Automatic travel method, replenishment position setting method, automatic travel program, and automatic travel system

Abstract

Provided are an automatic travel method, a replenishment position setting method, an automatic travel program, and an automatic travel system with which it is possible to easily set, at an appropriate position, a replenishment position of a work vehicle that performs a work of supplying materials while performing automatic travel. The travel processing unit (111) causes the work vehicle (10) to travel automatically in accordance with the target route in the work area. The work processing unit (112) executes work for supplying materials to be mounted on the work vehicle (10) to the work area during the automatic travel. An acquisition processing unit (113) acquires a monitoring result from a material-of-material monitoring unit (171) that monitors the remaining amount of material of material and / or the consumption amount of material of material in a work vehicle (10). The setting processing unit (114) sets, on the basis of the monitoring result, a replenishment position at which materials are replenished to the work vehicle (10) with respect to a start position of travel or work set in the work area and a travel direction on a first travel path in which the work vehicle (10) is currently traveling.

Description

Technical Field

[0001] The present invention relates to an automatic driving method, a supply position setting method, an automatic driving program, and an automatic driving system for performing an operation of supplying materials while a work vehicle automatically drives in a work area. Background Art

[0002] Systems are known that automatically drive a work vehicle along a target route in a field and cause a work machine mounted on the work vehicle to perform predetermined operations. For example, a known technology is one in which a rice transplanter that automatically drives along a target route while transplanting rice seedlings sets a user-selected edge of the field as a supply edge for supplying materials (rice seedlings), and performs the supply operation at the selected supply edge (see, for example, Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2021-108620 Summary of the Invention

[0006] However, in the prior art, the user must pre-set the supply side, which is time-consuming and labor-intensive. In addition, the supply side set by the user is sometimes inappropriate due to the driving state of the work vehicle or the consumption status of materials.

[0007] The object of the present invention is to provide an automatic driving method, a supply position setting method, an automatic driving program, and an automatic driving system that can easily set the material supply position of a work vehicle that performs material supply operations while driving automatically to an appropriate position.

[0008] The automatic driving method involved in the present invention performs the following steps: causing a work vehicle to automatically drive along a target path in a work area; performing an operation of supplying materials carried on the work vehicle to the work area during automatic driving; obtaining monitoring results from a monitoring unit that monitors at least one of the remaining amount of the materials in the work vehicle and the consumption of the materials; and setting a supply position for supplying the materials to the work vehicle based on the monitoring results, a start position for driving or working set for the work area, and a travel direction on the first driving path on which the work vehicle is currently traveling.

[0009] Furthermore, the present invention relates to a method for setting a supply position for a work vehicle that supplies materials to a work area while autonomously traveling along a target route within the work area. The method comprises the following steps: obtaining a travel start position for the work vehicle during a work operation to register the work area, when teaching the vehicle to travel along the periphery of the work area; and setting the outer periphery of the work area corresponding to the travel start position as the supply position.

[0010] In addition, the automatic driving program involved in the present invention is used to enable one or more processors to perform the following steps: automatically driving the work vehicle along the target path in the work area; performing the operation of supplying materials carried on the work vehicle to the work area during automatic driving; obtaining monitoring results from a monitoring unit that monitors at least one of the remaining amount of the materials in the work vehicle and the consumption of the materials; and setting a supply position for supplying the materials to the work vehicle based on the monitoring results, the start position of driving or working set for the work area, and the travel direction on the first driving path on which the work vehicle is currently traveling.

[0011] In addition, the automatic driving system according to the present invention includes a driving processing unit, an operation processing unit, an acquisition processing unit, and a setting processing unit. The driving processing unit causes the work vehicle to automatically drive along a target path in a work area. The operation processing unit performs an operation of supplying materials mounted on the work vehicle to the work area during automatic driving. The acquisition processing unit obtains monitoring results from a monitoring unit that monitors at least one of the remaining amount of the materials in the work vehicle and the amount of material consumption. The setting processing unit sets a supply position for supplying the materials to the work vehicle based on the monitoring results, a start position for driving or starting an operation set for the work area, and a travel direction on the first driving path currently being traveled by the work vehicle.

[0012] Effects of the Invention

[0013] According to the present invention, an automatic driving method, a supply position setting method, an automatic driving program, and an automatic driving system can be provided, which can easily set the material supply position of a work vehicle that performs material supply operations while automatically driving to an appropriate position. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention.

[0015] Figure 2A It is a side view which shows an example of the working vehicle (rice transplanter) which concerns on embodiment of this invention.

[0016] Figure 2B It is a top view which shows an example of the working vehicle (rice transplanter) which concerns on embodiment of this invention.

[0017] Figure 3 This is a diagram showing an example of a field and a target route according to an embodiment of the present invention.

[0018] Figure 4 This is a schematic diagram showing an example of a field registration method according to an embodiment of the present invention.

[0019] Figure 5 This is a diagram showing an example of a driving method of a work vehicle according to an embodiment of the present invention.

[0020] Figure 6 It is a diagram showing another example of the driving method of the work vehicle according to the embodiment of the present invention.

[0021] Figure 7 This is a diagram showing an example of a menu screen displayed on the operation terminal according to the embodiment of the present invention.

[0022] Figure 8 This is a diagram showing an example of a field measurement screen displayed on the operation terminal according to the embodiment of the present invention.

[0023] Figure 9 This is a diagram showing an example of a field measurement screen displayed on the operation terminal according to the embodiment of the present invention.

[0024] Figure 10 This is a flowchart showing an example of a procedure of a field registration process executed by the automatic driving system according to the embodiment of the present invention.

[0025] Figure 11 This is a flowchart showing an example of the procedure of an automatic driving process executed by the automatic driving system according to the embodiment of the present invention.

[0026] Figure 12 It is an external view showing the structure of an operation terminal according to an embodiment of the present invention.

[0027] Figure 13 It is a diagram showing another example of the driving method of the work vehicle according to the embodiment of the present invention.

[0028] Description of Reference Numerals

[0029] 1: Automatic driving system, 10: Work vehicle, 11: Vehicle control device, 12: Storage unit, 13: Vehicle body, 14: Work machine, 15: Communication unit, 16: Positioning unit, 17: Obstacle monitoring unit, 171: Material monitoring unit, 19: Preparatory seedling platform, 35: Seedling loading platform, 20: Operation terminal, 21: Operation control unit, 22: Storage unit, 23: Operation display unit, 24: Communication unit, 111: Driving processing unit, 112: Work processing unit, 113: Acquisition processing unit, 114: Setting processing unit, 211: Setting Processing unit, 212: Output processing unit, D1: Menu screen, D2: Field measurement screen, D3: Field registration screen, F: Field (work area), S: Driving start position, G: Driving end position, L1: Bottom, N1: Communication network, P1: Supply preparation point, P2: Supply position, P3: Supply position (specific supply position), R: Target path, Ra1: Work path (first driving path), Ra2: Work path (first driving path), Rh: Recharge path, Rt: Teaching driving path, S0: Teaching driving start position DETAILED DESCRIPTION

[0030] The following embodiments are examples for realizing the present invention, and do not limit the technical scope of the present invention.

[0031] like Figure 1 As shown, an automatic driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN.

[0032] The present invention can be applied to a work vehicle that performs operations such as supplying materials to a field. In this embodiment, the case where the work vehicle 10 is a rice transplanter is described as an example. In addition, as another embodiment, the work vehicle 10 may also be a tractor or the like. The work vehicle 10 is an automatically driven vehicle having a structure capable of automatically driving (autonomous driving) in a pre-registered field. For example, an operator (user) registers the field of the work object and sets a driving path (target path) for the work vehicle 10 to automatically drive for the field. The work vehicle 10 automatically drives according to the target path pre-set for the field based on the position information of the current position of the work vehicle 10 calculated by the positioning unit 16. In addition, the work vehicle 10 can perform prescribed operations (such as planting seedlings) while automatically driving in the field.

[0033] For example, the work vehicle 10 Figure 3 The vehicle automatically travels along the target route R in the field F shown. Figure 3The field F shown includes an inner area Fa and a headland area Fb (outer area), and a field border A1 (ridge, etc.) is formed on the outside of the field F in a manner that surrounds the periphery. In the field F, an entrance and exit for the work vehicle 10 is formed, and the entrance and exit is connected to the road. The road can be an agricultural road or an ordinary road. For example, when performing work, the work vehicle 10 travels on the road (manually or automatically) and moves from a specified storage place to the field F. In the field F, a target path R containing multiple work paths is pre-set. For example, a work path Ra that travels back and forth in parallel from the travel start position S is set in the inner area Fa, and a work path Rb that travels in a spiral shape (circling) on ​​the periphery toward the travel end position G is set in the headland area Fb.

[0034] The work vehicle 10 starts to travel automatically from the travel start position S and works while traveling back and forth along the work path Ra in the inner area Fa. In addition, the work vehicle 10 works while traveling around along the work path Rb in the headland area Fb until the travel end position G.

[0035] Here, the work route Rb of the headland area Fb is set based on the number of work strokes. Figure 3 The working path Rb is shown when the number of working strokes is 2, but the number of working strokes of the working path Rb may also be 1. Figure 3 In the work route Rb shown, work vehicle 10 performs work while circling headland area Fb twice. The width of headland area Fb is set to correspond to the number of work strokes. Therefore, when the number of work strokes is two, the width of headland area Fb is approximately twice the working width of work vehicle 10.

[0036] The target path R is not limited to Figure 3 The path shown can be appropriately set according to the shape of the field F, the content of the work, etc. For example, the target path R can be appropriately set according to the number of work strokes in the headland area Fb or the width of the headland area Fb.

