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

Abstract

Provided are an automatic travel method, an automatic travel program, and an automatic travel system with which it is possible to improve the work accuracy of a work vehicle that performs work while performing automatic travel. A travel processing unit (111) causes a work vehicle (10) provided with a work machine (14) capable of moving between a non-work position and a work position to travel automatically in accordance with a target route. The lifting processing unit (112) starts movement of the work machine (14) from the non-work position to the work position at a position before a predetermined distance from the work start position in the target path. The drive processing unit (114) starts driving the work machine (14) after a predetermined time has elapsed since the work machine (14) starts moving or after a predetermined time has elapsed since the work machine (14) reaches the work position.

Description

Technical Field

[0001] The present invention relates to an automatic driving method, an automatic driving program, and an automatic driving system for causing a work vehicle to perform work while driving automatically. Background Art

[0002] Systems are known in which a work vehicle automatically travels along a target path in a field and a work machine mounted on the work vehicle performs a predetermined operation. For example, a rice transplanter that automatically travels along a target path while planting seedlings is known in which a planting device is lowered to the field surface just before reaching a planting start position, thereby starting the planting operation from a position forward of the planting start position (see, for example, Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 7249965 Summary of the Invention

[0006] However, if the working device (planting device) is driven a predetermined distance before the preset working start position (planting start position), there is a possibility that the work may not be started correctly at the working start position due to a delay in the start of the drive caused by deviations in the working device's stop position or jitters in the drive transmission system due to aging. In this case, the actual working start position deviates from the working start position, resulting in reduced working accuracy.

[0007] An object of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system capable of improving the working accuracy of a working vehicle that performs work while driving automatically.

[0008] The automatic driving method involved in the present invention performs the following steps: causing a working vehicle equipped with a working machine capable of moving between a non-working position and a working position to automatically drive along a target path; causing the working machine to start moving from the non-working position toward the working position at a position before a specified distance relative to a working start position in the target path; and starting the driving of the working machine after a specified time has passed since the working machine started moving or after a specified time has passed since the working machine arrived at the working position.

[0009] In addition, the automatic driving program involved in the present invention is a program for causing one or more processors to execute the following steps: causing a work vehicle equipped with a work machine capable of moving between a non-working position and a working position to automatically drive along a target path; causing the work machine to start moving from the non-working position toward the working position at a position before a specified distance relative to the working start position in the target path; and starting the driving of the work machine after a specified time has passed since the work machine started moving, or after a specified time has passed since the work machine arrived at the working position.

[0010] In addition, the automatic driving system according to the present invention includes a driving processing unit, a lifting processing unit, and a driving processing unit. The driving processing unit automatically drives a working vehicle equipped with a working machine capable of moving between a non-working position and a working position along a target path. The lifting processing unit starts the movement of the working machine from the non-working position toward the working position at a position a predetermined distance ahead of the working start position on the target path. The driving processing unit starts driving the working machine after a predetermined time has passed since the working machine started moving or after a predetermined time has passed since the working machine arrived at the working position.

[0011] Effects of the Invention

[0012] According to the present invention, it is possible to provide an automatic driving method, an automatic driving program, and an automatic driving system capable of improving the working accuracy of a work vehicle that performs work while driving automatically. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention.

[0014] Figure 2A It is a side view which shows an example of the working vehicle (rice transplanter) which concerns on embodiment of this invention.

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

[0016] Figure 2C It is a plan view showing a schematic configuration of a power transmission mechanism of a work vehicle (rice transplanter) according to an embodiment of the present 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(a) to (d) are schematic diagrams illustrating an example of a driving method of a work vehicle according to an embodiment of the present invention.

[0019] Figure 5 This is a diagram showing an example of the operation timing of each process executed in the work vehicle according to the embodiment of the present invention.

[0020] Figure 6 This is a diagram showing another example of the operation timing of each process executed in 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 flowchart showing an example of the procedure of the automatic driving process executed by the automatic driving system according to the first embodiment of the present invention.

[0023] Figure 9 This is a flowchart showing an example of the procedure of the automatic driving process executed by the automatic driving system according to the second embodiment of the present invention.

[0024] Figure 10 This is a diagram showing an example of the operation timing of each process executed in the work vehicle according to the embodiment of the present invention.

[0025] Figure 11 This is a diagram showing an example of the operation timing of each process executed in the work vehicle according to the embodiment of the present invention.

