Work vehicle, automatic travel method, and program

Abstract

The present invention provides a technology capable of appropriately performing an operation using a remote operation device of a work vehicle provided so as to be capable of automatic travel. An exemplary work vehicle is provided with: a vehicle body provided so as to be capable of automatic travel in which steering is at least automatically performed; and a remote operation device for operating the vehicle main body, the remote operation device performing a first operation for instructing a turning direction and a second operation following the first operation, so that the vehicle main body starts turning by the automatic travel.

Description

Technical Field

[0001] The present invention relates to a work vehicle, an automatic driving method, and a program. Background Art

[0002] Work vehicles that can be manually operated using a transmitter are known (see, for example, Patent Document 1). In Patent Document 1, the transmitter is a device that an operator can carry while manually operating the lawn mower. The transmitter is, for example, a proportional controller that the operator operates at hand, or a mobile terminal device with a touch-panel display.

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2019-106941

[0004] In a configuration where a work vehicle can be remotely controlled, as in Patent Document 1, the work vehicle's turning direction as viewed by the operator is opposite to the turn instruction, depending on whether the work vehicle is traveling toward or away from the operator. For example, if a left turn instruction is given using the remote control device while the work vehicle is traveling away from the operator, the work vehicle will turn left as viewed by the operator. On the other hand, if a left turn instruction is given using the remote control device while the work vehicle is traveling toward the operator, the work vehicle will turn right as viewed by the operator.

[0005] Therefore, if the operator is not accustomed to remote control, there is a risk of making an error in left or right maneuvers. In particular, in a configuration where an automatic turn is initiated based on a left or right turn instruction from the operator using a remote control device, an erroneous operation could cause the automatic turn to begin in the opposite direction to the operator's intended direction, making it impossible to easily stop the turn. This could result in significant operational losses. Summary of the Invention

[0006] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a technology capable of appropriately operating a work vehicle provided to be capable of autonomous driving using a remote control device.

[0007] An exemplary work vehicle of the present invention comprises: a vehicle body configured to perform automatic driving capable of at least automatically performing steering operations; and a remote operating device for operating the above-mentioned vehicle body, wherein the above-mentioned remote operating device performs a first operation for indicating a turning direction, and a second operation following the above-mentioned first operation, so that the above-mentioned vehicle body starts turning based on the above-mentioned automatic driving.

[0008] An exemplary automatic driving method of the present invention is a method for automatic driving of a work vehicle in which the vehicle body is operated by a remote operating device, wherein: a first operation indicating a turning direction based on the above-mentioned remote operating device is accepted; and a second operation following the above-mentioned first operation based on the above-mentioned remote operating device is performed to cause the above-mentioned vehicle body to start turning based on the above-mentioned automatic driving.

[0009] An exemplary program of the present invention is a program for causing a computer to execute a method for automatic driving of a work vehicle, wherein the work vehicle operates the vehicle body through a remote operating device, wherein the above-mentioned computer is caused to function as the following unit, which performs: accepting a first operation indicating a turning direction based on the above-mentioned remote operating device; and causing the above-mentioned vehicle body to start turning based on the above-mentioned automatic driving through a second operation following the above-mentioned first operation based on the above-mentioned remote operating device.

[0010] According to the exemplary present invention, it is possible to appropriately perform operations using a remote control device on a work vehicle that is capable of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a diagram showing a schematic structure of a work vehicle.

[0012] Figure 2 This is a front view showing a schematic configuration of the remote control device.

[0013] Figure 3 This is a block diagram showing a schematic configuration of a vehicle body.

[0014] Figure 4 This is a diagram for explaining an example of a method for setting a reference line.

[0015] Figure 5 This is a flowchart illustrating the flow of the automatic driving method.

[0016] Figure 6A This is a diagram for explaining the reporting operation performed by the vehicle main body in accordance with the first operation.

[0017] Figure 6B This is a diagram for explaining the reporting operation performed by the vehicle main body in accordance with the first operation.

[0018] Description of Reference Numerals

[0019] 1…vehicle body; 2…remote operating device; 10…control device; 17…operating unit (switching operating unit); 18…reporting unit; 24a…first operating lever (operating lever); 25a…first operating switch (operating switch); 100…work vehicle; 181…turn signal (reporting unit); 181L…left turn signal (reporting unit); 181R…right turn signal (reporting unit). DETAILED DESCRIPTION

[0020] The embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and their description will not be repeated unless otherwise specified.

[0021] <1. Overview of Work Vehicles>

[0022] Figure 1 1 is a diagram showing a schematic structure of a work vehicle 100 according to an embodiment of the present invention. The work vehicle 100 can be used for various operations such as agricultural operations and construction operations. Figure 1 The work vehicle shown may be, for example, a tractor, a rice transplanter, a combine harvester, a harvester for harvesting various crops, a snowplow, or various civil engineering and construction machines.

[0023] like Figure 1 As shown, the work vehicle 100 includes a vehicle body 1 and a remote control device 2. Figure 1 1 shows a side view of the vehicle body 1 .

[0024] [1-1. Vehicle body]

[0025] The vehicle body 1 is configured to be capable of automatic driving, with at least automatic steering. Automatic driving may also include, in addition to steering, automatically adjusting at least one of vehicle speed and performing work with a work implement. The term "automatic driving" in this specification also includes such configurations. However, the following description illustrates an example of automatic driving in which steering is automatically performed and vehicle speed adjustment and work with a work implement are manually performed.

[0026] like Figure 1 As shown, the vehicle body 1 includes a traveling body 11 that travels on the ground, and a working machine 12 connected to the traveling body 11 .

[0027] Here, for the convenience of explanation, the directions in the following description are defined. The direction in which the traveling body 11 and the work machine 12 are arranged is referred to as the front-to-back direction, and the work machine 12 is at the rear when viewed from the traveling body 11. The left and right directions are defined as the side that will become the left from the rear toward the front, and the right side that will become the right. In addition, the direction of gravity perpendicular to the front-to-back direction and the left-to-right direction is referred to as the up-down direction, the upstream side of the gravity direction is referred to as the top, and the downstream side is referred to as the bottom. In the accompanying drawings, as needed, the "F" symbol is used to represent the front, the "B" symbol is used to represent the rear, the "R" symbol is used to represent the right, the "L" symbol is used to represent the left, the "U" symbol is used to represent the top, and the "D" symbol is used to represent the bottom.

[0028] However, the above direction definitions are for convenience. In the following description, directions may be expressed using a reference different from the directions defined here. In such cases, the description will be given with this reference.

[0029] The traveling body 11 includes a body main portion 111 and a traveling portion 112 disposed below the body main portion 111 .