[0037] The work vehicle 10 that performs the planting operation is equipped with rice seedlings as materials. The work vehicle 10 plants the rice seedlings while automatically traveling along the target path R. Here, if the rice seedlings carried on the work vehicle 10 are insufficient, it is necessary to interrupt the operation and move the work vehicle 10 to a specified location to replenish the rice seedlings. Until now, the side (supply side) where the user performs the replenishment operation has been pre-set on each side of the field. In this method, the user needs to operate and is therefore time-consuming and laborious. In addition, the replenishment side set by the user is sometimes inappropriate due to the driving state of the work vehicle 10 and the consumption status of the materials. In this regard, as shown below, the automatic driving system 1 involved in this embodiment can easily set the material supply position of the work vehicle 10 that performs the material supply operation while automatically traveling to an appropriate position. The specific structure of the work vehicle 10 and the operation terminal 20 is described below.

[0038] [Work vehicle 10]

[0039] like Figure 1 、 Figure 2A and Figure 2B As shown, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a vehicle body 13, a work machine 14, a communication unit 15, a positioning unit 16, an obstacle monitoring unit 17, a material monitoring unit 171, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the vehicle body 13, the work machine 14, the positioning unit 16, the obstacle monitoring unit 17, the material monitoring unit 171, and the like. Furthermore, the vehicle control device 11 and the positioning unit 16 can also communicate wirelessly.

[0040] First, refer to Figure 2A and Figure 2B A rice transplanter as an example of the work vehicle 10 will be described. Figure 2A 1 is a side view of the work vehicle 10 (rice transplanter). Figure 2B 1 is a plan view of the work vehicle 10. The work vehicle 10 includes a vehicle body 13, a pair of left and right front wheels 132, a pair of left and right rear wheels 133, a work machine 14 (rice transplanting unit), and the like.

[0041] An engine (drive unit) 131 is arranged inside an engine hood 134 arranged at the front of the vehicle body 13. The power generated by the engine 131 is transmitted to the front wheels 132 and the rear wheels 133 via a gearbox 135. The power transmitted via the gearbox 135 is also transmitted to the work machine 14 via a PTO shaft 37 arranged at the rear of the vehicle body 13. In addition, the power is transmitted to the PTO shaft 37 via a planting clutch (work clutch) (not shown). In the front-to-back direction of the vehicle body 13, a driver's seat 138 for the operator to sit on is provided at a position between the front wheels 132 and the rear wheels 133.

[0042] In front of the driver's seat 138, operating components such as a steering wheel 137, a main gear lever (not shown), and a planting clutch lever (not shown) are arranged. The steering wheel 137 is an operating component for changing the steering angle of the work vehicle 10. The main gear lever is configured to be able to select at least the positions of "forward", "reverse", "neutral", and "seedling supply". When the main gear lever is operated to the "forward" position, power is transmitted in a manner that rotates the front wheels 132 and the rear wheels 133 in the direction of moving the work vehicle 10 forward. When the main gear lever is operated to the "reverse" position, power is transmitted in a manner that rotates the front wheels 132 and the rear wheels 133 in the direction of moving the work vehicle 10 backward. When the main gear lever is operated to the "neutral" position, power transmission to the front wheels 132 and the rear wheels 133 is disconnected. When the main gear lever is operated to the "seedling supply" position, power transmission to the front wheels 132, the rear wheels 133 and the PTO shaft 37 is disconnected. Furthermore, by operating the planting clutch lever, the planting clutch can be switched between a transmission state in which the planting clutch transmits power to the PTO shaft 37 (ie, the working machine 14) and a disconnection state in which the planting clutch does not transmit power to the PTO shaft 37 (ie, the working machine 14).

[0043] The work machine 14 is connected to the rear of the vehicle body 13 via a lifting link mechanism 31. The lifting link mechanism 31 is composed of a parallel link structure including an upper link 39 and a lower link 38. A lifting cylinder (lifting device) 32 is connected to the lower link 38. By extending and retracting the lifting cylinder 32, the work machine 14 can be lifted up and down as a whole. In this way, the height of the work machine 14 can be changed between a working position (working height) in which the work machine 14 is lowered to perform planting operations and a non-working position (non-working height) in which the work machine 14 is raised but no planting operations are performed. In addition, the lifting cylinder 32 is a hydraulic cylinder, but an electric cylinder may also be used. In addition, a structure in which an actuator other than a cylinder is used to lift and lower the work machine 14 may also be used.

[0044] The working machine 14 (planting section) includes a planting input box 33, a plurality of planting units 34, a seedling placement stand 35, a plurality of floats 36, and the like.

[0045] Each planting unit 34 includes a planting transmission box 41 and a rotary box 42. Power is transmitted to the planting transmission box 41 via the PTO shaft 37 and the planting input box 33. Rotary boxes 42 are attached to each planting transmission box 41 on both sides of the vehicle width. Two planting claws 43 are attached to each rotary box 42, aligned with the direction of travel of the work vehicle 10. These two planting claws 43 plant a single ridge.

[0046] like Figure 2AAs shown, the seedling loading platform 35 is arranged in the front upper part of the planting unit 34 and is configured to carry the seedling mat. The seedling loading platform 35 is configured to be able to move back and forth laterally (can slide laterally). In addition, the seedling loading platform 35 is configured so that the seedling mat can be intermittently fed and transported longitudinally downward at the reciprocating end of the seedling loading platform 35. Through this structure, the seedling loading platform 35 can supply the seedlings of the seedling mat to each planting unit 34. In this way, the work vehicle 10 can supply the seedlings to each planting unit 34 in sequence and can plant the seedlings continuously.

[0047] Figure 2A The float 36 shown is disposed below the work machine 14 and is configured so that its lower surface can contact the ground. The contact between the float 36 and the ground levels the field surface before planting the seedlings. Furthermore, the float 36 is provided with a float sensor (not shown) that detects the swing angle of the float 36. The swing angle of the float 36 corresponds to the distance between the field surface and the work machine 14. The work vehicle 10 raises and lowers the work machine 14 by actuating the lift cylinder 32 based on the swing angle of the float 36, thereby maintaining a constant height of the work machine 14 above the ground.

[0048] The seedling stand 19 is located outside the hood 134 in the vehicle width direction and can accommodate a seedling box containing prepared mat-shaped seedlings. The upper portions of the left and right seedling stands 19 are connected by a connecting frame 18 extending vertically and across the vehicle width. A positioning unit 16 is located in the center of the connecting frame 18 in the vehicle width direction.

[0049] The positioning unit 16 includes a positioning control unit 161, a storage unit 162, a communication unit 163, and a positioning antenna 164 (see Figure 1 ) and other communication equipment. For example, Figure 2A and Figure 2B As shown, positioning unit 16 is installed in the upper center of the front of work vehicle 10. The installation location of positioning unit 16 is not limited. Furthermore, positioning control unit 161, storage unit 162, communication unit 163, and positioning antenna 164 of positioning unit 16 may be dispersed in different locations within work vehicle 10. Furthermore, a battery is connected to positioning unit 16, allowing it to operate even when engine 131 is stopped. Alternatively, positioning unit 16 may be replaced with, for example, a mobile phone, smartphone, tablet, or quantum compass.

[0050] The positioning control unit 161 is a computer system equipped with one or more processors, nonvolatile memory, and memory such as RAM. The storage unit 162 is a nonvolatile memory that stores a program for the positioning control unit 161 to execute positioning processing, as well as data such as positioning information and movement information. For example, the program is non-transitory recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reader (not shown), and stored in the storage unit 162. Alternatively, the program can be downloaded from a server (not shown) via the communication network N1 to the positioning unit 16 and stored in the storage unit 162.

[0051] The communication unit 163 connects the positioning unit 16 to the communication network N1 by wire or wirelessly, and is a communication interface for performing data communication with external devices such as a base station server via the communication network N1 according to a predetermined communication protocol.

[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 10 based on the GNSS signals received from satellites by the positioning antenna 164. For example, when the work vehicle 10 is autonomously traveling within the field F, the positioning antenna 164 receives radio waves (including transmission time and orbital information) transmitted from multiple 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 10 based on the calculated distances. Alternatively, the positioning control unit 161 may perform positioning using a real-time positioning differential method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) near the work vehicle 10. In this way, the work vehicle 10 uses positioning information obtained using the RTK method to autonomously travel. The current position of the work vehicle 10 may be the same as the positioning position (e.g., the position of the positioning antenna 164) or may be a position deviated from the positioning position (e.g., the planting operation position of the planting unit 34). Furthermore, the positioning control unit 161 may calculate the current position (positioning) of the work vehicle 10 using a quantum compass.

[0054] An obstacle monitoring unit 17 is provided in front of the vehicle body 13. The obstacle monitoring unit 17 is composed of a sensor that detects obstacles in a specified monitoring area using, for example, infrared rays, ultrasonic waves, etc. For example, the obstacle monitoring unit 17 can be a radar sensor (distance sensor) that can measure the distance to the measurement object (obstacle) in three dimensions using a laser, or a sonar sensor having multiple sonars that can measure the distance to the measurement object using ultrasonic waves. The obstacles are, for example, field ridges, water intakes, utility poles, temporary materials and people placed in the field F. When the obstacle monitoring unit 17 detects the obstacle, it sends the monitoring result (measurement information) to the vehicle control device 11. When the obstacle monitoring unit 17 detects an obstacle in the monitoring area, the vehicle control device 11 slows down or stops the work vehicle 10. In addition, the obstacle monitoring unit 17 can also be provided at the front, rear, left and right sides respectively. In this case, the vehicle control device 11 controls the travel of the work vehicle 10 based on the monitoring results of each obstacle monitoring unit 17.