[0026] Figure 12 This is a diagram showing an example of a job setting screen displayed on the operation terminal according to the embodiment of the present invention. DETAILED DESCRIPTION

[0027] The following embodiment is an example of realizing the present invention, and does not limit the technical scope of the present invention.

[0028] 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.

[0029] In this embodiment, the case where the work vehicle 10 is a rice transplanter is used as an example for explanation. In addition, as other embodiments, the work vehicle 10 may also be a tractor, a combine harvester, a construction machine, or a snowplow. 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, the operator (user) registers the field of the work object and sets a driving path (target path) for the work vehicle 10 to automatically drive relative to 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 operations) while automatically driving in the field.

[0030] For example, the work vehicle 10 Figure 3 The vehicle automatically travels along the target route R in the field F shown. Figure 3 The illustrated field F includes an inner area Fa and a headland area Fb (outer area). A target path R, consisting of multiple work paths, is pre-set in the field F. For example, a work path Ra is set in the inner area Fa, which travels back and forth in parallel from a travel start position S, while a work path Rb is set in the headland area Fb, which travels in a spiral (circular) pattern around the periphery toward a travel end position G.

[0031] 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 the headland area Fb along the work path Rb to the travel end position G.

[0032] Here, the work route Rb of the headland area Fb is set based on the number of work strokes. Figure 3 Although the work path Rb is shown in the case where the number of work strokes is 2, the number of work strokes of the work path Rb may also be 1. Figure 3 In the illustrated work route Rb, 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, if the number of work strokes is two, the width of headland area Fb is approximately twice the working width of work vehicle 10.

[0033] The target path R is not limited to Figure 3 The path shown is appropriately set according to the shape of the field F, the content of the work, etc. For example, the target path R is appropriately set according to the number of work strokes in the headland area Fb or the width of the headland area Fb.

[0034] However, in the prior art that drives the working device (planting device) before a specified distance from a pre-set working start position (planting start position), the working may not be started correctly at the working start position due to the deviation of the stop position of the working device, the shaking of the drive transmission system due to aging, etc. In this case, the following problem arises: the position where the working is actually started deviates from the working start position, thereby reducing the working accuracy. In contrast, as shown below, the automatic driving system 1 involved in this embodiment can improve the working accuracy of the working vehicle 10 that is working while driving automatically. The specific structure of the working vehicle 10 and the operation terminal 20 is described below.

[0035] [Work vehicle 10]

[0036] like Figure 1 、 Figure 2A as well as Figure 2B As shown, 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, and the like. Vehicle control device 11 is electrically connected to storage unit 12, vehicle body 13, work machine 14, positioning unit 16, obstacle monitoring unit 17, and the like. Furthermore, vehicle control device 11 and positioning unit 16 may be configured to enable wireless communication.

[0037] First, refer to Figures 2A to 2C 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 is a top view of the work vehicle 10, Figure 2C This is a plan view schematically showing the configuration of a power transmission mechanism 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 implement 14 (planting unit), and the like.

[0038] An engine (drive unit) 131 is disposed inside an engine hood 134 disposed 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 transmission 135. The power transmitted via the transmission 135 is also transmitted to the working machine 14 via a PTO shaft 37 disposed at the rear of the vehicle body 13. In addition, the power is transmitted via the planting clutch 5 (working clutch, PTO clutch) (see Figure 2C ) and transmitted to the PTO shaft 37. In the front-rear direction of the vehicle body 13, a driver's seat 138 for an operator to sit on is provided between the front wheel 132 and the rear wheel 133.

[0039] In front of the driver's seat 138, operating elements 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 element for changing the steering angle of the work vehicle 10. The main gear lever is configured to be able to select at least one of the following positions: "forward," "reverse," "neutral," and "seedling replanting." When the main gear lever is operated to the "forward" position, power is transmitted to the front wheels 132 and the rear wheels 133 in a direction that causes the work vehicle 10 to move forward. When the main gear lever is operated to the "reverse" position, power is driven to the front wheels 132 and the rear wheels 133 in a direction that causes the work vehicle 10 to move 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 cut off. When the main gear lever is operated to the "seedling replanting" position, power transmission to the front wheels 132, the rear wheels 133, and the PTO shaft 37 is cut off. Furthermore, when the planting clutch lever is operated to the "engaged" position, the planting clutch 5 is in a transmission state in which power is transmitted to the PTO shaft 37 (i.e., the working machine 14). When the planting clutch lever is operated to the "disconnected" position, the planting clutch 5 is in a disconnected state in which power is not transmitted to the PTO shaft 37. Specifically, when the planting clutch lever is set to the "engaged" position, the driving of the working machine 14 is started, and the planting operation begins. Furthermore, when the planting clutch lever is set to the "disconnected" position, the driving of the working machine 14 is stopped, and the planting operation stops.