[0030] The machine body 111 includes an outer cover 111 a , a travel drive device 111 b disposed on the front side of the interior covered by the outer cover 111 a , and a work machine drive device 111 c disposed on the rear side of the interior covered by the outer cover 111 a .

[0031] The travel drive device 111b includes a drive source and a power transmission mechanism that transmits power from the drive source to the travel unit 112. In this embodiment, the drive source of the travel drive device 111b is an electric motor. However, the drive source of the travel drive device 111b may be a drive source other than an electric motor, such as an engine.

[0032] The work machine drive device 111c includes: a drive source, and a PTO (Power Take Off) power transmission unit that can transmit power from the drive source to the outside of the travel machine body 11. In the present embodiment, the drive source of the work machine drive device 111c is an electric motor. However, the drive source of the work machine drive device 111c may also be a drive source other than an electric motor, for example, an engine. In addition, in the present embodiment, the electric motor of the work machine drive device 111c and the electric motor of the travel drive device 111b are different motors. However, the drive source may be shared between the travel drive device 111b and the work machine drive device 111c.

[0033] Furthermore, a battery and electronic power equipment for supplying power to the electric motor are arranged inside the housing 111a. As an example, a lamp 111d, a positioning antenna 111e, and an alarm lamp 111f are arranged outside the housing 111a.

[0034] Furthermore, in this embodiment, the travel body 11 is not provided with a driver's seat for an operator. That is, the vehicle body 1 is operated unmanned. However, the present invention can also be applied to a work vehicle having a driver's seat on the travel body 11. Specifically, the travel body 11 may include a driver's seat and a tool (handle, lever, etc.) for an operator seated in the driver's seat to operate the vehicle body 1.

[0035] The traveling portion 112 supports the main body portion 111 so that it can travel. Specifically, the traveling portion 112 includes a pair of left and right crawler tracks 112a. Each left and right crawler track 112a includes a crawler frame 112b extending in the front-rear direction. Each crawler frame 112b is mounted on the lower surface of the main body portion 111. A drive sprocket 112c is disposed at the front end of the crawler frame 112b as a drive wheel. The drive sprocket 112c receives power from an electric motor via a power transmission mechanism included in the travel drive device 111b. An idler wheel 112d is disposed at the rear end of the crawler frame 112b as a driven wheel. The idler wheel 112d is rotatably supported by the crawler frame 112b. A plurality of running wheels 112e are rotatably supported in the portion of the crawler frame 112b between the drive sprocket 112c and the idler wheel 112d. Crawler belt 112f is wound around drive sprocket 112c, idler 112d, and a plurality of runners 112e to form crawler belt 112a.

[0036] In this embodiment, the left and right crawlers 112a are driven by multiple electric motors included in the travel drive unit 111b. For example, if the left and right crawlers 112a are driven simultaneously in the same direction, the travel unit 112 will travel straight forward or backward. The forward or backward direction is determined by the rotational direction of the electric motors. Alternatively, the travel unit 112 can make a left or right turn by driving the left and right crawlers 112a at different speeds.

[0037] Furthermore, in this embodiment, the crawler 112a is constructed by arranging a drive wheel (drive sprocket 112c) and a driven wheel (idler wheel 112d) in the front-to-rear direction and wrapping around a crawler belt 112f. However, other structures are also possible. For example, the crawler may be a type that wraps around a crawler belt in a triangular shape around a drive wheel and two driven wheels. Furthermore, in this embodiment, the traveling unit 112 is a crawler type, but the traveling unit may also be a type other than a crawler type, such as a wheel type.

[0038] The working machine 12 is mounted via the hook portion 13 so as to be able to be raised and lowered relative to the traveling machine body 11. In addition, the hook portion 13 includes the above-mentioned working machine driving device 111c. The working machine 12 is replaceably mounted on the hook portion 13. That is, the working machine 12 can be replaced with various types. Figure 1 In the embodiment, the work machine 12 is a tiller. Besides a tiller, the work machine 12 may also be a plow, a fertilizer applicator, a pesticide spreader, a harvester, a mower, a snowplow, or a landfill device such as a spoilboard. Furthermore, in this embodiment, the work machine 12 is configured to be liftable, but the work machine 12 may also be non-liftable.

[0039] The vehicle body 1 of the work vehicle 100 may have any structure other than the above-described structure, as long as it includes a traveling body and a working machine. For example, the working machine may be positioned in front of the traveling body, rather than behind the traveling body. Furthermore, the working machine may be positioned in front of or behind the traveling body.

[0040] [1-2. Remote control device]

[0041] The remote control device 2 is a device for operating the vehicle body 1. Specifically, the work vehicle 100 is a work vehicle in which the vehicle body 1 is operated using the remote control device 2. Specifically, the remote control device 2 enables an operator located at a distance from the vehicle body 1 to operate the vehicle body 1.

[0042] The remote control device 2 is configured to enable settings and operations related to manual operation of the vehicle 1. Furthermore, the remote control device 2 is configured to enable settings and operations related to automatic operation of the vehicle 1. The remote control device 2 may be, for example, a proportional controller or a mobile terminal device with a touch-panel display. In this embodiment, the remote control device 2 is a proportional controller.

[0043] Figure 2 1 is a front view showing a schematic structure of the remote control device 2 according to the embodiment of the present invention. Figure 2 As shown, the remote control device 2 includes a housing 21 , a power switch 22 , an antenna 23 , an operating lever 24 , an operating switch 25 , an operating knob 26 , and a display unit 27 .

[0044] The housing 21 constitutes the main body of the remote control device 2. The power switch 22, antenna 23, operating rod 24, operating switch 25, operating knob 26 and display unit 27 are respectively arranged at appropriate positions of the housing 21. Figure 2 The configuration shown is merely an example and can be modified as appropriate.

[0045] The power switch 22 is located in the center of the front of the housing 21 and is configured to switch the power of the remote control device 2 between on and off. The power switch 22 is, for example, a toggle switch. The power source of the remote control device 2 is, for example, a battery or dry cell battery disposed within the housing 21.

[0046] The antenna 23 is provided from the side surface of the housing 21 (at Figure 2 In the example shown, the upper side surface of the figure) is protrudingly provided to enable wireless communication with the vehicle body 1. In addition, an antenna 15a for wireless communication with the remote control device 2 is provided on the vehicle body 1 (see later). Figure 3 ). When the power of the remote operating device 2 is turned on by the power switch 22, the remote operating device 2 can communicate wirelessly with the vehicle body 1. When the power of the remote operating device 2 is turned off by the power switch 22, the remote operating device 2 cannot communicate with the vehicle body 1. In this embodiment, if communication with the remote operating device 2 becomes impossible, the moving vehicle body 1 automatically stops. That is, the power switch 22 has the function of serving as an emergency stop switch for the vehicle body 1. In addition, the emergency stop switch can also be provided separately from the power switch 22.