[0055] The material monitoring unit 171 includes: a remaining quantity sensor for monitoring the remaining quantity of materials (seedlings) carried by the work vehicle 10; and a consumption sensor for monitoring the consumption of materials (seedlings) discharged from the work vehicle 10. The remaining quantity sensor monitors the amount of seedlings carried on, for example, the seedling loading platform 35 and the preliminary seedling platform 19. The consumption sensor monitors the amount supplied from the seedling loading platform 35 to the planting unit 34. The material monitoring unit 171 outputs the monitoring results (remaining quantity and consumption) of the remaining quantity sensor and the consumption sensor to the vehicle control device 11. In addition, the material monitoring unit 171 may also include either a remaining quantity sensor or a consumption sensor. In this case, the material monitoring unit 171 outputs the remaining quantity or the consumption quantity as the monitoring result to the vehicle control device 11.

[0056] 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 the vehicle control device 11 to execute the automatic driving process described later (see Figure 11 ) and other control programs. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, read by a predetermined reader (not shown), and stored in the storage unit 12. Alternatively, the automatic driving program may be downloaded from a server (not shown) via the communication network N1 to the work vehicle 10 and stored in the storage unit 12. Furthermore, the storage unit 12 may also store route data for the target route R generated by the operation terminal 20.

[0057] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various computations. The ROM is a non-volatile storage unit that pre-stores control programs such as the BIOS and OS that enable the CPU to perform various computations. The RAM is a volatile or non-volatile storage unit that stores various information and serves as temporary storage (a work area) for the various processes performed by the CPU. The vehicle control device 11 then controls the work vehicle 10 by having the CPU execute various control programs pre-stored in the ROM or storage unit 12.

[0058] The vehicle control device 11 controls the operation of the work vehicle 10 according to various user operations on the work vehicle 10. The vehicle control device 11 also executes automatic driving processing of the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning unit 16 and a preset target path R.

[0059] like Figure 1 As shown, the vehicle control device 11 includes various processing units, such as a driving processing unit 111, an operation processing unit 112, an acquisition processing unit 113, and a setting processing unit 114. Furthermore, the vehicle control device 11 functions as the various processing units by having the CPU execute various processes according to the automatic driving program. Alternatively, some or all of the processing units may be composed of electronic circuits. Furthermore, the automatic driving program may be a program that causes multiple processors to function as the processing units.

[0060] The travel processing unit 111 controls the travel of the work vehicle 10. Specifically, the travel processing unit 111 causes the work vehicle 10 to automatically travel according to the target path R set in the field F. For example, when the travel processing unit 111 obtains a travel start instruction from the operation terminal 20, the work vehicle 10 starts to travel automatically. For example, when the current position of the work vehicle 10 satisfies the travel start conditions, when the operator presses the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a travel start instruction to the work vehicle 10. When the travel processing unit 111 obtains the travel start instruction from the operation terminal 20, the work vehicle 10 starts to travel automatically according to the target path R. For example, the travel processing unit 111 causes the work vehicle 10 to travel straight from the starting end to the end of each work path, and to travel in a turn from the starting end to the end of each turn path.

[0061] For example, Figure 3As shown, an operator rides on work vehicle 10 and manually drives work vehicle 10 on a road (e.g., an agricultural road) to enter a field F from a gate and then moves work vehicle 10 to the vicinity of a travel start position S. When the current position of work vehicle 10 satisfies travel start conditions and the operator issues a travel start instruction, travel processing unit 111 automatically drives work vehicle 10 from travel start position S to travel end position G along target route R.

[0062] Furthermore, the travel processing unit 111 stops the automatic travel of the work vehicle 10 upon receiving a travel stop instruction from the operation terminal 20 . For example, when the operator presses a pause button on the operation screen of the operation terminal 20 , the operation terminal 20 outputs a travel stop instruction to the work vehicle 10 .

[0063] Furthermore, the driving processing unit 111 controls the driving of the work vehicle 10 based on the monitoring results of the obstacle monitoring unit 17. Specifically, the driving processing unit 111 decelerates or stops the work vehicle 10 if the obstacle monitoring unit 17 detects an obstacle. Alternatively, the driving processing unit 111 may cause the work vehicle 10 to perform avoidance driving to avoid the obstacle.

[0064] The work processing unit 112 performs the operation (planting operation) of supplying materials (seedlings) mounted on the work vehicle 10 to the field F during autonomous driving. For example, when the work vehicle 10 reaches the beginning of the work path or a predetermined position immediately before the beginning, the work processing unit 112 lowers the work implement 14 to the working position and begins driving the work implement 14. Specifically, the work processing unit 112 engages the planting clutch to start driving the work implement 14, thereby initiating the planting operation (the operation of the planting unit 34 placing the seedlings on the field surface).

[0065] Furthermore, when the work vehicle 10 reaches the end of the work path, the work processing unit 112 raises the work machine 14 to the non-work position and stops driving the work machine 14. Specifically, the work processing unit 112 disengages the planting clutch, stopping the drive of the work machine 14 and thereby stopping the planting operation. When the work machine 14 reaches the non-work position, the travel processing unit 111 causes the work vehicle 10 to rotate along the rotation path. In this way, the work processing unit 112 controls the drive of the work machine 14 based on the position of the starting and ending points of the work path, thereby executing the planting operation.

[0066] The working vehicle 10 follows Figure 3 The target path R shown is automatically traveled while performing planting operations on each work path.

[0067] The acquisition processing unit 113 acquires monitoring results from the material monitoring unit 171, which monitors at least one of the remaining amount and the consumed amount of the material (rice seedlings) in the work vehicle 10. In this embodiment, the acquisition processing unit 113 acquires monitoring results for both the remaining amount and the consumed amount from the material monitoring unit 171. When the work vehicle 10 begins autonomous driving, the acquisition processing unit 113 acquires the monitoring results in real time at a predetermined interval during the autonomous driving period.

[0068] The setting processing unit 114 sets the location (supply position) where the work vehicle 10 is to be supplied with materials (rice seedlings). Specifically, the setting processing unit 114 sets the supply position for the work vehicle 10 based on the monitoring results acquired by the acquisition processing unit 113, the start position for travel or work set for the field F, and the travel direction of the work vehicle 10 along the current travel path (the first travel path of the present invention). The supply position is not limited to the actual location where the work vehicle 10 is supplied with materials. It also includes locations around the location where the operator manually adjusts the position of the work vehicle 10 after the work vehicle 10 stops automatically.

[0069] For example, the setting processing unit 114 determines whether the remaining materials (seedlings) in the work vehicle 10 are insufficient based on the monitoring results. The setting processing unit 114 determines that the seedlings are insufficient when the remaining amount is less than a specified amount. In addition, the setting processing unit 114 determines that the seedlings are insufficient when the consumption exceeds a specified amount. In addition, the setting processing unit 114 may determine that the seedlings are insufficient when the remaining amount is less than a specified amount or when the consumption exceeds a specified amount, or may determine that the seedlings are insufficient when the remaining amount is less than a specified amount and the consumption exceeds a specified amount.

[0070] In addition, the setting processing unit 114 can also determine whether the amount of seedlings required for the planting action of multiple work paths is insufficient. For example, the setting processing unit 114 determines that the seedlings are sufficient when the current remaining amount of seedlings is the amount of 2 work paths (the amount of one round trip), and determines that the seedlings are insufficient when the remaining amount is less than the amount of 2 work paths (the amount of one round trip). In addition, the judgment threshold can also be the amount of 1 work path (the amount of a single trip). As another embodiment, it can also be: the setting processing unit 114 calculates the consumption per unit length of the work path (the traveled path) after the operation is completed, and calculates the consumption of materials on the work path (the work path of the next trip) to be operated next based on the consumption per unit length, thereby making a judgment on the remaining amount (determination of whether the remaining materials are insufficient).

[0071] Furthermore, the setting processing unit 114 determines whether the position of the starting side set based on the starting position is on the direction of travel of the path currently being traveled by the work vehicle 10. Here, the starting position is, for example, the starting position for teaching travel of the work vehicle 10 along the periphery of the field F during the operation of registering the field F (described in detail later), the starting position for automatic travel pre-set for the field F (automatic travel start position), or the starting position for the operation pre-set for the field F (operation start position). The starting position is pre-set based on the setting operation performed by the operator at the operation terminal 20. For example, the operator registers information related to the field F, information related to the operation, information related to the target path R, etc. at the operation terminal 20. The operation terminal 20 sets the starting position based on this registered information. Furthermore, when the operation terminal 20 sets the starting position, the side corresponding to the starting position (starting side) is registered.

[0072] Figure 4 , a specific example of the process of registering a field F is shown. The operator rides on the work vehicle 10 and drives around the outer periphery of the specified area F0. The operation terminal 20 registers the outer shape of the area F0 (field F) by recording the migration of information of a specific position (for example, the position of the side end of the work vehicle 10) obtained based on the positioning information of the work vehicle 10 at this time. The operation terminal 20 obtains the starting position (teaching travel starting position S0) of the teaching travel path Rt for the operator to perform teaching travel, and determines the side corresponding to the teaching travel starting position S0. For example, the operation terminal 20 determines the side close to the teaching travel starting position S0 in the outer periphery of the field F. In addition, when there are multiple sides close to the teaching travel starting position S0, the operation terminal 20 determines the side extending toward the road (road side). In Figure 4 In the example shown, the operating terminal 20 identifies the lower edge L1 of the outer perimeters L1 to L4. The operating terminal 20 sets the identified edge (here, the lower edge L1) as the starting edge and registers it in association with the field F and the target path R. Furthermore, the operating terminal 20 identifies the road edge based on, for example, the vehicle's direction of travel since the start of the teaching run, the distance the vehicle has traveled in the same direction, and the lateral swing (amplitude) of the travel trajectory relative to the vehicle's direction of travel. The thresholds for each of the aforementioned parameters may also be pre-settable. Alternatively, the operating terminal 20 may identify the road edge based on an operator's selection operation (selection of a road edge from among the field edges).

