) can also be a position obtained by parallel movement of the work end position on the immediately preceding work path. If the vehicle control device 11 determines that the work vehicle 1 has reached the terminal of the work path (S81: Yes), the processing returns to step S1. If it returns to step S1, the vehicle control device 11 switches to positioning driving and moves the work vehicle 1 toward the next work path according to the manual steering operation performed by the operator. On the other hand, if the vehicle control device 11 determines that the work vehicle 1 has not reached the terminal of the work path (S81: No), the processing returns to step S7 to continue the automatic driving and operation in the straight direction.

[0143] If it is determined in step S3 that the traveling direction is the backward direction (S3: Yes), in step S31, the vehicle control device 11 determines whether the automatic driving start condition that the traveling direction is the backward direction is satisfied. Specifically, the vehicle control device 11 refers to the setting information A1 (reference Figure 8), respectively determine whether the lateral deviation x1 is less than the driving threshold value Xth1 corresponding to the "reverse direction", whether the azimuth deviation d1 is less than the driving threshold value Dth1 corresponding to the "reverse direction", and whether the wheel angle deviation t1 is less than the driving threshold value Tth1 corresponding to the "reverse direction". When each of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 satisfies the automatic driving start condition corresponding to the "reverse direction" (S31: Yes), the vehicle control device 11 moves the processing to step S32. On the other hand, when at least any one of the lateral deviation x1, the azimuth deviation d1, and the wheel angle deviation t1 does not satisfy the automatic driving start condition corresponding to the "reverse direction" (S31: No), the vehicle control device 11 moves the processing to step S33.

[0144] In step S32, the vehicle control device 11 reports and reminds the operator to perform alignment by driving in reverse, and allows the work vehicle 1 to drive automatically in the reverse direction. Thus, for example, if the operator gives a driving start instruction, the vehicle control device 1 causes the work vehicle 1 to drive automatically in the reverse direction, and performs alignment driving in a manner that satisfies the automatic driving start condition in the forward direction according to the operator's operation. After step S32, the vehicle control device 11 moves the processing to step S4. Moreover, when the automatic driving start condition in the forward direction is satisfied by driving the work vehicle 1 in the reverse direction (S4: Yes), the vehicle control device 11 moves the processing to step S5, and causes the work vehicle 1 to drive automatically in the forward direction. In this case, the vehicle control device 11 may also report and remind the operator to switch the travel direction to the forward direction. In addition, the vehicle control device 1 may also report and remind the operator to perform alignment by manual steering operation when the automatic driving start condition in the forward direction is not satisfied even if the work vehicle 1 is driven in the reverse direction.

[0145] In step S33, the vehicle control device 11 notifies the operator to perform the alignment by manual steering. After step S33, the vehicle control device 11 returns the process to step S1. If returning to step S1, the vehicle control device 11 causes the work vehicle 1 to perform the alignment according to the manual steering performed by the operator.

[0146] The vehicle control device 11 repeatedly executes the processing of the above steps S1 to S7 until the work vehicle 1 completes the work of the entire field F. In the above manner, the vehicle control device 11 executes the automatic driving processing corresponding to the first setting method. In addition, the above second setting method to the above fourth setting method can also be used in conjunction with Fig.13 Each of the processes shown executes the automatic driving process in the same manner.

[0147] As described above, the vehicle control device 11 involved in the present embodiment starts the automatic driving of the work vehicle 1 when the deviation of the work vehicle 1 from the pre-set target path R satisfies the prescribed condition (automatic driving start condition). In addition, the vehicle control device 11 sets the above-mentioned automatic driving start condition based on at least any one of the driving information and working information of the work vehicle 1. Specifically, the vehicle control device 11 sets the automatic driving start condition (driving threshold) based on at least any one of the travel direction (forward direction, backward direction) of the work vehicle 1, the posture (working posture, non-working posture) of the work machine 14, the work content, and the distance to the work start target position or the work end target position (for example, the above-mentioned first setting method to the above-mentioned fourth setting method).