[0047] The operating lever 24 can be used to operate the vehicle body 1 and the working machine 12. In this embodiment, the operating lever 24 includes a first operating lever 24a and a second operating lever 24b arranged in a transverse direction with the power switch 22 interposed therebetween. Figure 2 In the example shown, the rod on the left side of the figure) can be Figure 2 The second operating lever 24b (in the middle) can tilt in two mutually orthogonal directions (F1-B1 direction and L1-R1 direction). In addition, the second operating lever 24b (in the middle) can tilt in either direction of the F1-B1 direction and in either direction of the L1-R1 direction. Figure 2 The example shown is the lever on the right side of the figure) and can also be tilted in the same direction as the first operating lever 24a. In addition, the functions of the first operating lever 24a and the second operating lever 24b described below can be interchanged.

[0048] In the present embodiment, the first operating lever 24 a and the second operating lever 24 b perform different functions depending on whether the vehicle body 1 is in the manual driving mode or the automatic driving mode.

[0049] For example, in manual travel mode, if the first operating lever 24a is tilted in the F1 direction, the vehicle body 1 can be moved forward. In manual travel mode, if the first operating lever 24a is tilted in the B1 direction, the vehicle body 1 can be moved backward. In manual travel mode, if the first operating lever 24a is tilted in the F1 or B1 direction and then tilted in the L1 direction (i.e., tilted diagonally), the vehicle body 1 can be turned left. In manual travel mode, if the first operating lever 24a is tilted in the F1 or B1 direction and then tilted in the R1 direction (i.e., tilted diagonally), the vehicle body 1 can be turned right. In addition, in manual travel mode, the work machine 12 can be raised or lowered by operating the second operating lever 24b.

[0050] In automatic driving mode, the first operating lever 24a and the second operating lever 24b function to configure settings related to automatic driving. The automatic driving settings using the operating levers 24 will be described later. Furthermore, in this embodiment, even when the vehicle body 1 is driving automatically, speed adjustment and operation of the work implement 12 are performed manually. Therefore, these operations using the operating levers 24 are the same as in manual driving mode.

[0051] For convenience of explanation, tilting the first operating lever 24a in the F1 direction will be referred to as tilting in the forward direction F1. Furthermore, tilting the first operating lever 24a in the B1 direction will be referred to as tilting in the backward direction B1. Furthermore, tilting the first operating lever 24a in the L1 direction will be referred to as tilting in the left turning direction L1. Furthermore, tilting the first operating lever 24a in the R1 direction will be referred to as tilting in the right turning direction R1.

[0052] The operation switch 25 can perform various settings related to the vehicle body 1. In this embodiment, the operation switch 25 includes a first operation switch 25a and a second operation switch 25b. The first operation switch 25a ( Figure 2 In the example shown, the side surface portion arranged on the upper right side of the figure) is composed of a momentary switch and can perform various settings related to automatic driving. The details of these will be described later. The second operating switch 25b (in Figure 2 In the example shown, the front portion (disposed on the upper left side of the figure) is composed of a toggle switch, which can switch the power transmission to the working machine 12 using the above-mentioned PTO power transmission unit to a possible state and an impossible state.

[0053] The types of the operating switches 25a and 25b described above are merely examples, and the types of the operating switches 25a and 25b can be changed as appropriate.

[0054] The operating knob 26 is arranged on the front side of the housing 21 (at Figure 2In the example shown, it is the front upper side of the figure) and can adjust the maximum speed (the upper limit of the speed) of the vehicle body 1. Specifically, two operation knobs 26 are provided. One of the two operation knobs 26 can adjust the maximum speed of the vehicle body 1 when traveling straight. The other of the two operation knobs 26 can adjust the maximum speed of the vehicle body 1 when turning.

[0055] The display unit 27 is arranged on the front surface of the housing 21 (at Figure 2 In the example shown, it is the lower front side of the figure, and displays various information to inform the operator. This information may include, for example, the positional relationship between the driving path and the vehicle body 1 during automatic driving. The display unit 27 is composed of, for example, a liquid crystal display device, an organic EL display device, or the like.

[0056] <2. Main vehicle structure related to autonomous driving>

[0057] Next, details of the structure related to the automatic driving of the vehicle body 1 of the present embodiment will be described. Figure 3 1 is a block diagram showing a schematic structure of a vehicle body 1 according to an embodiment of the present invention. Figure 3 Components necessary for explaining the features of this embodiment (mainly structures related to automatic driving) are shown, and descriptions of general components are omitted.

[0058] like Figure 3 As shown, the vehicle body 1 includes a control device 10. In other words, the work vehicle 100 includes the control device 10. For example, the control device 10 controls the automatic driving of the vehicle body 1 based on instructions from the remote control device 2.

[0059] The control device 10 is, for example, a computer device configured to include an arithmetic device, an input / output unit, and a storage unit 101. The arithmetic device is, for example, composed of a processor or a microprocessor. The storage unit 101 is a main storage device such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 101 may also include an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). Various programs and data are stored in the storage unit 101. The arithmetic device performs various functions by reading various programs from the storage unit 101 and executing arithmetic processing in accordance with the programs. The programs stored in the storage unit 101 can be provided, for example, via a computer-readable non-volatile recording medium. As another example, the program can also be provided from a program providing server via a communication line such as the Internet.

[0060] The control device 10, through the coordination of the aforementioned hardware and software, can function as a reception unit 102, a route generation unit 103, a driving mode control unit 104, a driving control unit 105, a work machine control unit 106, and a notification control unit 107. The control device 10 can be comprised of a single piece of hardware or multiple pieces of hardware capable of communicating with each other. Some of the functions of the control device 10 may also be included in the remote control device 2 or a server (not shown) capable of communicating with the vehicle body 1.

[0061] In addition, as described above, each functional unit 102 to 107 of the control device 10 can be implemented by causing the computing device to perform computing processing in accordance with the program, that is, by software, but can also be implemented by other methods. At least any one of the functional units 102 to 107 can also be implemented using, for example, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. That is, at least any one of the functional units 102 to 107 can also be implemented by hardware using a dedicated IC, etc. In addition, at least any one of the functional units 102 to 107 can also be implemented using both software and hardware. In addition, each functional unit 102 to 107 is a conceptual component. The functions performed by one component can be dispersed across multiple components. In addition, the functions possessed by multiple components can also be integrated into one component.