[0073] In this manner, the starting position and the starting side are pre-registered in the operation terminal 20. After the work vehicle 10 starts automatic driving, the setting processing unit 114 determines whether the starting side is located in the direction of travel of the current travel path of the work vehicle 10. Then, if the setting processing unit 114 determines that the remaining materials (rice seedlings) in the work vehicle 10 are insufficient, it determines whether to perform a resupply operation based on whether the starting side is located in the direction of travel of the current travel path of the work vehicle 10.

[0074] For example, when the processing unit 114 determines that the remaining rice seedlings in the work vehicle 10 are insufficient, the processing unit 114 may Figure 5 As shown, when the work vehicle 10 is traveling along work path Ra1, the starting edge (lower edge L1) is on the opposite side of the work vehicle 10's direction of travel. Therefore, the setting processing unit 114 does not perform the replenishment operation. At this time, the driving processing unit 111 continues the automatic driving and planting operation along work path Ra1, and when the operation along work path Ra1 is completed, it moves to the next work path Ra2. Furthermore, because the setting processing unit 114 determines that the remaining seedlings are insufficient when the amount of seedlings is less than the amount required for one round trip along the work path, the work vehicle 10 can continue the planting operation at least until it reaches the end of work path Ra1.

[0075] Figure 6 , shows a state in which the work vehicle 10 has finished the work on the work path Ra1 and started the work on the work path Ra2. Here, when the setting processing unit 114 determines that the remaining seedlings in the work vehicle 10 are insufficient, since the work vehicle 10 is traveling on the work path Ra2, the starting edge (lower edge L1) is on the side of the traveling direction of the work vehicle 10. At this time, the setting processing unit 114 performs the replenishment operation. Specifically, the setting processing unit 114 sets the replenishment position P2 to the starting edge (lower edge L1). In this way, the setting processing unit 114 determines that the remaining materials in the work vehicle 10 are insufficient based on the monitoring results, and sets the replenishment position P2 to the starting edge (lower edge L1) when the starting edge (lower edge L1) corresponding to the starting position is on the side of the traveling direction.

[0076] In addition, the setting processing unit 114 sets the supply position P2 on the extension line of the current travel path of the outer peripheral portion of the field F. Figure 6 As shown, the setting processing unit 114 sets the replenishment position P2 on the extension line of the working path Ra2 of the lower side L1.

[0077] In addition, when the setting processing unit 114 determines that the remaining materials in the work vehicle 10 are insufficient based on the monitoring results and the starting edge (lower edge L1) corresponding to the starting position is on the traveling direction side, the terminal of the current driving path is set as the supply preparation point P1, and the work vehicle 10 is driven from the supply preparation point P1 to the supply position P2. Figure 6 In the example shown, the setting processing unit 114 sets the terminal of the currently traveling work route Ra2 as the supply preparation point P1. Figure 5 In the example shown, the starting side (lower side L1) is located on the opposite side to the traveling direction of the work vehicle 10 traveling on the work route Ra1. Therefore, the setting processing unit 114 does not perform the setting process of the replenishment preparation point P1.

[0078] When the supply preparation point P1 and the supply position P2 are set, the setting processing unit 114 generates a supply path Rh connecting the supply preparation point P1 and the supply position P2. The driving processing unit 111 causes the work vehicle 10 to travel along the supply path Rh. For example, when the work vehicle 10 reaches the end of the work path Ra2 (the supply preparation point P1), the driving processing unit 111 stops the automatic driving of the work vehicle 10, and the work processing unit 112 stops the planting operation. Then, the setting processing unit 114 causes the work vehicle 10 to travel from the supply preparation point P1 to the supply position P2 along the supply path Rh according to the operator's operation. For example, when the operator comes to the stop place of the work vehicle 10 and uses the remote control to perform the driving operation, the driving processing unit 111 causes the work vehicle 10 to travel along the supply path Rh. In addition, it can also be configured so that the operator gets on the work vehicle 10 at the supply preparation point P1 and drives it manually.

[0079] As another embodiment, the travel processing unit 111 may automatically travel continuously on the work route Ra2 and the charging route Rh at the charging preparation point P1 without stopping the work vehicle 10. In this case, the setting processing unit 114 may omit the setting process of the charging preparation point P1.

[0080] When the work vehicle 10 arrives at the supply position P2, the driving processing unit 111 stops the work vehicle 10. Then, the work vehicle 10 is caused to perform the operation of supplying the seedlings. When the supply operation of the seedlings is completed, the driving processing unit 111 moves the work vehicle 10 to the work path and restarts the planting operation. For example, when the planting operation of the work path Ra2 is completed, the driving processing unit 111 moves the work vehicle 10 to the beginning of the next work path Ra3, and starts the automatic driving and planting operation of the work path Ra3. In addition, for example, when the planting operation of the work path Ra2 is not completed, the driving processing unit 111 moves the work vehicle 10 to the position where the planting operation of the work path Ra2 is interrupted, and restarts the automatic driving and planting operation of the work path Ra2.

[0081] Thus, when the work vehicle 10 travels on the work route and performs a planting operation, each time a material shortage occurs, the setting processing unit 114 sets the replenishment preparation point P1 and the replenishment position P2 based on the travel direction at that time and performs a replenishment operation.

[0082] [Operation Terminal 20]

[0083] like Figure 1 As shown, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be a mobile terminal such as a tablet terminal, a smartphone, or a remote controller.

[0084] The communication unit 24 connects the operation terminal 20 to the communication network N1 by wire or wirelessly, and is a communication interface for performing data communication with external devices such as one or more work vehicles 10 via the communication network N1 according to a predetermined communication protocol.

[0085] The operation display unit 23 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various information, a touch panel for accepting operations, and an operation unit such as a mouse or keyboard. The operator can operate the operation unit on the operation screen displayed on the display unit to register various information (such as work vehicle information, field information, and work information described later). For example, the operator can use the operation unit to register a field F to be worked on.

[0086] Furthermore, the operator can operate the operating unit to issue driving start and stop instructions to the work vehicle 10. Furthermore, the operator can use the driving trajectory displayed on the operating terminal 20 to understand the driving status of the work vehicle 10 that is automatically driving along the target route R in the field F when the work vehicle 10 is away from the work vehicle 10.

[0087] The storage unit 22 is a non-volatile storage unit such as a HDD, SSD, or flash memory that stores various information. The storage unit 22 stores a control program for executing various processes of the field registration program, which is used to cause the operation control unit 21 to execute the field registration process described later (see Figure 10 For example, the field registration program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reader (not shown) and stored in the storage unit 22. Alternatively, the field registration program may be downloaded from a server (not shown) via the communication network N1 to the operation terminal 20 and stored in the storage unit 22.

[0088] Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the storage unit 22. The operation control unit 21 activates the dedicated application to perform processing such as setting various information related to the work vehicle 10, generating a target route R for the work vehicle 10, and instructing the work vehicle 10 to automatically drive.

[0089] The storage unit 22 also stores data such as work vehicle information related to the work vehicle 10 and target route information related to the target route R. The work vehicle information includes information such as the vehicle number and model number for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model number is the model number of the work vehicle 10.

[0090] The storage unit 22 may store the work vehicle information related to one work vehicle 10 or the work vehicle information related to multiple work vehicles 10. For example, if a specific operator owns multiple work vehicles 10, the work vehicle information related to each work vehicle 10 is stored in the storage unit 22.

[0091] The target route information includes information such as a route name, a field name, an address, a field area, and a work time for each target route R. The route name is the name of the target route R generated by the operation terminal 20. The field name is the name of the field F to be worked on, for which the target route R is set. The address is the address of the field F, and the field area is the area of ​​the field F. The work time is the time required for the work vehicle 10 to work in the field F.

[0092] The storage unit 22 may store the target path information associated with one target path R or may store the target path information associated with multiple target paths R. For example, when a specific operator generates multiple target paths R for one or more fields F owned by the operator, the operator may store the target path information associated with each target path R in the storage unit 22. Furthermore, a single target path R may be set for one field F, or multiple target paths R may be set.

[0093] In another embodiment, part or all of the work vehicle information, the target route information, and other information may be stored in a server accessible from the operation terminal 20. The operator can perform an operation to register the work vehicle information and the target route information in the server (e.g., a personal computer, a cloud server, etc.).

[0094] The operation control unit 21 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various computations. The ROM is a non-volatile storage unit that pre-stores control programs such as the BIOS and OS that enable the CPU to perform various computations. The RAM is a volatile or non-volatile storage unit that stores various information and serves as temporary storage for the various processes performed by the CPU. Furthermore, the operation control unit 21 controls the operation terminal 20 by having the CPU execute various control programs pre-stored in the ROM or storage unit 22.

[0095] like Figure 1 As shown, the operation control unit 21 includes various processing units, such as a setting processing unit 211 and an output processing unit 212. Furthermore, the operation control unit 21 functions as the various processing units by having the CPU execute various processes according to the control program. Alternatively, some or all of the processing units may be comprised of circuits. Furthermore, the control program may be a program for causing multiple processors to function as the processing units.

[0096] The setting processing unit 211 sets various setting information for automatically driving the work vehicle 10. Specifically, the setting processing unit 211 sets information related to the work vehicle 10 (hereinafter referred to as work vehicle information). The setting processing unit 211 sets information such as the type (model) of the work vehicle 10, the location of the positioning antenna 164 on the work vehicle 10, the type of the work machine 14, the size and shape of the work machine 14, the position of the work machine 14 relative to the work vehicle 10, the speed of the work vehicle 10 during operation (speed for straight driving) and the engine speed, and the speed of the work vehicle 10 during swinging (speed for swinging) and the engine speed. This information is set by the operator through registration operations on the operation terminal 20.