[0148] According to the above structure, the automatic driving start condition corresponding to the driving information and the operation information can be set, so the working vehicle 1 can start automatic driving according to the purpose. Thus, for example, in the case of a work requiring high-precision operation accuracy, the automatic driving start condition is set to a strict condition, so that the deviation relative to the target path R can be minimized, so that high-precision operation accuracy can be achieved. For example, in a transplant operation, the working vehicle 1 can be aligned with high precision relative to the target path R before the operation, so that the working vehicle 1 can be stably driven straight in the straight direction immediately after the automatic driving starts, thereby, the seedlings can be planted straight. In addition, for example, in the case of a work that does not require high-precision operation accuracy, the automatic driving start condition is set to a loose condition, so that the automatic driving is easy to start, so the operation efficiency can be improved. In this way, the automatic driving start condition is set to a condition that cannot start the automatic driving if the alignment is not reliable when driving forward, and on the other hand, the automatic driving start condition is set to a condition that can easily start the automatic driving when driving backward. According to the above structure, the workability of the working vehicle 1 can be improved.

[0149] [Other embodiments]

[0150] The present invention is not limited to the above-mentioned embodiment. Other embodiments of the present invention will be described below.

[0151] [Fifth setting method]

[0152] As another example of a method for setting the automatic driving start condition ("fifth setting method"), the vehicle control device 11 may also set the automatic driving start condition based on the driving purpose of the work vehicle 1. For example, the vehicle control device 11 determines whether the driving is for the purpose of alignment or for the purpose of performing work, and sets the automatic driving start condition based on the determination result. Specifically, the vehicle control device 11 sets the automatic driving start condition to a loose condition (setting the driving threshold to a larger value) when the driving is for the purpose of alignment, and sets the automatic driving start condition to a strict condition (setting the driving threshold to a smaller value) when the driving is for the purpose of performing work.

[0153] In addition, the vehicle control device 11 may also determine the above purpose based on at least any one of the travel direction (forward direction, backward direction) of the work vehicle 1, the posture (working posture, non-working posture) of the work machine 14, and the distance to the work start target position or the work end target position. For example, the vehicle control device 11 determines that the purpose is to perform work when the travel direction is the forward direction, and determines that the purpose is to align when the travel direction is the backward direction. In addition, for example, the vehicle control device 11 determines that the purpose is to perform work when the work machine 14 is in the working posture (upper position), and determines that the purpose is to align when the work machine 14 is in the non-working posture (lower position). In addition, for example, the vehicle control device 11 determines that the purpose is to perform work when the distance to the work start target position or the work end target position is less than a specified distance (margin), and determines that the purpose is to align when the distance to the work start target position or the work end target position is more than a specified distance (margin).

[0154] The vehicle control device 11 may determine the purpose based on a selection operation by the operator. For example, when the operator selects the purpose on the operation device 17, the vehicle control device 11 sets the automatic driving start condition according to the selected purpose.

[0155] [Sixth setting method]

[0156] As another example of the method of setting the automatic travel start condition (“sixth setting method”), the vehicle control device 11 may set the automatic travel start condition based on the vehicle speed of the work vehicle 1 (an example of the above-mentioned travel information).

[0157] For example, when the speed of the working vehicle 1 is set to a high speed, it is considered that the operating personnel do not require high working accuracy when the working vehicle 1 is traveling in a non-working area, so the setting processing unit 112 sets the automatic driving start condition to a loose condition. As a result, the automatic driving is easy to start, so the working efficiency can be improved. In contrast, when the speed of the working vehicle 1 is set to a low speed, it is considered that the operating personnel require high working accuracy when the working vehicle 1 is traveling in a working area, so the setting processing unit 112 sets the automatic driving start condition to a strict condition. As a result, the automatic driving starts from a position closer to the target path R, so the working accuracy can be improved.