[0062] The control device 10 is connected to the positioning communication unit 14, the communication processing unit 15, the sensor 16, the operation unit 17, and the notification unit 18. That is, the vehicle body 1 includes the positioning communication unit 14, the communication processing unit 15, the sensor 16, the operation unit 17, and the notification unit 18.

[0063] The positioning communication unit 14 includes a positioning antenna 111e (see Figure 1 ), the positioning antenna 111e uses the positioning signal received from the positioning satellite to obtain the position of the vehicle body 1, for example, as latitude and longitude information. The positioning communication unit 14 outputs the position information of the vehicle body 1 to the control device 10. The positioning communication unit 14 receives the positioning signal from the base station (not shown) by an appropriate method, and then uses the well-known RTK-GNSS (Real Time Kinematic GNSS: Real Time Kinematic GNSS) method for positioning. In addition, the positioning communication unit 14 can also use other methods such as the DGNSS (Differential GNSS: Differential GNSS) method for positioning. In addition, the vehicle body 1 can also be a structure that replaces the positioning communication unit 14 or is provided in addition to it, for example, with a quantum compass that can be positioned.

[0064] The communication processing unit 15 communicates with the remote control device 2 via the communication antenna 15a. The communication antenna 15a is an antenna for wireless communication with the remote control device 2. For example, a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) can be used for wireless communication.

[0065] The sensor 16 detects information related to the vehicle body 1 and outputs the detected information to the control device 10. In this embodiment, the sensor 16 includes multiple sensors. Each of the multiple sensors is connected to the control device 10 so as to input a signal to the control device 10. Examples of the multiple sensors include an inertial measurement unit (IMU), an obstacle sensor, a vehicle speed sensor, and a lift position sensor.

[0066] The inertial measurement unit is a device that includes a three-axis angular velocity sensor and a three-axis acceleration sensor and is capable of measuring the posture of the vehicle body 1. The obstacle sensor is a sensor that detects obstacles around the vehicle body 1 and can be, for example, an ultrasonic sensor, a camera, radar, or LiDAR (Light Detection and Ranging). The vehicle speed sensor is a sensor that detects the speed of the vehicle body 1. The lift position sensor is a sensor that detects the lift position of the liftable work implement 12.

[0067] The operating unit 17 is configured to enable input of information to the control device 10. The operating unit 17 is configured to enable various settings related to the vehicle body 1. In this embodiment, the various settings include at least some settings related to automatic driving. Specifically, the settings related to automatic driving that can be set via the operating unit 17 include a setting for switching between enabling and disabling an automatic turning function that enables turning by automatic driving.

[0068] Specifically, the work vehicle 100 is configured to be able to switch between enabling and disabling the automatic turning function for turning by automatic driving. The vehicle body 1 includes a switching operation unit 17 for switching between enabling and disabling the automatic turning function. The switching operation unit for switching between enabling and disabling the automatic turning function may also be provided on the remote control device 2. However, by providing the switching operation unit on the vehicle body 1 rather than on the remote control device 2, as in this embodiment, it is possible to prevent the automatic turning function from being switched between enabling and disabling due to erroneous operation of the remote control device 2 during remote operation of the vehicle body 1.

[0069] The operation unit 17 is preferably disposed at an easily operable position such as the front or rear end of the traveling body 11. The operation unit 17 may include at least one of an operation button, an operation lever, an operation knob, and a touch panel.

[0070] The reporting unit 18 operates according to the instruction from the control device 10 and operates when there is a matter to be notified to the operator who operates the remote control device 2. The reporting unit 18 may be a single one or multiple ones. The reporting unit 18 may be, for example, a light emitting device, a voice output device, a display device, etc. In this embodiment, the reporting unit 18 includes a turn signal lamp 181 (see the following description) for notifying the vehicle body 1 of the turning direction. Figure 6A and Figure 6B ) Details of the report on the use of the turn signal lamp 181 will be described later.

[0071] The receiving unit 102 included in the control device 10 receives instructions from the operator using the remote control device 2. Instructions using the remote control device 2 include instructions related to automatic driving. In this embodiment, the instructions received by the receiving unit 102 also include instructions related to manual driving, such as driving instructions during manual driving.

[0072] The path generation unit 103 generates a driving path for the vehicle body 1 to automatically drive. In this embodiment, the driving path includes multiple paths arranged in parallel with each other. Specifically, each of the multiple paths is a straight path. The multiple straight paths are arranged in parallel with each other. The driving path including multiple straight paths (specifically, the automatic driving operation path) is generated, for example, as follows.

[0073] When generating the driving route, first the baseline KS1 (refer to Figure 4 ) settings. Figure 4 This is a diagram for explaining an example of a method of setting the reference line KS1. Figure 4 The left figure of FIG. 1 is a diagram illustrating the movement of the vehicle body 1 when the reference line KS1 is generated. Figure 4 The right figure is a schematic diagram of the generated baseline KS1 and the driving path KS2 generated based on the baseline KS1. In addition, the setting method of the baseline KS1 can also be Figure 4 Methods other than those shown.

[0074] When setting the reference line KS1, first, the vehicle body 1 is moved to an appropriate position (point A in the figure) of the work target site (a field in this embodiment) by manual driving, and point A registration is performed using the remote control device 2. In this embodiment, the movement of the vehicle body 1 by manual driving is performed using the first operating lever 24a of the remote control device 2 (see Figure 2) is performed. In addition, the A point registration using the remote control device 2 uses the first operating switch 25a (refer to Figure 2 ). By operating the first operating switch 25a, the receiving unit 102 receives the point A registration. Then, the route generating unit 103 registers the position of the vehicle body 1 obtained by the positioning communication unit 14 at the time when the point A registration is set as the position of point A.

[0075] Once point A registration has been completed, the operator manually drives the vehicle body 1 straight ahead using the remote control device 2 (specifically, the first operating lever 24a) to move it to the target position (point B in the figure). Then, when the vehicle body 1 reaches the target position, point B registration is performed using the remote control device 2. Point B registration using the remote control device 2 is performed using the first operating switch 25a. Specifically, assuming that point A registration has already been completed, if the first operating switch 25a is operated in the same manner as for point A registration, the acceptance unit 102 accepts point B registration. The path generation unit 103 then registers the position of the vehicle body 1, as determined by the positioning communication unit 14 at the time point B registration was set, as the position of point B.

[0076] When the positions of points A and B are registered, a straight line passing through points A and B is set as the baseline KS1. In this embodiment, the same switch (first operating switch 25a) is used for the registration of points A and B, but this is merely an example, and the switch for registering point A and the switch for registering point B may be provided separately on the remote control device 2. Alternatively, the baseline may be, for example, a straight line parallel to the front-to-back direction of the vehicle body 1 (the vehicle's orientation) at the time of registration of point A and passing through point A. Alternatively, the baseline may be, for example, a straight line passing through point A and parallel to the set orientation. In the case of the two baseline setting methods described above as variations, registration of point B is unnecessary.