[0040] In addition, in the present embodiment, the vehicle control device 11 switches the "engagement (ON)" and "disconnection (OFF)" of the planting clutch 5. When the vehicle control device 11 sets the planting clutch 5 to "engagement", the drive of the working machine 14 is started and the planting action is started. In addition, when the vehicle control device 11 sets the planting clutch 5 to "disconnection", the drive of the working machine 14 is stopped and the planting action is stopped. The vehicle control device 11 only needs to switch the "engagement" and "disconnection" of the planting clutch 5 as an internal process, and the position of the planting clutch lever does not need to be moved.

[0041] The work machine 14 is connected to the rear of the vehicle body 13 by means of 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 can 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 can also be used.

[0042] The working machine 14 (planting section) includes a planting input box 33, a plurality of planting units 34, a seedling loading stand 35, a plurality of floats 36, and the like.

[0043] 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 mounted on both sides of each planting transmission box 41 in the vehicle width direction. Two planting claws 43 are mounted on each rotary box 42, aligned in the direction of travel of the work vehicle 10. These two planting claws 43 are used to plant a single ridge.

[0044] like Figure 2A As shown, the seedling loading platform 35 is arranged in the upper front 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 in the transverse direction). In addition, the seedling loading platform 35 is configured to be able to intermittently transport the seedling mat downward longitudinally at the reciprocating end of the seedling loading platform 35. According to this structure, the seedling loading platform 35 can supply the seedlings of the seedling mat to each planting unit 34. In this way, in the work vehicle 10, the seedlings can be supplied to each planting unit 34 in sequence and the seedlings can be planted continuously.

[0045] Figure 2A The illustrated float 36 is disposed below the work machine 14, with its lower surface configured to contact the ground. The float 36 contacts the ground to smooth the field surface before planting rice seedlings. Furthermore, a float sensor (not shown) is provided on the float 36 to detect 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 activates the lift cylinder 32 based on the swing angle of the float 36, raising and lowering the work machine 14. This maintains the height of the work machine 14 above the ground at a constant level.

[0046] like Figure 2C As shown, a transmission 130 is arranged behind the engine 131. Front axles 132b are arranged on the left and right sides of the transmission 130, and front wheels 132 (see Figure 2A ) is mounted on the front wheel shaft 132a provided on the front axle 132b and is driven by the driving force transmitted from the transmission 130. The rear axle 6 is arranged behind the transmission 130 via the coupling 3, and the rear wheel drive shaft 2 is arranged along the coupling 3. The rear wheel drive shaft 2 transmits the driving force from the transmission 130 to the rear axle 6. The rear wheel 133 (refer to Figure 2A ) is mounted on a rear wheel shaft 133a provided on the rear axle 6 and is driven by the driving force transmitted from the transmission 130 via the rear wheel drive shaft 2.

[0047] A planting clutch 5 is arranged at the rear of the transmission 130 with the aid of a coupling 51. Regarding the driving force transmitted from the transmission 130 via the coupling 51, the planting clutch 5 is used to switch the power transmission state to either a connected state ("engaged") or a disconnected state ("disconnected"). The PTO shaft 37 is connected to the universal joint 7, and the universal joint 7 is connected to the input shaft 8 of the center box 9. The output shaft 9a of the center box 9 is arranged along the guide rail 40. Planting transmission boxes 41 are arranged at approximately equal intervals at multiple locations (four locations as an example in this embodiment) in the left and right directions behind the guide rail 40. The planting transmission box 41 is connected to the output shaft 9a of the center box 9. A pair of planting units 34 are arranged on the left and right sides of the planting transmission box 41. The driving force generated by the motor is transmitted to the planting unit 34 via the PTO shaft 37, the center box 9 and the planting transmission box 41.

[0048] The seedling loading platform 19 is located outside the hood 134 in the vehicle width direction and can accommodate a seedling box containing seedlings. The upper portions of the left and right seedling loading platforms 19 are connected by a connecting frame 18 extending vertically and in the vehicle width direction. 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, the positioning unit 16 is installed in the upper center of the front of the work vehicle 10. The installation location of the positioning unit 16 is not limited. Furthermore, the positioning control unit 161, storage unit 162, communication unit 163, and positioning antenna 164 of the positioning unit 16 can be dispersed and arranged at different locations in the work vehicle 10. Furthermore, a battery is connected to the positioning unit 16, allowing the positioning unit 16 to operate even when the engine 131 is stopped. Alternatively, for example, a mobile phone terminal, smartphone, tablet terminal, quantum compass, etc. may be used as the positioning unit 16.