[0097] For example, the setting processing unit 211 causes the operation display unit 23 to display Figure 7 The operator selects, for example, “work machine registration” on the menu screen D1 to register the work machine information related to the work machine 14 .

[0098] The setting processing unit 211 sets information related to the field F (hereinafter referred to as field information). The setting processing unit 211 sets the position and shape of the field F, the driving start position S for starting the automatic driving, and the driving end position G for ending the automatic driving (see Figure 3 ), working direction, etc., and the information is set by performing a registration operation on the operation terminal 20. For example, the operator selects "field registration" on the menu screen D1 to register the field information.

[0099] Information on the position and shape of the field F can be automatically acquired by, for example, an operator riding a work vehicle 10 around the perimeter of the field F and recording the transition of information about a specific position (e.g., the position of the side end of the work vehicle 10) obtained based on the positioning information of the work vehicle 10 at that time. A specific example of field registration is described below.

[0100] When the operator selects "Field Registration" on the menu screen D1, the setting processing unit 211 shifts to the field registration mode for registering the field. When shifting to the field registration mode, the setting processing unit 211 causes the operation display unit 23 to display the field measurement screen (not shown). The operator selects "Measurement Start" on the field measurement screen and performs teaching operation. Specifically, Figure 4 As shown, the operator gets on the work vehicle 10 and drives it around the outer periphery of the registration target area F0. The operator starts driving from the vicinity of the entrance in the area F0.

[0101] The setting processing unit 211 obtains the position information of the work vehicle 10 traveling in the predetermined area F0 according to the driving operation of the operator. Specifically, while the operator is driving the work vehicle 10, the positioning unit 16 calculates the current position of the work vehicle 10 at a predetermined period and transmits the calculated current position information to the operation terminal 20.

[0102] When the setting processing unit 211 acquires the position information from the work vehicle 10, it records the position information as the travel trajectory of the work vehicle 10 in the predetermined area F0 in the storage unit 22. The setting processing unit 211 stores the position information in the storage unit 22 each time it acquires the position information.

[0103] In addition, the setting processing unit 211 displays the field measurement screen D2 (see Figure 8) and displays on the map the position where the teaching travel is started (teaching travel start position S0), the position corresponding to the position information (measurement point) ( Figure 8 ), and displays a message indicating that the recording process of recording the position information is being executed ("Measuring"). This allows the operator to understand that the position information of the work vehicle 10 is being normally obtained and recorded.

[0104] When the operator has finished peripheral driving (teaching driving), he presses the "measurement completed" button on the field measurement screen D2. When the operator presses the "measurement completed" button, the setting processing unit 211 displays Figure 9 The field registration screen D3 is shown. The setting processing unit 211 displays the positions corresponding to all the position information obtained through peripheral driving on the field registration screen D3 and on a map, and also displays the area with the shape identified based on the position information. Furthermore, the setting processing unit 211 displays the edge corresponding to the starting position of the teaching driving (starting edge) on the map in a manner that allows identification. In addition, when there are multiple edges close to the teaching driving start position S0, the setting processing unit 211 determines the edge extending toward the road (road edge) as the starting edge and displays it. In addition, the setting processing unit 211 determines the road edge based on the vehicle's direction of travel after the start of the teaching driving, the vehicle's travel distance in the same direction of travel, the left-right swing (amplitude) of the driving trajectory relative to the vehicle's direction of travel, the operator's selection operation, etc. As another embodiment, the setting processing unit 211 may also determine the edge extending in a direction perpendicular to the working direction of the inner area Fa as the starting edge.

[0105] In addition, the setting processing unit 211 may also be Figure 9 The field registration screen D3 shown receives an operation from the operator to change the position of the starting edge. When the operator presses the "Register" button on the field registration screen D3, the setting processing unit 211 registers the area F0 as the field F and registers the starting edge (here, the lower edge L1 (see Figure 4 )).

[0106] In this manner, the setting processing unit 211 registers the field F and the starting edge based on the position information acquired from the work vehicle 10 during the teaching operation. As another embodiment, the setting processing unit 211 may determine and register the starting edge based on the designated position (automatic operation start position) when the operator designates a position for the work vehicle 10 to start automatic operation on the field registration screen D3. Furthermore, the setting processing unit 211 may determine and register the starting edge based on the designated position (operation start position) when the operator designates a position for the work vehicle 10 to start planting operation on the field registration screen D3.

[0107] The setting processing unit 211 also sets information related to how to perform specific operations (hereinafter referred to as operation information). The setting processing unit 211 is configured to set, as operation information, information such as whether or not the unmanned work vehicle 10 and the manned work vehicle 10 are coordinated, the number of skips (the number of work paths skipped when the work vehicle 10 swings at the edge of the field), the width of the edge of the field, and the width of the non-cultivated land. For example, the operator selects "Register Work Area" on the menu screen D1 to register operation information.

[0108] Furthermore, the setting processing unit 211 generates a target path R as a path for the work vehicle 10 to automatically travel based on the above-mentioned setting information. The target path R is, for example, a travel path from the travel start position S to the travel end position G (see Figure 3 ). Figure 3 The target path R shown includes a straight work path for the work vehicle 10 to travel back and forth parallel to the inner area Fa of the field F, and a connecting work path. In the headland area Fb, it includes a straight work path for the work vehicle 10 to travel in a circular motion, and a connecting work path. The setting processing unit 211 generates and stores the target path R for the work vehicle 10 based on the aforementioned setting information. For example, the operator selects "Create Path" on the menu screen D1 to instruct the creation of the target path R. Furthermore, the setting processing unit 211 can generate and store multiple target paths R for a single field F, depending on the work content.

[0109] The output processing unit 212 outputs the path data of the target path R to the work vehicle 10. For example, when the operator selects the desired target path R on the operation screen and issues an instruction to start the work, the output processing unit 212 outputs the path data of the selected target path R to the work vehicle 10. In addition, the path data includes information on the starting edge. In the above example, the output processing unit 212 outputs the lower edge L1 of the field F (see Figure 9 ) information.

[0110] Work vehicle 10 is configured such that the route data of target route R generated by operation terminal 20 is transmitted to work vehicle 10 and stored in storage unit 12 , and the current position of work vehicle 10 is detected by positioning antenna 164 , so that work vehicle 10 can autonomously travel along target route R. The current position of work vehicle 10 may or may not coincide with the position of positioning antenna 164 .

[0111] When the work vehicle 10 satisfies specified start conditions and the operator issues a start instruction by pressing the work start button on the operation screen, the work vehicle 10's travel processing unit 111 begins automatic travel, and the work implement 14 begins planting. For example, the operation control unit 21 permits automatic travel of the work vehicle 10 based on the conditions that the work vehicle 10's current position is within a specified distance from the travel start position S and the vehicle's orientation is within a specified orientation. The conditions for permitting automatic travel of the work vehicle 10 are not limited to those described above.

[0112] The vehicle control device 11 of the work vehicle 10 automatically drives the work vehicle 10 from the driving start position S to the driving end position G according to the target route R obtained from the operation terminal 20. In addition, when the remaining materials (seedlings) in the work vehicle 10 are insufficient, the vehicle control device 11 sets the supply preparation point P1 and the supply position P2 when the starting side (lower side L1) is on the side of the travel direction of the work vehicle 10, and drives the work vehicle 10 from the supply preparation point P1 to the supply position P2 to perform the supply operation (see Figure 6 ). In e.g. Figure 6 In the example shown, when the work vehicle 10 travels on the work route Ra2, the vehicle control device 11 sets a replenishment position P2 on an extension of the work route Ra2 and automatically drives the work vehicle 10 from the end of the work route Ra2 to the replenishment position P2.

[0113] In addition, for example, when the work vehicle 10 is traveling on a work path, the vehicle control device 11 predicts that there is a shortage of materials in one or more work paths continuous with the work path, and the starting edge corresponding to the starting position is on the traveling direction side of the work path on which the work vehicle 10 is currently traveling. In this case, the position on the traveling direction side is set as the supply position P2, and the work vehicle 10 is driven to the supply position P2.

[0114] Alternatively, the operation terminal 20 can be configured to access a website (agricultural assistance website) for agricultural assistance services provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operating terminal for the server by executing a browser program via the operation control unit 21. Furthermore, the server includes the aforementioned processing units and executes the various processes.

[0115] [Field registration processing]

[0116] Below, refer to Figure 10 An example of the field registration process executed by the automatic driving system 1 will be described.

[0117] Furthermore, the present invention can be considered as a field registration method that executes one or more of the steps included in the field registration process. Furthermore, one or more of the steps included in the field registration process described herein may be omitted as appropriate. Furthermore, the order in which the steps in the field registration process are executed may vary within the scope of producing the same functional effects. Furthermore, while the description herein uses the example of the operation control unit 21 executing the steps in the field registration process, alternative embodiments of the field registration method are also contemplated in which the steps in the field registration process are distributed across one or more processors.

[0118] In step S1, the operation control unit 21 determines whether the operator has received a start operation to start field registration. When the operation control unit 21 receives the start operation (S1: Yes), the process moves to step S2. The operation control unit 21 waits until the start operation is received (S1: No). For example, when the operator selects the menu screen D1 (see Figure 7 ) When "field registration" is selected, the operation control unit 21 accepts the start operation. When the operation control unit 21 accepts the start operation, the field measurement screen D2 (see Figure 8 ).

[0119] In step S2, the operation control unit 21 determines whether the measurement start operation (teaching start operation) from the operator is accepted. When the measurement start operation is accepted (S2: Yes), the operation control unit 21 transfers the processing to step S3. The operation control unit 21 waits until the measurement start operation is accepted (S2: No). For example, when the operator selects "Measurement Start" (not shown) on the field measurement screen D2, the operation control unit 21 accepts the measurement start operation. When the measurement start operation is accepted, the operation control unit 21 allows the operator to drive manually. The operator gets on the work vehicle 10 and starts in the area F0 of the registration object (refer to Figure 4 ) is a teaching drive for driving on the outer periphery within the vehicle.