[0077] When the reference line KS1 is set, the path generation unit 103 arranges a plurality of lines KS2 ( KS2 ) parallel to the reference line KS1 at predetermined intervals. Figure 4 In the embodiment, the automatic driving operation path is a straight path, but it can also be a curved path.

[0078] The driving mode control unit 104 controls the switching between manual driving mode and automatic driving mode. Specifically, the work vehicle 100 includes a control device 10 that switches between an automatic driving mode, in which the vehicle is driven automatically, and a manual driving mode, in which the vehicle is driven manually. Furthermore, in this embodiment, in manual driving mode, the operator uses the remote control device 2 to control the driving of the vehicle body 1 and the operation of the work implement 12. Furthermore, in automatic driving mode, the steering of the vehicle body 1 is automatically performed, while the operator uses the remote control device 2 to control the speed of the vehicle body 1 and the operation of the work implement 12.

[0079] For example, when the receiving unit 102 receives a driving mode switch instruction from the operator using the first operating switch 25a, the driving mode control unit 104 switches the driving mode. Specifically, when the vehicle body 1 is in manual driving mode, the driving mode control unit 104 switches from the manual driving mode to the automatic driving mode upon receiving the driving mode switch instruction via the receiving unit 102. Alternatively, when the vehicle body 1 is in automatic driving mode, the driving mode control unit 104 switches from the automatic driving mode to the manual driving mode upon receiving the driving mode switch instruction via the receiving unit 102.

[0080] Furthermore, in this embodiment, the driving mode switch instruction is a single press of the first operating switch 25a. As mentioned above, the first operating switch 25a is also used to instruct the registration of points A and B. However, in this case, a double press of the first operating switch 25a is used to distinguish it from the driving mode switch instruction. Specifically, two presses of the first operating switch 25a before registering point A register point A, while two presses of the first operating switch 25a after registering point A register point B. However, these instruction operations are merely examples. For example, a configuration may also be employed in which the driving mode switch instruction is performed by pressing the first operating switch 25a twice, while the registration instructions for points A and B are performed by pressing the first operating switch 25a once. Furthermore, the switch used for the driving mode switch instruction may be a separate switch from the switch used to instruct the registration of points A and B.

[0081] The driving control unit 105 controls the driving system of the vehicle 1 according to the driving mode. When the driving mode is manual, the driving control unit 105 controls the driving system of the vehicle 1 according to instructions from the remote control device 2. When the driving mode is automatic, the driving control unit 105 automatically controls at least a portion of the driving system of the vehicle 1. In this embodiment, the driving control unit 105 automatically controls steering (automatic steering) so that the vehicle 1 travels along a predetermined path. During automatic steering control, the position and orientation of the vehicle 1 are determined based on information obtained from the positioning communication unit 14 and the inertial measurement device included in the sensor 16. Based on the positional relationship between the determined position of the vehicle 1 and the predetermined driving path for automatic driving (the driving path generated by the path generation unit 103), calculations related to automatic steering are performed, and steering control is performed according to the calculation results.

[0082] The work machine control unit 106 controls the work system of the vehicle body 1 based on instructions from the remote control device 2. Control of the work system of the vehicle body 1 includes, for example, controlling the raising and lowering of the work machine 12 and switching the power transmission state to the work machine 12 using the PTO power transmission unit. Furthermore, the work machine control unit 106 may be configured to control the work system of the vehicle body 1 based on the driving mode. Specifically, in the automatic driving mode, the work machine control unit 106 may be configured to automatically control the operation of the work machine 12.

[0083] The notification control unit 107 controls the operation of the notification unit 18. The notification control unit 107 causes the notification unit 18 to perform the notification operation according to the arrival of the timing for notification. In this embodiment, the notification control unit 107 controls the turn signal 181 (see Figure 6A etc.) work control.

[0084] <3. Automatic driving method>

[0085] Next, the method for automatically driving the work vehicle 100 (automatic driving method) according to this embodiment will be described. In this embodiment, the automatic driving method for the work vehicle 100 is implemented by causing a computer (control device 10) to execute computational processing in accordance with a program. In other words, the program that causes the computer to execute the automatic driving method causes the computer to function as a means for performing the operations described below.

[0086] Figure 5 This is a flowchart illustrating the process of the automatic driving method according to the embodiment of the present invention. Figure 5The processing shown is performed when the vehicle body 1 and the remote control device 2 are in a state where they can communicate with each other. Figure 5 The illustrated processing is executed when the main vehicle body 1 is present at a work target location such as a field.

[0087] In step S1, the control device 10 (specifically, the route generation unit 103) sets a driving route for the vehicle body 1 to automatically drive. As described above, the driving route for the vehicle body 1 to automatically drive is generated when a point A registration instruction and a point B registration instruction have been issued using the remote control device 2. The generated driving route is set as the driving route for automatic driving. With the driving route set, the process proceeds to the next step S2.

[0088] In step S2, the control device 10 (specifically, the receiving unit 102) monitors whether an instruction for automatic driving has been issued by the operator. In this embodiment, as described above, the instruction for automatic driving is issued by the operator pressing the first operating switch 25a of the remote operating device 2 once. Upon receiving this operation, the control device 10 determines that an instruction for automatic driving has been issued. If it is determined that an instruction for automatic driving has been issued (Yes in step S2), the process proceeds to the next step S3. If it is not determined that an instruction for automatic driving has been issued (No in step S2), the process continues with step S2.

[0089] In step S3, the control device 10 (specifically, the driving mode control unit 104) switches the driving mode to the automatic driving mode. Thus, the automatic driving mode starts. If the automatic driving mode starts, the process proceeds to the next step S4. In addition, in the present embodiment, at the start of the automatic driving mode, the vehicle body 1 is located at one end of a straight path among the plurality of straight paths included in the driving path for automatic driving. This end is, for example, the baseline KS1 (refer to Figure 4 ). The vehicle body 1 is moved to this end by manual driving using the remote control device 2. Movement based on this manual driving is, for example, a turning movement in which the vehicle body 1 is reversed from point B.

[0090] However, this is merely an example; at the start of the automatic driving mode, the vehicle body 1 may be at point B, which is one end of the reference line KS1. When the vehicle body 1 is at point B, automatic turning is performed before the automatic straight driving described below. This automatic turning is performed by sequentially performing the first operation (see steps S5 and S10) and the second operation (see step S11) using the remote control device 2, as described below.