[0050] The positioning control unit 161 is a computer system comprising one or more processors, nonvolatile memory, and RAM. The storage unit 162 is a nonvolatile memory that stores, for example, a program for causing 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-temporarily 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 is a communication interface for connecting the positioning unit 16 to the communication network N1 via a wired or wireless connection and performing data communication based on a predetermined communication protocol with an external device such as a base station server via the communication network N1.

[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 GNSS signals received from satellites by the positioning antenna 164. For example, when the work vehicle 10 is autonomously traveling within the field F, if 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, based on the calculated distances, calculates the current position (latitude and longitude) of the work vehicle 10. Alternatively, the positioning control unit 161 can perform real-time kinematic positioning (RTK-GNSS positioning) that 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 RTK-based positioning information for autonomous driving. Furthermore, 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 a position deviating from the positioning position (e.g., the planting position of the planting unit 34). Furthermore, the positioning control unit 161 may calculate (position) the current position 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 detection area using infrared rays, ultrasonic waves, etc. For example, the obstacle monitoring unit 17 can be a radar sensor (distance sensor) that can three-dimensionally measure the distance to the measurement object (obstacle) using 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, materials temporarily placed in the field F, people, etc. If the obstacle monitoring unit 17 detects the obstacle, the monitoring result (measurement information) is sent to the vehicle control device 11. If 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 storage unit 12 is a non-volatile storage unit such as a HDD (Hard Disk Drive), an SSD (Solid State Drive), or a 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 8 and Figure 9 ) 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 reading device (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.

[0056] 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. Furthermore, the vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs pre-stored in the ROM or storage unit 12.

[0057] 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.

[0058] like Figure 1 As shown, the vehicle control device 11 includes various processing units, such as a travel processing unit 111, a lift processing unit 112, a vehicle speed control processing unit 113, and a drive processing unit 114. Furthermore, the vehicle control device 11 functions as the various processing units by having the CPU execute various processes based on the automatic travel program. Furthermore, some or all of the processing units may be comprised of electronic circuits. Furthermore, the automatic travel program may be a program that causes multiple processors to function as the processing units.

[0059] 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 along the target path R set for 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 is at a position that 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 automatically travel along the target path R. For example, the travel processing unit 111 causes the work vehicle 10 to travel straight from the beginning to the end of each work path, and to travel from the beginning to the end of each turning path.

[0060] Furthermore, the travel processing unit 111 stops the automatic travel of the work vehicle 10 when 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 .

[0061] Furthermore, the driving processing unit 111 controls the driving of the work vehicle 10 based on the monitoring results obtained by the obstacle monitoring unit 17. Specifically, if the obstacle monitoring unit 17 detects an obstacle, the driving processing unit 111 decelerates or stops the work vehicle 10. Alternatively, the driving processing unit 111 may cause the work vehicle 10 to perform avoidance driving to avoid the obstacle.

[0062] The lifting processing unit 112 controls the position (posture) of the working machine 14. Specifically, the lifting processing unit 112 changes the height of the working machine 14 between a working position (working height) in which the working machine 14 is lowered and the planting operation is performed, and a non-working position (non-working height) in which the working machine 14 is raised and the planting operation is not performed. Figure 2A ) When leveling the surface of the field, the work machine 14 is lowered to the working position. The lifting processing unit 112 inputs a control signal to the lifting cylinder 32 to cause the lifting cylinder 32 to extend and retract, thereby raising and lowering the work machine 14.

[0063] Furthermore, the lifting processing unit 112 controls the lifting of the work machine 14 based on the position information of the work vehicle 10. Specifically, the lifting processing unit 112 starts lowering the work machine 14 from the non-working position to the working position at a position before the predetermined distance from the working start position on the target path R. For example, Figure 4 As shown in (a), the work vehicle 10 is at the travel start position S (refer to Figure 3) When the automatic driving starts, the working machine 14 is maintained in the non-working position and the automatic driving is performed. Then, when the working vehicle 10 reaches the position P1 of the working path Ra before the predetermined distance L1 relative to the working starting position P0 (refer to Figure 4 In step (b), the lifting and lowering unit 112 lowers the work implement 14 from the non-working position to the working position. When the work implement 14 moves to the working position, the float 36 contacts the ground. When the travel unit 111 automatically drives the work vehicle 10 in this state, the float 36 can be used to smooth the surface of the field. At this point, the work implement 14 is stopped, so no planting is performed.