[0158] For example Fig.14 As shown in the setting information A5 of FIG. 1 , when the vehicle speed of the work vehicle 1 is high, the setting processing unit 112 sets the driving threshold value Xth1 of the lateral deviation x1, the driving threshold value Dth1 of the azimuth deviation d1, and the driving threshold value Tth1 of the wheel angle deviation t1 to values ​​smaller than the respective threshold values ​​when the vehicle speed of the work vehicle 1 is low (strict conditions). The driving processing unit 111 refers to the driving threshold value corresponding to the vehicle speed in the setting information A5 to determine whether the work vehicle 1 satisfies the automatic driving start condition.

[0159] As another embodiment, in consideration of safety, the setting processing unit 112 may set the automatic driving start condition to a strict condition when the vehicle speed of the work vehicle 1 is set to a high speed, and set the automatic driving start condition to a loose condition when the vehicle speed of the work vehicle 1 is set to a low speed. When the vehicle speed is set to a high speed, by setting the automatic driving start condition to a strict condition, it is possible to prevent a sudden steering operation immediately after the automatic driving starts, so that the safety of the operator riding in the work vehicle 1 can be ensured.

[0160] [Seventh setting method]

[0161] As another example of a method for setting the automatic driving start condition ("the seventh setting method"), the vehicle control device 11 may also set the automatic driving start condition based on the sensitivity of the steering operation (steering sensitivity) of the work vehicle 1 (an example of the above-mentioned driving information). The above-mentioned sensitivity represents the sensitivity of the steering operation relative to the target path R, and is represented by the position (forward gaze distance) of the driving control point (front gaze point) set in front of the work vehicle 1. The work vehicle 1 performs automatic steering operation in such a way that the front gaze point is located on the target path R, so if the front gaze distance is short, the steering operation is sensitive, and if the front gaze distance is long, the steering operation is slow. That is, if the sensitivity of the steering operation is set to "sensitive", the front gaze point is set to a shorter distance, and if the sensitivity of the steering operation is set to "slow", the front gaze point is set to a longer distance.

[0162] For example, when the steering sensitivity of the work vehicle 1 is set to sensitive, the setting processing unit 112 sets the automatic driving start condition to a strict condition. This can prevent the work vehicle 1 from performing a sharp steering operation immediately after starting the automatic driving, for example. Therefore, it is possible to prevent the ride comfort of the operator riding on the work vehicle 1 from being deteriorated or the field F from being damaged. As another embodiment, the setting processing unit 112 can also set the automatic driving start condition to a more stringent condition when the steering sensitivity is set to sensitive and the vehicle speed is set to high speed.

[0163] On the other hand, when the steering sensitivity of the work vehicle 1 is set to be slow, the setting processing unit 112 sets the automatic driving start condition to a loose condition. As a result, the automatic driving is easy to start, so the work efficiency can be improved. For example, when the riding comfort of the operator does not need to be considered, the setting processing unit 112 may also set the automatic driving start condition to a loose condition.

[0164] Furthermore, the operator may be able to select whether to set the automatic driving start condition to a strict condition or a loose condition with respect to the sensitivity of the steering operation.

[0165] In addition, the setting processing unit 112 may also set the automatic driving start condition to a strict condition when the vehicle speed of the work vehicle 1 is above the specified speed and the steering control sensitivity is set to sensitive, and may set the automatic driving start condition to a loose condition when the vehicle speed of the work vehicle 1 is less than the specified speed and the steering control sensitivity is set to sensitive.

[0166] For example Fig.15 As shown in the setting information A6 of FIG. 1 , when the steering sensitivity of the work vehicle 1 is sensitive, the setting processing unit 112 sets the driving threshold value Xth1 of the lateral deviation x1, the driving threshold value Dth1 of the azimuth deviation d1, and the driving threshold value Tth1 of the wheel angle deviation t1 to values ​​smaller than the respective threshold values ​​when the steering sensitivity of the work vehicle 1 is dull (strict conditions). The driving processing unit 111 refers to the driving threshold value corresponding to the steering sensitivity in the setting information A6 to determine whether the work vehicle 1 satisfies the automatic driving start condition.