[0120] In step S3, the operation control unit 21 begins the process of acquiring the position information of the work vehicle 10. Specifically, when the work vehicle 10 begins traveling in response to the operator's operation, the positioning unit 16 transmits the position information of the current position of the work vehicle 10 to the operation terminal 20. The operation control unit 21 begins the process of acquiring the position information from the work vehicle 10 at a predetermined period.

[0121] Next, in step S4, the operation control unit 21 stores the position information obtained from the work vehicle 10 during the teaching travel in the storage unit 22. In addition, the operation control unit 21 obtains the position where the teaching travel starts (teaching travel start position S0) from the work vehicle 10 and stores it in the storage unit 22. The operation control unit 21 displays the position information on the field measurement screen D2 (see FIG. 1 ) during the teaching travel. Figure 8 ) and displays the teaching driving start position S0 and the measurement point on the map.

[0122] In step S5, the operation control unit 21 determines whether the measurement end operation (teaching end operation) from the operator has been accepted. When the measurement end operation is accepted (S5: Yes), the operation control unit 21 transfers the processing to step S6. The operation control unit 21 repeatedly performs the position information acquisition process (S4) until the measurement end operation is accepted (S5: No). For example, when the operator presses the "Measurement Complete" button on the field measurement screen D2, the operation control unit 21 accepts the measurement end operation. When the operation control unit 21 accepts the measurement end operation, it displays Figure 9 The field registration screen D3 is shown.

[0123] In step S6, the operation control unit 21 determines whether a field registration operation has been accepted by the operator. If the operation control unit 21 has accepted the field registration operation (S6: Yes), the process shifts to step S7. The operation control unit 21 repeats the processes of steps S2 to S5 until the field registration operation is accepted (S6: No). For example, if the operator presses the "Register" button on the field registration screen D3, the operation control unit 21 accepts the field registration operation.

[0124] In step S7, the operation control unit 21 registers the field. Specifically, the operation control unit 21 registers the area of ​​the shape recognized based on the position information (see Figure 9 ) is registered as the field F. In addition, the operation control unit 21 registers the side (starting side) corresponding to the starting position of the teaching travel (teaching travel starting position S0). In the above example, the operation control unit 21 registers the lower side L1 (refer to Figure 4 ) is registered as the starting edge.

[0125] In this way, the operation control unit 21 registers the field F based on the operator's operation. When the operation control unit 21 registers the field F, it generates a target path R (see FIG. 1 ) for the work vehicle 10 to automatically travel. Figure 3). In addition, the operation control unit 21 outputs the path data including the target path R and the starting edge information to the work vehicle 10 when the work vehicle 10 is automatically driven. When the work vehicle 10 obtains the path data, it starts to automatically drive according to the operation of the operator. As a result, the work vehicle 10 is in the field F (refer to Figure 3 ) while automatically traveling from the driving start position S to the driving end position G according to the target path R while performing the specified work (such as planting work).

[0126] Here, the start side registered in the field registration process is set as a place (supply position) where a supply operation of supplying materials (eg, rice seedlings) to the field F to the work vehicle 10 is performed during the planting operation.

[0127] As described above, the operation control unit 21 according to this embodiment executes a method for setting a supply position for supplying materials to the work vehicle 10 that is automatically traveling along the target route R in the field F. Specifically, the operation control unit 21 executes the following steps: obtaining a travel start position (teaching travel start position S0) for teaching the work vehicle 10 to travel along the perimeter of the field F during an operation to register the field F; and setting the outer perimeter of the field F corresponding to the travel start position as the supply position.

[0128] According to the above configuration, the replenishment position can be automatically set simply by registering the work (teaching travel) in the field F. Therefore, the operator does not need to select and set the replenishment position, thereby improving convenience.

[0129] [Automatic driving processing]

[0130] Below, refer to Figure 11 An example of the automatic driving process executed by the automatic driving system 1 will be described.

[0131] In addition, the present invention can be regarded as the invention of an automatic driving method that executes one or more steps included in the automatic driving process. In addition, one or more steps included in the automatic driving process described herein can be appropriately omitted. In addition, the execution order of each step in the automatic driving process can also be different within the scope of producing the same effect. Moreover, here, the case where the vehicle control device 11 executes each step in the automatic driving process is used as an example for description. However, as another embodiment, an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner can also be considered.

[0132] In step S11, the vehicle control device 11 determines whether the work vehicle 10 is in a state capable of automatic driving. The vehicle control device 11 determines whether the work vehicle 10 is in a state capable of automatic driving. Figure 3 ) When the start conditions for automatic driving are satisfied (S11: Yes), the process moves to step S12. The vehicle control device 11 waits until the work vehicle 10 satisfies the start conditions for automatic driving (S11: No).

[0133] In step S12, the vehicle control device 11 starts the automatic driving of the work vehicle 10. For example, when the operator issues a driving start instruction on the operation screen of the operation terminal 20, the operation control unit 21 outputs the driving start instruction to the work vehicle 10. When the vehicle control device 11 receives the driving start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10. As a result, the work vehicle 10 moves along the target path R (see FIG. 1 ) in the field F. Figure 3 ) Automatic travel starts from the travel start position S. In addition, when the work vehicle 10 starts automatic travel, the planting operation of the seedlings is started on the work path.

[0134] In step S13, the vehicle control device 11 determines whether the remaining materials (seedlings) in the work vehicle 10 are insufficient. Specifically, the vehicle control device 11 determines whether the seedlings are insufficient based on whether the remaining amount of the seedlings carried by the work vehicle 10 is less than the specified amount and whether the consumption (supply) of the seedlings exceeds the specified amount. In addition, the vehicle control device 11 may also determine whether the seedlings are insufficient based on, for example, whether the seedlings are sufficient for one round trip of the working path remaining at the current moment. For example, when the vehicle control device 11 has seedlings sufficient for one round trip of the working path remaining at the current moment, the vehicle control device 11 determines that the seedlings are sufficient because the planting operation can be continued for at least two working paths. On the other hand, when the vehicle control device 11 does not have seedlings sufficient for one round trip of the working path remaining at the current moment, the vehicle control device 11 determines that the seedlings are insufficient because the seedlings may be exhausted halfway through the two working paths. Alternatively, the vehicle control device 11 may calculate the consumption per unit length of the work path (traveled path) after the work is completed, and based on the consumption per unit length, calculate the material consumption on the next work path (the work path of the next trip), thereby determining whether the rice seedlings are insufficient. If the vehicle control device 11 determines that the rice seedlings are insufficient (S13: Yes), the process proceeds to step S14. If the vehicle control device 11 determines that the rice seedlings are sufficient (S13: No), the process proceeds to step S25.

[0135] In step S14, the vehicle control device 11 determines whether the position of the starting edge set at the operation terminal 20 is on the traveling direction side of the travel path currently being traveled by the work vehicle 10. Figure 5 As shown in FIG, when the work vehicle 10 is traveling on the work path Ra1, the starting edge (lower edge L1) is located on the opposite side of the traveling direction, so the vehicle control device 11 determines that the starting edge is not located on the traveling direction side (S14: No). Figure 6 As shown, when the work vehicle 10 is traveling on the work path Ra2, the starting edge (lower edge L1) is on the traveling direction side. Therefore, the vehicle control device 11 determines that the starting edge is on the traveling direction side (S14: Yes). If the vehicle control device 11 determines that the starting edge is on the traveling direction side (S14: Yes), the process proceeds to step S15. If the vehicle control device 11 determines that the starting edge is not on the traveling direction side (S14: No), the process proceeds to step S25.

[0136] In step S15, the vehicle control device 11 sets the supply preparation point P1 and the supply position P2. Specifically, the vehicle control device 11 sets the end point of the current travel route as the supply preparation point P1. In addition, the vehicle control device 11 sets the supply position P2 on the extension line of the current travel route at the outer periphery of the field F. Figure 6 In the example shown, the vehicle control device 11 sets the terminal end of the current work route Ra2 as the replenishment preparation point P1, and sets the replenishment position P2 on the extension line of the work route Ra2 on the lower side L1.

[0137] In step S16, the vehicle control device 11 determines whether the work vehicle 10 has arrived at the refueling preparation point P1. If the work vehicle 10 has arrived at the refueling preparation point P1 (S16: Yes), the vehicle control device 11 transfers the process to step S17. The vehicle control device 11 continues the automatic driving and planting operation on the work route Ra2 until the work vehicle 10 reaches the refueling preparation point P1 (S16: No).

[0138] In step S17, the vehicle control device 11 stops the automatic travel of the work vehicle 10. As a result, the work vehicle 10 stops at the replenishment preparation point P1 and the planting work is interrupted.

[0139] In step S18, the vehicle control device 11 determines whether the operator's driving operation has been accepted. For example, the operator arrives at the parking location of the work vehicle 10 and uses the remote control to perform the driving operation. If the vehicle control device 11 has accepted the operator's driving operation (S18: Yes), the process shifts to step S19. The vehicle control device 11 waits until the operator's driving operation has been accepted (S18: No).

[0140] In step S19, the vehicle control device 11 manually drives the work vehicle 10. For example, the vehicle control device 11 drives the work vehicle 10 along the charging route Rh connecting the charging preparation point P1 and the charging position P2 in response to manual operation by the operator.

[0141] As another embodiment, the vehicle control device 11 may automatically drive the work vehicle 10 along the refueling route Rh. In this case, the vehicle control device 11 may stop the work vehicle 10 at the refueling preparation point P1. In this case, the vehicle control device 11 may omit the process of setting the refueling preparation point P1.