[0091] In step S4, the control device 10 (specifically, the driving control unit 105) starts automatic steering control (automatic straight driving control) so that the vehicle body 1 drives along the straight path set as the path for automatic driving. In the automatic straight driving control, the vehicle body 1 is moved in the forward direction F1 (see FIG. 1 ) by the operator using the first operating lever 24a of the remote operating device 2. Figure 2 ) is tilted to automatically travel straight ahead. The travel speed of the vehicle body 1 is adjusted according to the tilting amount of the first operating lever 24a in the forward direction F1. If the automatic straight ahead control is started, the process proceeds to the next step S5.

[0092] Furthermore, during automatic straight travel control, the work implement 12 is manually operated as needed using the remote control device 2. Furthermore, the work implement 12 is preferably lowered to an operable position manually using the remote control device 2 at the start of automatic straight travel control. This allows for smooth commencement of automatic travel using the work implement 12 simultaneously with the start of automatic straight travel.

[0093] In step S5, the control device 10 (specifically, the receiving unit 102) determines whether the remote control device 2 has a first operation indicating a turning direction. In this embodiment, when the remote control device 2 has a first operation instructing a turning direction L1, R1 (see FIG. 1 ), the first operation lever 24a is moved in the turning direction L1, R1 (see FIG. 1 ). Figure 2 ) is tilted in the left turning direction L1, the control device 10 determines that the first operation is present. In detail, if the first operating lever 24a is tilted in the left turning direction L1, the control device 10 receives the turning instruction to the left. If the first operating lever 24a is tilted in the right turning direction R1, the control device 10 receives the turning instruction to the right. According to the above description, it can be seen that the remote operating device 2 has an operating lever 24a for performing the first operation. In addition, in the automatic driving method of this embodiment, the first operation of accepting the turning instruction based on the remote operating device 2 is performed. If it is determined that the first operation is present (yes in step S5), the processing proceeds to step S7. If it is determined that the first operation does not exist (no in step S5), the processing proceeds to step S6.

[0094] In step S6, the control device 10 (e.g., the receiving unit 102) determines whether the state of automatic driving is terminated. For example, when there is a switch instruction to manual driving using the first operating switch 25a, it is determined that the state of automatic driving is terminated. In addition, when the communication between the vehicle body 1 and the remote operating device 2 is disconnected, it is determined that the state of automatic driving is terminated. When it is determined that the state of automatic driving is terminated (yes in step S6), Figure 5The process shown ends. Alternatively, the process may be configured to return to the process of step S1 or step S2 instead of ending the process. If it is determined that the automatic driving state is not ended (No in step S6), the process returns to step S5.

[0095] In step S7, the control device 10 (e.g., the receiving unit 102) determines whether the automatic turning function is set to be valid. In addition, as described above, the operator uses the operating unit 17 (see Figure 3 ) is preset. If the automatic turning function is valid (Yes in step S7), the process proceeds to step S9. If the automatic turning function is invalid (No in step S7), the process proceeds to step S8.

[0096] In step S8, the control device 10 (specifically, the driving mode control unit 104) switches the driving mode from the automatic driving mode to the manual driving mode. As a result, the control device 10 (specifically, the driving control unit 105) performs manual driving in accordance with the instructions of the remote control device 2. In other words, when the automatic turning function is disabled, the vehicle body 1 switches from the automatic driving mode to the manual driving mode in accordance with the first operation, and turns in accordance with the first operation. Specifically, if the first operation in step S5 is an operation to instruct a left turn (an operation to tilt the first operating lever 24a in the left turning direction L1), the vehicle body 1 switches to the manual driving mode and performs a left turn in accordance with the instructions from the remote control device 2. If the first operation in step S5 is an operation to instruct a right turn (an operation to tilt the first operating lever 24a in the right turning direction R1), the vehicle body 1 switches to the manual driving mode and performs a right turn in accordance with the instructions from the remote control device 2. When the main vehicle body 1 is automatically traveling straight, the operator can forcibly terminate the automatic traveling straight and manually turn the main vehicle body 1 .

[0097] In addition, if the processing of step S8 is completed, Figure 5 The shown process ends. Figure 5 The two marks "A" shown in the figure are merely symbols for convenience in indicating that the two are connected. In addition, the process may be configured to return to the process of step S1 or step S2 instead of ending the process.

[0098] In step S9, the control device 10 (specifically, the notification control unit 107) causes the notification unit 18 (see Figure 3) reporting process. That is, the vehicle body 1 includes a reporting unit 18 that reports based on the first operation (see step S5). By configuring the reporting unit 18 to report based on the first operation, the operator who instructs the vehicle body 1 using the remote operation device 2 can easily understand what instructions the operator has issued through the first operation.

[0099] Specifically, the control device 10 controls the turn signal lamp 181 included in the notification unit 18 to perform the notification operation. Figure 6A and Figure 6B This will be described in further detail. Figure 6A and Figure 6B 1 is a diagram for explaining the reporting action performed by the vehicle body 1 in conjunction with the first operation. Figure 6A and Figure 6B In , the traveling direction of the vehicle body 1 observed by the operator 200 is different. Figure 6A and Figure 6B In the example, if the vehicle body 1 is used as the reference, the vehicle body 1 is moving forward. However, if the operator 200 is used as the reference, Figure 6A In the process, the vehicle body 1 moves away from the operator 200. Figure 6B , the vehicle body 1 moves in a direction toward the operator 200 .

[0100] As described above, the turn signals 181 are lights that notify the vehicle body 1 of the direction it is turning and are installed on the left and right sides of the vehicle body 1. Specifically, the turn signals 181 are installed at the front and rear of the vehicle body 11 so that the turn signals 181 are easily visible even when the vehicle body 1 is viewed from different directions by the operator 200. More specifically, a left turn signal 181L is installed at the front and rear of the left side of the vehicle body 11, and a right turn signal 181R is installed at the front and rear of the right side of the vehicle body 11.

[0101] exist Figure 6A and Figure 6B In FIG, the hollow solid arrow indicates that the first operation using the first operating lever 24a is performed. Figure 6A and Figure 6B In each of the , there are two hollow solid arrows indicating the first operation arranged one above the other. The first operation on the upper side is to tilt the first operating lever 24a in the left turning direction L1 to indicate a left turn, and the first operation on the lower side is to tilt the first operating lever 24a in the right turning direction R1 to indicate a right turn. Figure 6A and Figure 6B In FIG, the vehicle body 1 shown on the right side of each hollow solid arrow represents the state of the vehicle body 1 after each first operation.