[0167] [Eighth setting method]

[0168] As another example of the method of setting the automatic travel start condition (“eighth setting method”), the vehicle control device 11 may set the automatic travel start condition based on the position of the work vehicle 1 (an example of the above-mentioned travel information).

[0169] For example, when the work vehicle 1 is in the work area, it is considered that the work vehicle 1 is in the work state, so the setting processing unit 112 sets the automatic driving start condition to a strict condition. As a result, the automatic driving starts from a position closer to the target path R, so the work accuracy can be improved.

[0170] On the other hand, when the working vehicle 1 is located in a non-working area (headland area), it is considered that the working vehicle 1 is not working, so the setting processing unit 112 sets the automatic driving start condition to a loose condition. As a result, automatic driving is easy to start, so the working efficiency can be improved.

[0171] For example Fig.16 As shown in the setting information A7 of FIG. 1 , when the work vehicle 1 is located in the work area, the setting processing unit 112 sets the driving threshold value Xth1 of the lateral deviation x1, the driving threshold value Dth1 of the azimuth deviation d1, and the driving threshold value Tth1 of the wheel angle deviation t1 to values ​​smaller than the respective threshold values ​​when the work vehicle 1 is located in the non-work area (strict conditions). The driving processing unit 111 refers to the driving threshold value corresponding to the current position (driving position) of the work vehicle 1 in the setting information A7 to determine whether the work vehicle 1 satisfies the automatic driving start condition.

[0172] In addition, the threshold values ​​of the setting information A5 to A7 are examples and are not limited thereto. The threshold values ​​of the setting information A5 to A7 may also be different values. In addition, the setting processing unit 112 may use any one of the first to eighth setting methods to set the automatic driving start condition. In addition, the setting processing unit 112 may also combine at least two of the first to eighth setting methods to set the automatic driving start condition.

[0173] In the above embodiment, the target path R is generated based on the width of the work machine 14 (work width) and the width of the overlap between adjacent work areas (overlap width). Figure 3 ) is taken as an example, but the path creation mode of the present invention is not limited to this. As another embodiment, the path creation mode may also be a "vehicle position reference mode" that generates the target path R based on the current position of the work vehicle 1. In the vehicle position reference mode, for example, the generation processing unit 713 of the operating device 17 generates a straight path that passes through the current position of the work vehicle 1 and is parallel to the reference line L1 as the target path R. The generation processing unit 713 generates a straight path (target path R) parallel to the reference line L1 for each work column.

[0174] Therefore, in the vehicle position reference mode, the lateral deviation x1 is omitted, and the automatic driving start condition includes the azimuth deviation d1 and the wheel angle deviation t1 relative to the target path R. The setting processing unit 112 sets the driving threshold Dth1 of the azimuth deviation d1 and the driving threshold Tth1 of the wheel angle deviation t1 based on at least one of the driving information and the working information of the working vehicle 1. The setting processing unit 112 sets the automatic driving start condition by the first to eighth setting methods described above, similarly to the "working width reference mode".

[0175] Furthermore, the operator can select a path creation mode (“work width reference mode”, “vehicle position reference mode”) on the operation screen of the operation device 17 .

[0176] In the above-mentioned embodiment, a work vehicle 1 is cited as an example, which automatically drives on a straight path (working path) by automatic steering operation and manually drives on a turning path (non-working path) by an operator's manual steering operation (driving operation), that is, a work vehicle that switches between automatic driving and manual driving. However, the present invention is not limited to this. As another embodiment, the work vehicle 1 may also be a work vehicle (e.g., an unmanned vehicle) that automatically drives on a straight path (working path) and a turning path (non-working path). In this case, the work vehicle 1 is not required to drive automatically if the automatic driving start condition (see Figure 8 ), the vehicle is positioned on the target path R by automatically driving in the straight direction and the reverse direction.