[0064] The drive processing unit 114 controls the drive of the working machine 14. Specifically, the drive processing unit 114 starts the drive of the working machine 14, and starts the planting action (the action of the planting unit 34 planting the seedlings on the surface of the field). Specifically, the drive processing unit 114 switches the "engagement" and "disconnection" of the planting clutch 5 to switch the drive and stop of the working machine 14. For example, the drive processing unit 114 sets the planting clutch 5 to "engagement", thereby starting the drive of the working machine 14 and causing the planting unit 34 to start the planting action. In addition, the drive processing unit 114 sets the planting clutch 5 to "disconnection", thereby stopping the drive of the working machine 14 and causing the planting unit 34 to stop the planting action.

[0065] In addition, the drive processing unit 114 starts driving the work machine 14 near the work start position P0. Specifically, the drive processing unit 114 controls the timing of engaging the planting clutch 5 so that the work vehicle 10 reaches the work start position P0, that is, the planting unit 34 reaches the work start position P0 (see Figure 4 At (d)), the planting action of the planting unit 34 is started.

[0066] In addition, in the work vehicle 10 , the distance between the positioning antenna 164 and the planting unit 34 is a fixed value. Therefore, the drive processing unit 114 can calculate the position of the planting unit 34 by acquiring the position of the positioning antenna 164 .

[0067] Here, a predetermined time T0 (time lag) is required from the time the planting clutch 5 switches from "disconnected" to "engaged" until the operation (planting operation) of the work machine 14 (planting unit 34) begins. The predetermined time T0 (time lag) includes structural delay time, delay time caused by aging, and the like. For example, the structural delay time is a time inherent to the work machine 14 and varies depending on the individual differences of the work machine 14. In addition, the delay time caused by aging is extended according to the length of the operation period of the work machine 14.

[0068] In this embodiment, the operation (planting operation) of the working machine 14 begins when a predetermined time T0 (time lag) has elapsed since the drive processing unit 114 engaged the planting clutch 5 (started driving). Therefore, in order to start the planting operation when the planting unit 34 reaches the operation start position P0, the drive processing unit 114 must engage the planting clutch 5 a predetermined time T0 before the planting unit 34 reaches the operation start position P0.

[0069] Therefore, the drive processing unit 114 starts driving the working machine 14 (switches the planting clutch 5 from "disconnected" to "engaged") when a predetermined time T1 has passed since the working machine 14 started to descend from the non-working position to the working position. Figure 4 As shown, at the moment (position P2) when the specified time T1 has passed since the work vehicle 10 reaches position P1 and starts to descend the work machine 14 (the timing of outputting a descent instruction to the work machine 14), the planting clutch 5 is set to "engaged" and the drive of the work machine 14 is started (equivalent to Example 1 described later).

[0070] As another embodiment, the drive processing unit 114 sets the planting clutch 5 to "engage" and starts driving the work machine 14 when a predetermined time T3 has passed since the work machine 14 reached the work position (equivalent to Example 2 described later).

[0071] Furthermore, the drive processing unit 114 determines the drive timing of the planting clutch 5 in consideration of the predetermined time T0 (time lag). Specifically, the drive processing unit 114 determines the drive timing of the planting clutch 5 (the timing at which the planting clutch 5 is set to "engage") so that the work vehicle 10 reaches the work start position P0 and starts the planting operation when the predetermined time T0 has elapsed since the planting clutch 5 was set to "engage."

[0072] As described above, the work machine 14 begins to move from the non-working position toward the working position at a predetermined distance from the work start position P0. After a predetermined time has passed since the work machine 14 began moving, or after a predetermined time has passed since the work machine 14 reached the working position, the work machine 14 is started to be driven (the planting clutch 5 is set to "engaged"). In this way, the movement time of the work machine 14 and the time lag of the drive are taken into consideration to control the operation of the work machine 14, so that the planting operation can be started at an appropriate timing.