[0102] The control device 10 makes the turn signal lamp 181 light up in the direction of the turn indicated by the first operation. Figure 6A and Figure 6B As shown in the upper right side of the figure, the left turn signal 181L is illuminated. In addition, when the first operation is an instruction to turn right, as shown in FIG. Figure 6A and Figure 6B As shown in the lower right side of the figure, the right turn signal lamp 181R is illuminated. Figure 6A and Figure 6B In FIG. 1 , the state in which the turn signal lamp 181 is emitting light is indicated by black, and the state in which the turn signal lamp 181 is not emitting light is indicated by white.

[0103] Compare Figure 6A and Figure 6B As can be seen from the perspective of operator 200, even if the same left (or right) turn instruction is given, the vehicle body 1 will turn in opposite directions when the vehicle body 1 approaches and moves away from the operator. Therefore, an operator who is not accustomed to operating the remote control device 2 may mistake the turn direction. To address this, in this embodiment, the turn signal 181 in the direction indicated by the operator's instruction is illuminated upon the first operation. This allows the operator 200 to instantly determine which direction the vehicle body 1 intends to turn from their perspective. This allows the operator to immediately confirm whether the turn instruction they have given is correct.

[0104] The turn signal lamp 181 may be illuminated simply or flashed, for example. Furthermore, at step S9, the vehicle 1 has not yet begun automatic turning, and is in a standby state for automatic turning. Specifically, before the automatic turning begins, the operator 200 can confirm through the first operation whether the turn instruction they issued is correct.

[0105] In this embodiment, the vehicle body 1 utilizes light emission as a notification means for receiving a turn direction instruction. However, a configuration may also utilize other means such as voice in place of or in addition to light emission. For example, a voice message such as "Turn in the direction of the illuminated turn signal" may be outputted from at least one of the vehicle body 1 and the remote control device 2 in conjunction with the illumination of the turn signal 181.

[0106] Furthermore, when turning in manual driving mode by the process of step S8, the turning direction is also notified, so the turn signal lamp 181 is illuminated in accordance with the turning direction.

[0107] return Figure 5 If the report processing of step S9 is completed, the processing proceeds to the next step S10.

[0108] In step S10, the control device 10 (specifically, the receiving unit 102) determines whether there is a first operation different from the previous first operation (for example, the first operation of step S5) in the remote operation device 2. The different first operation is a first operation that indicates a turning direction different from the previous first operation. For example, in a case where the previous first operation is a first operation indicating a left turn, the first operation indicating a right turn is a different first operation. In addition, for example, in a case where the previous first operation is an operation indicating a right turn, the first operation indicating a left turn is a different first operation. In the case where it is determined that there is a different first operation (yes in step S10), the processing returns to step S9. In the case where it is determined that there is no different first operation (no in step S10), the processing proceeds to step S11.

[0109] In addition, when the different first operations are repeated multiple times rather than just once, the operator may be confused about the turn instruction. Therefore, when the different first operations are repeated multiple times, for safety reasons, the driving of the vehicle body 1 may also be automatically stopped.

[0110] In step S11, the control device 10 (specifically, the receiving unit 102) determines whether there is a second operation following the first operation in the remote operating device 2. In the present embodiment, when there is an operation of pressing the first operating switch 25a in the remote operating device 2 (for example, an operation of pressing it once), the control device 10 determines that there is a second operation. The second operation is an operation to instruct the execution (start) of automatic turning. As can be seen from the above description, the remote operating device 2 has an operation switch 25a for performing a second operation. If it is determined that there is a second operation (yes in step S11), the process proceeds to step S13. If it is determined that there is no second operation (no in step S11), the process proceeds to step S12.

[0111] In step S12, the control device 10 (specifically, the receiving unit 102) determines whether a predetermined time has elapsed since the first operation (or, if a different first operation) was determined to have occurred. If the predetermined time has elapsed (yes in step S12), the process proceeds to step S6 described above. If the predetermined time has not elapsed (no in step S11), the process returns to step S10 described above.

[0112] In step S13, the control device 10 (more specifically, the driving control unit 105) starts automatic turning control. Specifically, the control device 10 causes the vehicle body 1 to start turning based on automatic driving (automatic turning driving). That is, a first operation and a second operation following the first operation are performed on the remote operating device 2, whereby the vehicle body 1 starts automatic turning driving. The automatic driving method of this embodiment executes a second operation following the first operation on the remote operating device 2 to cause the vehicle body 1 to start turning based on automatic driving. More specifically, when the automatic driving mode is selected by the control device 10, if the first operation and the second operation are performed, the vehicle body 1 starts automatic turning driving.

[0113] In this configuration, a two-stage operation is required to initiate automatic turning, thus preventing automatic turning from being initiated at an unintended time due to misoperation. Furthermore, the vehicle body 1 receives the turning direction indicated during the initial operation (first operation) of the two-stage operation, allowing the operator to be informed of the intended direction of the turn during automatic turning on the vehicle body 1 side. In other words, after the initial operation (first operation), the operator can confirm the direction in which automatic turning will begin based on their instructions, and then initiate automatic turning through the next operation (second operation). This prevents automatic turning from being initiated in the wrong direction.

[0114] In addition, as can be seen from the above, in this embodiment, the action of the vehicle body 1 after the first operation is different depending on whether the automatic turning function is valid or invalid. In detail, when the automatic turning function is valid, the vehicle body 1 waits for the second operation after the first operation to start turning based on automatic driving. In addition, as described above, when the automatic turning function is invalid, the vehicle body 1 changes from the automatic driving mode to the manual driving mode along with the first operation, and turns in accordance with the first operation. According to the pre-setting of the operating unit 17 provided in the vehicle body 1, the same operation (first operation) in the remote operating device 2 can be made to perform different functions. Therefore, without increasing the number of operating units in the remote operating device 2 as much as possible, the operator's options related to the method of using the work vehicle 100 can be increased.

[0115] Once automatic turning control is initiated, the vehicle body 1 automatically turns under the control of the control device 10 (travel control unit 105). Automatic turning refers to a state in which the vehicle is turning by autonomously controlling at least the steering operation by the control device 10, which controls travel-related devices. Control of the speed during turning and the work implement 12 may or may not be autonomous. In this embodiment, automatic turning refers to a state in which the vehicle is turning by autonomously controlling only the steering operation.

[0116] During automatic turning, the first operating lever 24a of the remote control device 2 is tilted in the forward / reverse direction F1-R1 to initiate automatic turning. For example, tilting the first operating lever 24a in the forward direction F1 causes the vehicle body 1 to automatically turn while moving forward. Furthermore, at the start of automatic turning, the work machine 12 is preferably manually placed in a non-operating state. Examples of this non-operating state include when the work machine 12 is raised to a height where it cannot operate, or when power is not being transmitted to the work machine 12.