[0177] The automatic driving system of the present invention may be composed of the vehicle control device 11 alone, may be composed of the operating device 17 alone, may be composed of a combination of the vehicle control device 11 and the operating device 17, or may be composed of a server having the processing units included in the vehicle control device 11 and the operating device 17. In addition, the automatic driving system may also be composed of the work vehicle 1.

[0178] [Notes on the invention]

[0179] The following is a summary of the invention extracted from the embodiment. In addition, each structure and each processing function described in the following notes can be selected and combined arbitrarily.

[0180] <Note 1>

[0181] An automatic driving method, wherein:

[0182] When a deviation of the work vehicle from a preset target path satisfies a predetermined condition, starting automatic driving of the work vehicle; and

[0183] The condition is set based on at least one of the travel information and the work information of the work vehicle.

[0184] <Note 2>

[0185] The automatic driving method according to Note 1, wherein:

[0186] When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started;

[0187] The threshold value is set based on the traveling direction of the work vehicle.

[0188] <Note 3>

[0189] The automatic driving method according to Note 2, wherein:

[0190] When the working vehicle is moving in a forward direction, the threshold is set to a first threshold.

[0191] When the traveling direction of the work vehicle is a backward direction, the threshold value is set to a second threshold value that is larger than the first threshold value.

[0192] <Note 4>

[0193] An automated driving method according to any one of Notes 1 to 3, wherein:

[0194] When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started;

[0195] The threshold value is set based on the posture of the work machine of the work vehicle.

[0196] <Note 5>

[0197] The automatic driving method according to Note 4, wherein:

[0198] When the posture of the working machine is the working posture, the threshold is set to the first threshold.

[0199] When the posture of the working machine is a non-working posture, the threshold is set to a second threshold that is larger than the first threshold.

[0200] <Note 6>

[0201] An automated driving method according to any one of Notes 1 to 5, wherein:

[0202] When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started;

[0203] The threshold value is set based on the work content of the work vehicle.

[0204] <Note 7>

[0205] The automatic driving method according to Note 6, wherein:

[0206] When the operation content is an operation that requires operation accuracy above a predetermined accuracy, the threshold is set to a first threshold.

[0207] When the work content is a work requiring a work accuracy lower than the predetermined accuracy, the threshold is set to a second threshold greater than the first threshold.

[0208] <Note 8>

[0209] An automated driving method according to any one of Notes 1 to 8, wherein:

[0210] When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started;

[0211] The threshold value is set based on a distance from a current position of the work vehicle to a work start target position or a work end target position on the target path.

[0212] <Note 9>

[0213] The automatic driving method according to Note 8, wherein:

[0214] When the distance is less than the predetermined distance, the threshold is set to the first threshold.

[0215] When the distance is equal to or greater than the predetermined distance, the threshold is set to a second threshold that is greater than the first threshold.

[0216] <Note 10>

[0217] An automated driving method according to any one of Notes 1 to 9, wherein:

[0218] When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started;

[0219] The threshold value is set based on whether the purpose of the travel of the work vehicle is travel for alignment with the target path.

[0220] <Note 11>

[0221] An automated driving method as described in any one of Notes 1 to 10, wherein:

[0222] When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started;

[0223] The threshold value is set based on the vehicle speed of the work vehicle.

[0224] <Note 12>

[0225] An automated driving method according to any one of Notes 1 to 11, wherein:

[0226] When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started;

[0227] The threshold value is set based on a steering sensitivity of the work vehicle with respect to the target path.

[0228] <Note 13>

[0229] An automated driving method according to any one of Notes 1 to 12, wherein:

[0230] When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started;

[0231] The threshold value is set based on the position of the work vehicle.

[0232] <Note 14>

[0233] An automated driving method according to any one of Notes 1 to 13, wherein:

[0234] When the deviation of the work vehicle from the target path is equal to or less than a threshold value for automatic driving, starting the automatic driving of the work vehicle;

[0235] When the deviation of the work vehicle from the target path is equal to or smaller than a work threshold value that is smaller than the automatic travel threshold value, the work of the work vehicle is started.