[0142] In step S20, the vehicle control device 11 determines whether the work vehicle 10 has reached the recharging position P2. If the work vehicle 10 has reached the recharging position P2 (S20: Yes), the vehicle control device 11 shifts the process to step S21. The vehicle control device 11 continues manual travel along the recharging route Rh until the work vehicle 10 reaches the recharging position P2 (S20: No).

[0143] In step S21 , the vehicle control device 11 performs a replenishment operation. The vehicle control device 11 performs processing corresponding to the replenishment operation performed by the operator. For example, the vehicle control device 11 updates the remaining amount of the rice seedlings mounted on the work vehicle 10 .

[0144] In step S22, the vehicle control device 11 determines whether the replenishment operation is completed. When the operator performs the end operation of the replenishment operation, the vehicle control device 11 determines that the replenishment operation is completed. When the vehicle control device 11 determines that the replenishment operation is completed (S22: Yes), the processing is transferred to step S23. The vehicle control device 11 continues processing until the replenishment operation is completed (S22: No). The vehicle control device 11 can determine that the replenishment operation is completed when accepting the end operation of the replenishment operation performed by the operator, or it can determine that the replenishment operation is completed based on the monitoring results of the sensor that monitors the supply amount or the remaining amount.

[0145] In step S23, the vehicle control device 11 moves the work vehicle 10 to the next work path Ra3 (see Figure 6The vehicle control device 11 can move the work vehicle 10 to the next work path Ra3 in response to manual control by the operator, or can automatically drive the work vehicle 10 along the path from the replenishment position P2 to the beginning of the work path Ra3. As another embodiment, the vehicle control device 11 can also move the work vehicle 10 to a position where the planting operation on the work path Ra2 is interrupted.

[0146] In step S24, the vehicle control device 11 restarts the automatic driving and planting work of the work vehicle 10. For example, the vehicle control device 11 restarts the automatic driving and planting work from the beginning of the work path Ra3.

[0147] In step S25, the vehicle control device 11 determines whether the work vehicle 10 has reached the travel end position G of the field F (see Figure 3 ) is determined. If the vehicle control device 11 determines that the work vehicle 10 has reached the travel end position G (S25: Yes), it ends the automatic travel process. On the other hand, if the vehicle control device 11 determines that the work vehicle 10 has not reached the travel end position G (S25: No), it transfers the process to step S13 and executes the above process again. The vehicle control device 11 repeatedly executes the processes of steps S13 to S24 until the work vehicle 10 reaches the travel end position G.

[0148] As described above, the vehicle control device 11 involved in this embodiment performs the following steps: automatically causing the work vehicle 10 to travel along the target path R in the field F; performing the operation of supplying materials carried on the work vehicle 10 to the field F during automatic driving; obtaining monitoring results from the material monitoring unit 171 that monitors at least either the remaining amount of materials and the consumption of materials in the work vehicle 10; and setting a supply position for supplying the materials to the work vehicle 10 based on the monitoring results, the start position of travel or operation set for the field F, and the travel direction of the work vehicle 10 on the driving path currently being traveled.

[0149] With this configuration, for example, if the work vehicle 10 detects a shortage of materials during autonomous driving, and the vehicle's current direction of travel is toward the starting edge (lower edge L1) corresponding to the taught travel start position S0, a resupply position can be set at the starting edge and resupply can be performed. This allows the resupply position to be appropriately set in real time based on the current material status of the work vehicle 10. This reduces operator time required to set the resupply position and improves the efficiency of resupply operations.

[0150] [Other embodiments]

[0151] The embodiment of the present invention is not limited to the above-described embodiment, and the following embodiments are also possible.

[0152] As another embodiment of the present invention, the vehicle control device 11 may also set the refueling location P2 at a predetermined distance from the refueling preparation point P1. Furthermore, the predetermined distance can be set by an operator within a range from a lower limit to an upper limit. This allows the operator to set the refueling location at a desired distance from the refueling preparation point P1 (the end of the work path), allowing the refueling location to be set at any desired location, depending on, for example, the shape of the field F.

[0153] [Cancel function]

[0154] As another embodiment of the present invention, the automatic driving system 1 may also have a function of canceling the set supply position P2. Specifically, the operation control unit 21 may have a structure capable of accepting a cancel operation from the operator to cancel the set supply position P2. Figure 12 As shown, the operation control unit 21 accepts a cancellation operation when the operator presses the cancel button K1 on the operation terminal 20 (operation remote controller). For example, the operation terminal 20 is mounted on the work vehicle 10, and the operator on board the work vehicle 10 operates the operation terminal 20. When the operation control unit 21 accepts the operator's cancellation operation at the refueling position P2, the vehicle control device 11 (travel processing unit 111) causes the work vehicle 10 to travel toward the next work route when the work vehicle 10 reaches the end of the currently traveling route.

[0155] In e.g. Figure 6 In the example shown, when the work vehicle 10 is traveling along the work path Ra2 toward the lower side L1, the vehicle control device 11 (setting processing unit 114) sets the recharging position P2 at the lower side L1. After recharging position P2 is set, if the operator cancels recharging position P2, the operation control unit 21 accepts the cancellation operation and outputs a cancellation instruction to the work vehicle 10. Upon receiving the cancellation instruction from the operation terminal 20, the vehicle control device 11 deletes the recharging position P2 set at the lower side L1 and causes the work vehicle 10 to automatically travel from the work path Ra2 toward the next work path Ra3. As a result, the work vehicle 10 skips the recharging operation at recharging position P2 and continues its automatic travel and operation.

[0156] The operation control unit 21 may be configured to accept the operator's cancellation operation each time the resupply position P2 is set. For example, when the work vehicle 10 is traveling along the work path Ra4 toward the lower side L1 and the resupply position P2 is set on the lower side L1, the operation control unit 21 may again accept the operator's cancellation operation for the resupply position P2. Furthermore, the cancellation function is not limited to canceling the set resupply position P2 but may also cancel the resupply operation. The operation control unit 21 may be configured to accept the operator's cancellation operation each time the resupply position P2 is set.

[0157] [Special supply location settings]

[0158] As another embodiment of the present invention, the automatic driving system 1 may also set the supply position P3 (an example of a specific supply position of the present invention) at a specific position in the field F. For example, when the operation control unit 21 (or the vehicle control device 11) registers the work area ( Figure 7 When the operator selects the "Working area registration" of the field registration, the start edge of the registration (refer to Figure 9 ), the selected position is set as the supply position P3. In addition, when the operator selects any position in the field F, the operation control unit 21 may set the selected position as the supply position P3.

[0159] In addition, the operation control unit 21 (or the vehicle control device 11) can also set the automatic driving start position to the supply position P3. In addition, the automatic driving start position is the same as the driving start position S (refer to Figure 3 ) is different from the position where the automatic driving of the working vehicle 10 starts. When the working vehicle 10 starts automatic driving at the automatic driving starting position, it automatically drives from the automatic driving starting position to the working starting position ( Figure 3 The operation control unit 21 sets the vehicle position (current position) at the time the work vehicle 10 receives the automatic travel start instruction as the replenishment position P3. Alternatively, if the operator sets any position within the field F as the automatic travel start position, the operation control unit 21 may set the set automatic travel start position as the replenishment position P3.

[0160] In addition, the operation control unit 21 (or the vehicle control device 11) may also set the work end position ( Figure 3The operation control unit 21 may set the travel end position G) as the replenishment position P3. For example, if the operator sets an arbitrary position within the field F as the work end position, the operation control unit 21 may set the set work end position as the replenishment position P3. Alternatively, the operation control unit 21 may set the work end position based on the generated target path R and set the set work end position as the replenishment position P3.

[0161] Figure 13 A specific example of the replenishment position P3 is shown in . When the replenishment position P3 is set, the vehicle control device 11 generates a replenishment route Rg connecting the replenishment preparation point P1 (the terminal end of the work route Ra2) and the replenishment position P3.

[0162] As another embodiment, the operation control unit 21 may be configured to switch the working vehicle 10 to the supply position P2 or the supply position P3. In other words, the operation control unit 21 may be configured to switch the position where the supply operation is performed. Specifically, the operation control unit 21 may also have a structure that can accept an operation from the operator to select the supply position P2 or the supply position P3. For example, Figure 12 As shown, the operation control unit 21 accepts an operation to change the recharging location P2 to the recharging location P3 when the operator presses the recharging location switching button K2 on the operation terminal 20. As another embodiment, the operation terminal 20 may be provided with a selection button for selecting the recharging location P2 and a selection button for selecting the recharging location P3.

[0163] For example, based on the peripheral conditions of the field F (such as the conditions of roads, canals, and obstacles outside the field F), the operator may choose to drive the work vehicle 10 to a recharging position P2 set on an extension of the driving route, or to a recharging position P3 pre-set in the field F. If the recharging position P2 is selected, the driving processing unit 111 automatically drives the work vehicle 10 to the recharging position P2 along the recharging route Rh. If the recharging position P3 is selected, the operator automatically drives the work vehicle 10 to the recharging position P3 along the recharging route Rg.

[0164] Furthermore, when the work vehicle 10 is replenishing materials at replenishment position P2 and the replenishment operation is completed, the travel processing unit 111 automatically drives the work vehicle 10 from replenishment position P2 to the next work path Ra3. Furthermore, when the work vehicle 10 is replenishing materials at replenishment position P3 and the replenishment operation is completed, the travel processing unit 111 automatically drives the work vehicle 10 from replenishment position P3 to the next work path Ra3. Furthermore, when replenishment position P3 is set to the work end position, the travel processing unit 111 terminates the automatic travel of the work vehicle 10 or moves the work vehicle 10 to the next field after the replenishment operation is completed at replenishment position P3.