[0117] Automatic turning can be a configuration in which the vehicle turns along a turning path generated based on the settings of the remote operating device 2 or the like. However, this is not limiting, and the automatic turning can also be a configuration in which the vehicle turns with a pre-set turning radius. Alternatively, the operator can select the turning radius. For example, the operator can select a turning radius setting (e.g., "large," "medium," "small," etc.), and the vehicle automatically turns with a turning radius corresponding to the selected setting. In this embodiment, the automatic turning is performed along a turning path generated based on the settings of the remote operating device 2 or the like.

[0118] Furthermore, during automatic turning, the turn signal lamp 181 illuminates to indicate the direction of the turn. The illumination pattern of the turn signal lamp 181 in this state may be the same as or different from the illumination pattern of the turn signal lamp 181 during the notification process in step S9. For example, the turn signal lamp 181 may flash during the turn standby state (the state during the notification process in step S9), and illuminate after the automatic turn is initiated.

[0119] When the process of step S13 (start of automatic turning travel) is completed, the process proceeds to the next step S14.

[0120] In step S14, the control device 10 (more specifically, the driving control unit 105) monitors whether the automatic turning driving has been completed. In this embodiment, the completion of the automatic driving is a state in which the driving of the set turning path is completed and the next straight path can be entered. This state can be determined, for example, using information obtained from the positioning communication unit 14 and the inertial measurement device. If it is determined that the automatic turning driving is completed (yes in step S14), the process returns to step S4 to start automatic straight driving control, and the above-mentioned steps S4 and subsequent processes are repeated. If it is not determined that the automatic turning driving is completed (no in step S14), the process of step S14 is continued.

[0121] By the control process described above, the main vehicle body 1 repeats working travel on a straight path and non-working travel on a curve path by automatic travel, thereby completing work at a work target location such as a field.

[0122] <4. Precautions, etc.>

[0123] The various technical features disclosed in this specification can be modified in various ways without departing from the spirit of the technical creation. In addition, the multiple embodiments and modifications shown in this specification can be combined and implemented within the possible range.

[0124] <5. Notes>

[0125] (The first structure) can be constructed as follows: the exemplary working vehicle of the present invention comprises: a vehicle body, which is configured to be able to perform automatic driving that can at least automatically perform steering operations; and a remote operating device, which operates the above-mentioned vehicle body, and in the above-mentioned remote operating device, a first operation indicating the turning direction and a second operation following the above-mentioned first operation are performed, so that the above-mentioned vehicle body starts turning based on the above-mentioned automatic driving.

[0126] (The second structure) can be constructed as follows: the working vehicle of the above-mentioned first structure has a control device for switching between an automatic driving mode for performing the above-mentioned automatic driving and a manual driving mode for driving by manual operation. When the above-mentioned automatic driving mode is selected by the above-mentioned control device, if the above-mentioned first operation and the above-mentioned second operation are performed, the above-mentioned vehicle body starts turning based on the above-mentioned automatic driving.

[0127] (Third Configuration) In the work vehicle having the first or second configuration, the remote control device may include an operating lever for performing the first operation and an operating switch for performing the second operation.

[0128] (Fourth Configuration) In the work vehicle of any one of the first to third configurations, the vehicle body may include a reporting unit that issues a report based on the first operation.

[0129] (The fifth structure) can be constructed as follows: a working vehicle of any one of the first to fourth structures is set to be able to switch between the validity and invalidity of an automatic turning function, wherein the automatic turning function is a function of turning through the above-mentioned automatic driving, and the action of the above-mentioned vehicle body after the above-mentioned first operation is different depending on whether the above-mentioned automatic turning function is valid or invalid.

[0130] (Sixth structure) It can be constructed as follows: in the working vehicle of the above-mentioned fifth structure, when the above-mentioned automatic turning function is valid, if the above-mentioned first operation and the above-mentioned second operation are performed, the above-mentioned vehicle body starts turning based on the above-mentioned automatic driving; when the above-mentioned automatic turning function is invalid, the above-mentioned vehicle body changes from the automatic driving mode of the above-mentioned automatic driving to the manual driving mode through the above-mentioned first operation, and performs turning in accordance with the above-mentioned first operation.

[0131] (Seventh Configuration) In the work vehicle of the fifth or sixth configuration, the vehicle body may include a switching operation unit for switching between enabling and disabling the automatic turning function.

Claims

1. A working vehicle, characterized in that: have: A vehicle body configured to be capable of automatic travel in which at least steering is automatically performed; and A remote operating device for operating the vehicle body. The remote control device performs a first operation for instructing a turning direction and a second operation following the first operation, whereby the vehicle body starts turning by the automatic driving.

2. The work vehicle according to claim 1, characterized in that: A control device is provided for switching between an automatic driving mode for performing the automatic driving and a manual driving mode for performing the driving by manual operation, When the automatic travel mode is selected by the control device, if the first operation and the second operation are performed, the vehicle body starts turning by the automatic travel.

3. The work vehicle according to claim 1 or 2, characterized in that: The remote control device comprises: an operating lever for performing the first operation; and Operate the switch to perform the second operation.

4. The work vehicle according to claim 1 or 2, characterized in that: The vehicle body includes a reporting unit that issues a report based on the first operation.

5. The work vehicle according to claim 1 or 2, characterized in that: The automatic turning function is configured to be switchable between valid and invalid, wherein the automatic turning function is a function of turning by the automatic driving. The behavior of the vehicle body after the first operation differs depending on whether the automatic turning function is enabled or disabled.

6. The work vehicle according to claim 5, characterized in that: When the automatic turning function is enabled, if the first operation and the second operation are performed, the vehicle body starts turning based on the automatic driving. When the automatic turning function is disabled, the vehicle body switches from the automatic driving mode for performing the automatic driving to the manual driving mode through the first operation, and turns in accordance with the first operation.

7. The work vehicle according to claim 5, characterized in that: The vehicle body includes a switching operation unit for switching between enabling and disabling the automatic turning function.

8. An automatic driving method for a work vehicle in which a main body of the vehicle is controlled by a remote operating device, characterized in that: implement: receiving a first operation indicating a turning direction by the remote operation device; and The vehicle body starts turning by the automatic driving by a second operation performed by the remote operation device following the first operation.

9. A program for causing a computer to execute a method for automatically driving a work vehicle, wherein the work vehicle is operated by a remote operating device, wherein: The computer is caused to function as a unit that: accepting a first operation of instructing a turning direction by the remote operation device; and The vehicle body starts turning by the automatic driving by a second operation performed by the remote operation device following the first operation.

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