[0236] <Note 15>

[0237] An automatic driving program, wherein one or more processors are configured to execute:

[0238] When a deviation of the work vehicle from a preset target path satisfies a predetermined condition, starting automatic driving of the work vehicle; and

[0239] The condition is set based on at least one of the travel information and the work information of the work vehicle.

[0240] <Note 16>

[0241] An automatic driving system, comprising:

[0242] a travel processing unit that starts automatic travel of the work vehicle when a deviation of the work vehicle from a preset target path satisfies a predetermined condition; and

[0243] The setting processing unit sets the condition based on at least one of the travel information and the work information of the work vehicle.

Claims

1. An automatic driving method, characterized in that: implement: When a deviation of the work vehicle from a preset target path satisfies a predetermined condition, starting automatic driving of the work vehicle; and The condition is set based on at least one of travel information and work information of the work vehicle.

2. The automatic driving method according to claim 1, characterized in that: When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started; The threshold value is set based on the traveling direction of the work vehicle.

3. The automatic driving method according to claim 2, characterized in that: When the working vehicle is moving in a forward direction, the threshold is set to a first threshold. When the traveling direction of the work vehicle is a backward direction, the threshold is set to a second threshold that is larger than the first threshold.

4. The automatic driving method according to claim 1, characterized in that: When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started; The threshold value is set based on the posture of the work machine of the work vehicle.

5. The automatic driving method according to claim 4, characterized in that: When the posture of the working machine is a working posture, the threshold is set to a first threshold. When the posture of the working machine is a non-working posture, the threshold is set to a second threshold that is larger than the first threshold.

6. The automatic driving method according to claim 1, characterized in that: When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started; The threshold value is set based on the work content of the work vehicle.

7. The automatic driving method according to claim 6, characterized in that: When the work content is a work that requires work accuracy above a predetermined accuracy, the threshold is set to a first threshold. When the work content is a work requiring work accuracy lower than the predetermined accuracy, the threshold is set to a second threshold greater than the first threshold.

8. The automatic driving method according to claim 1, characterized in that: When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started; The threshold value is set based on a distance from a current position of the work vehicle to a work start target position or a work end target position on the target path.

9. The automatic driving method according to claim 8, characterized in that: When the distance is less than the predetermined distance, the threshold is set to a first threshold, When the distance is equal to or greater than the predetermined distance, the threshold is set to a second threshold greater than the first threshold.

10. The automatic driving method according to claim 1, characterized in that: When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started; The threshold value is set based on whether the travel purpose of the work vehicle is travel for alignment with the target path.

11. The automatic driving method according to claim 1, characterized in that: When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started; The threshold value is set based on the vehicle speed of the work vehicle.

12. The automatic driving method according to claim 1, characterized in that: When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started; The threshold value is set based on a steering sensitivity of the work vehicle with respect to the target path.

13. The automatic driving method according to claim 1, characterized in that: When at least any one of a lateral deviation, an azimuth deviation, and a wheel angle deviation of the work vehicle relative to the target path is less than a threshold value, the automatic driving of the work vehicle is started; The threshold value is set based on the position of the work vehicle.

14. The automatic driving method according to any one of claims 1 to 13, characterized in that: when a deviation of the work vehicle from the target path is equal to or smaller than a threshold value for automatic driving, starting automatic driving of the work vehicle; When the deviation of the work vehicle from the target path is equal to or smaller than a work threshold value that is smaller than the automatic travel threshold value, the work of the work vehicle is started.

15. An automatic driving program, characterized in that: Used to cause one or more processors to execute: When a deviation of the work vehicle from a preset target path satisfies a predetermined condition, starting automatic driving of the work vehicle; and The condition is set based on at least one of travel information and work information of the work vehicle.

16. An automatic driving system, characterized in that: have: a driving processing unit that starts automatic driving of the working vehicle when a deviation of the working vehicle from a preset target path satisfies a prescribed condition; and The setting processing unit sets the condition based on at least one of the travel information and the work information of the work vehicle.

Images