[0165] Alternatively, the operator may be able to select either recharging position P2 or recharging position P3 for each recharging operation. For example, when the work vehicle 10 begins operation and recharging is required for the first time, the operator may select recharging position P2, and when recharging is required for the next time, the operator may select recharging position P3.

[0166] In the above embodiment, a rice transplanter is used as an example of the work vehicle 10. However, in other embodiments, the work vehicle 10 may also be a spreader, a fertilizer applicator, a seed drill, etc. For example, if the work vehicle 10 is a spreader, the material used is the spreading material (water, liquid medicine), and the vehicle control device 11 monitors the remaining amount and consumption of the spreading material to determine whether resupply is required.

[0167] In the above embodiment, the work vehicle 10 alone corresponds to the automatic driving system according to the present invention. However, the automatic driving system according to the present invention may be constituted by the operation terminal 20 alone, or may be constituted to include the work vehicle 10 and the operation terminal 20. In addition, the functions of the vehicle control device 11 and the operation control unit 21 may also be included in a server.

[0168] [Invention Notes]

[0169] The following is a supplementary note on the summary of the invention extracted from the embodiment. In addition, the various structures and processing functions described in the following supplementary notes can be selected and discarded and can be combined arbitrarily.

[0170] Note 1

[0171] An automatic driving method, wherein:

[0172] The automatic driving method performs the following steps:

[0173] Make the working vehicle automatically drive along the target path in the working area;

[0174] supplying materials mounted on the work vehicle to the work area during automatic driving;

[0175] obtaining a monitoring result from a monitoring unit that monitors at least one of a remaining amount of the material and a consumption amount of the material in the work vehicle; and

[0176] A supply position for supplying the material to the work vehicle is set based on the monitoring result, a travel start or work start position set for the work area, and a travel direction on a first travel path on which the work vehicle is currently traveling.

[0177] Note 2

[0178] The automatic driving method according to Supplementary Note 1, wherein:

[0179] When it is determined based on the monitoring result that the material remaining in the work vehicle is insufficient and the start position is on the traveling direction side, the replenishment position is set to a position on the traveling direction side in the work area.

[0180] Note 3

[0181] The automatic driving method according to Supplement 1 or Supplement 2, wherein:

[0182] When it is determined based on the monitoring result that the material remaining in the work vehicle is insufficient and the start position is on the traveling direction side, the work vehicle is driven from the first travel route to the supply position.

[0183] Note 4

[0184] The automatic driving method according to Supplementary Note 3, wherein:

[0185] The work vehicle is stopped at a terminal end of the first travel route, and is driven from the terminal end to the replenishment position according to a manual operation of a user.

[0186] <Note 5>

[0187] The automatic driving method according to Supplement 3 or Supplement 4, wherein:

[0188] A replenishment route is generated from the terminal end of the first travel route to the replenishment position, and the work vehicle is automatically driven along the replenishment route.

[0189] <Note 6>

[0190] The automatic driving method according to any one of Supplementary Notes 3 to 5, wherein:

[0191] The replenishment position is set to a position a predetermined distance away from a terminal end of the first travel route.

[0192] <Note 7>

[0193] The automatic driving method according to Supplementary Note 6, wherein:

[0194] The predetermined distance is set according to a setting operation performed by a user within a range from a lower limit distance to an upper limit distance.

[0195] <Note 8>

[0196] The automatic driving method according to any one of Supplementary Notes 1 to 7, wherein:

[0197] During the process of the work vehicle traveling on the first driving path, if it is expected that the materials are insufficient on one or more driving paths continuous with the first driving path, and the starting position is on the traveling direction side of the first driving path on which the work vehicle is currently traveling, the position on the traveling direction side in the work area is set as the supply position, and the work vehicle is driven to the supply position.

[0198] <Note 9>

[0199] The automatic driving method according to any one of Supplementary Notes 1 to 8, wherein:

[0200] The replenishment position is set on an extension line of the first travel path in an outer peripheral portion of the work area.

[0201] <Note 10>

[0202] The automatic driving method according to any one of Supplementary Notes 1 to 9, wherein:

[0203] The starting position is: the driving starting position when the work vehicle is taught to drive along the periphery of the work area during the work of registering the work area, the starting position of automatic driving preset for the work area, or the starting position of the work preset for the work area.

[0204] <Note 11>

[0205] The automatic driving method according to any one of Supplementary Notes 1 to 10, wherein:

[0206] Ability to accept a cancellation operation for canceling the set supply position,

[0207] When the cancel operation is accepted, the work vehicle is caused to travel toward a travel path next to the first travel path.

[0208] <Note 12>

[0209] The automatic driving method according to any one of Supplementary Notes 1 to 11, wherein:

[0210] Pre-set a specific supply location at any location within the operation area,

[0211] The work vehicle can be switched to travel to the supply position or to travel to the specific supply position.

[0212] <Note 13>

[0213] The automatic driving method according to Supplementary Note 12, wherein:

[0214] When the work vehicle is performing the material replenishment operation at the replenishment location and the replenishment operation is completed, the work vehicle is automatically driven from the replenishment location to the next travel path;

[0215] When the work vehicle performs a replenishment operation of the material at the specific replenishment location and the replenishment operation is completed, the work vehicle is automatically driven from the specific replenishment location to a next travel route.

Claims

1. An automatic driving method, characterized in that: The automatic driving method performs the following steps: Make the working vehicle automatically drive along the target path in the working area; supplying materials mounted on the work vehicle to the work area during automatic driving; obtaining a monitoring result from a monitoring unit that monitors at least one of a remaining amount of the material and a consumption amount of the material in the work vehicle; as well as A supply position for supplying the material to the work vehicle is set based on the monitoring result, a travel start position or a work start position set for the work area, and a travel direction on a first travel path on which the work vehicle is currently traveling.

2. The automatic driving method according to claim 1, characterized in that: When it is determined based on the monitoring result that the material remaining in the work vehicle is insufficient and the start position is on the traveling direction side, the replenishment position is set to a position on the traveling direction side in the work area.

3. The automatic driving method according to claim 1, characterized in that: When it is determined based on the monitoring result that the material remaining in the work vehicle is insufficient and the start position is on the traveling direction side, the work vehicle is driven from the first travel route to the supply position.

4. The automatic driving method according to claim 3, characterized in that: The work vehicle is stopped at a terminal end of the first travel route, and is driven from the terminal end to the replenishment position according to a manual operation of a user.

5. The automatic driving method according to claim 3, characterized in that: A replenishment route is generated from the terminal end of the first travel route to the replenishment position, and the work vehicle is automatically driven along the replenishment route.

6. The automatic driving method according to any one of claims 3 to 5, characterized in that: The replenishment position is set to a position a predetermined distance away from a terminal end of the first travel route.

7. The automatic driving method according to claim 6, characterized in that: The predetermined distance is set according to a setting operation performed by a user within a range from a lower limit distance to an upper limit distance.

8. The automatic driving method according to claim 1, characterized in that: During the process of the work vehicle traveling on the first driving path, if it is expected that the materials are insufficient on one or more driving paths continuous with the first driving path, and the starting position is on the traveling direction side of the first driving path on which the work vehicle is currently traveling, the position on the traveling direction side in the work area is set as the supply position, and the work vehicle is driven to the supply position.

9. The automatic driving method according to claim 1, characterized in that: The replenishment position is set on an extension line of the first travel path in an outer peripheral portion of the work area.

10. The automatic driving method according to claim 1, characterized in that: The starting position is: the driving starting position when the work vehicle is taught to drive along the periphery of the work area during the work of registering the work area, the starting position of automatic driving preset for the work area, or the starting position of the work preset for the work area.

11. The automatic driving method according to claim 1, characterized in that: Ability to accept a cancellation operation for canceling the set supply position, When the cancel operation is accepted, the work vehicle is caused to travel toward a travel path next to the first travel path.

12. The automatic driving method according to claim 1, characterized in that: Pre-set a specific supply location at a specific location within the operation area, The work vehicle can be switched to travel to the supply position or to travel to the specific supply position.

13. The automatic driving method according to claim 12, characterized in that: When the work vehicle is performing the material replenishment operation at the replenishment location and the replenishment operation is completed, the work vehicle is automatically driven from the replenishment location to the next travel path; When the work vehicle performs a replenishment operation of the material at the specific replenishment location and the replenishment operation is completed, the work vehicle is automatically driven from the specific replenishment location to a next travel route.

14. A method for setting a supply position for a work vehicle that supplies materials to a work area while automatically traveling along a target path in the work area, wherein: The replenishment position setting method performs the following steps: obtaining a travel start position when the work vehicle is caused to perform teaching travel along the periphery of the work area during the work of registering the work area; and An outer periphery corresponding to the travel start position among the outer periphery constituting the work area is set as the replenishment position.

15. An automatic driving program, characterized in that: The automatic driving program is used to enable one or more processors to perform the following steps: Make the working vehicle automatically drive along the target path in the working area; supplying materials mounted on the work vehicle to the work area during automatic driving; obtaining a monitoring result from a monitoring unit that monitors at least one of a remaining amount of the material and a consumption amount of the material in the work vehicle; as well as A supply position for supplying the material to the work vehicle is set based on the monitoring result, a travel start position or a work start position set for the work area, and a travel direction on a first travel path on which the work vehicle is currently traveling.

16. An automatic driving system, characterized in that: The automatic driving system comprises: a driving processing unit that automatically drives the work vehicle along a target path in the work area; a work processing unit that performs work of supplying materials mounted on the work vehicle to the work area during automatic driving; an acquisition processing unit that acquires a monitoring result from a monitoring unit that monitors at least one of a remaining amount of the material and a consumption amount of the material in the work vehicle; as well as A setting processing unit sets a supply position for supplying the material to the work vehicle based on the monitoring result, a start position for travel or work set for the work area, and a travel direction on the first travel path on which the work vehicle is currently traveling.

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