[0073] The vehicle speed control processing unit 113 controls the vehicle speed of the work vehicle 10 during automatic driving. Specifically, the vehicle speed control processing unit 113 switches the vehicle speed of the work vehicle 10 based on the setting information pre-set in the operation terminal 20. For example, when the operator sets the vehicle speed for straight driving and the vehicle speed for turning driving in the operation terminal 20, the vehicle speed control processing unit 113 switches the vehicle speed (set vehicle speed) of the work vehicle 10 according to the driving path (straight path, turning path, etc.). For example, when the work vehicle 10 is driving on the straight path, the vehicle speed control processing unit 113 switches to the set vehicle speed for straight driving, and when the work vehicle 10 is driving on the turning path, it switches to the set vehicle speed for turning driving. In addition, the vehicle speed control processing unit 113 may also switch to the set vehicle speed for turning driving at the work start position P0 (refer to Figure 4 ) before and after the change (deceleration or acceleration) of the vehicle speed (details will be described later).

[0074] [Example 1]

[0075] Figure 5 An example of control timing of each processing unit of the vehicle control device 11 according to the first embodiment is shown in FIG. For example, when the work vehicle 10 starts to travel automatically and travels straight toward the work path Ra at a predetermined speed (set speed) and reaches the position P1 (see FIG. Figure 4 In (b)), the lifting and lowering processing unit 112 outputs an instruction (a lowering instruction) to the work machine 14 to lower the work machine 14 from the non-working position H2 to the working position H1. That is, the lifting and lowering processing unit 112 starts lowering the work machine 14 from the non-working position H2 toward the working position H1 at a position P1 that is a predetermined distance L1 from the work start position P0.

[0076] When the working machine 14 receives the descending instruction at the position P1, it starts descending from the non-working position H2 to the working position H1 ( Figure 5 Furthermore, the work vehicle 10 continues to automatically travel at the set speed while the work implement 14 is lowered (at time T2). Therefore, the work vehicle 10 travels a predetermined distance corresponding to the set speed while the work implement 14 is moving from the non-working position H2 to the working position H1.

[0077] The drive processing unit 114 engages the planting clutch 5 (time t2) at a predetermined time T1 after the work machine 14 begins to descend (time t1). This transmits power to the work machine 14 via the PTO shaft 37, thereby starting to drive the work machine 14. Furthermore, the drive processing unit 114 engages the planting clutch 5 before the work machine 14 reaches the working position H1 (time t3).

[0078] Here, a predetermined time T0 (time lag) is required from the time the planting clutch 5 switches from "disconnected" to "engaged" until the planting operation of the working machine 14 begins. Therefore, the driving of the working machine 14 begins at the time (time t2) when the driving processing unit 114 engages the planting clutch 5, and the planting operation of the working machine 14 begins at the time (time t4) after the predetermined time T0 has passed.

[0079] After the drive processing unit 114 engages the planting clutch 5 at time t2 to start driving the work machine 14, the work vehicle 10 continues to automatically travel at the set speed for a predetermined time T0. Furthermore, when the work machine 14 reaches the working position H1 within the predetermined time T0 (time t3), the float 36 contacts the ground, and the work vehicle 10 continues to automatically travel while leveling the ground using the float 36. Then, when the work vehicle 10 reaches the working start position P0 (time t4), the work machine 14 begins planting.

[0080] In the above-mentioned structure, for example, in order to make the starting position of the planting action of the working machine 14 consistent with the working start position P0, it is necessary to control the timing of engaging the planting clutch 5 in consideration of the prescribed time T0. Therefore, for example, the drive processing unit 114 determines the timing (time t2) of engaging the planting clutch 5 in such a way that the working vehicle 10 reaches the working start position P0 at a time point after the prescribed time T0 has passed after the planting clutch 5 is engaged. That is, the drive processing unit 114 determines the timing of engaging the planting clutch 5 (the drive start timing of the working machine 14) based on the prescribed time T0 calculated in advance and the expected distance that the working vehicle 10 moves during the prescribed time T0. In addition, the drive processing unit 114 sets the timing (predetermined time T1) of engaging the planting clutch 5 based on the required time T2 required for the working machine 14 to move from the non-working position H2 to the working position H1.

[0081] The vehicle control device 11 sets the predetermined distance L1 based on the required time T2 required for the work machine 14 to move from the non-work position H2 to the work position H1 and the predetermined time T0 from the start of driving the work machine 14 to the start of the planting operation of the work machine 14 (see Figure 4 Specifically, in the first embodiment, the vehicle control device 11 sets a distance shorter than the total of the first distance traveled by the work vehicle 10 during the required time T2 and the second distance traveled by the work vehicle 10 during the prescribed time T0, and longer than each of the first distance and the second distance, as the prescribed distance L1.

[0082] [Example 2]

[0083] Figure 6An example of control timing of each processing unit of the vehicle control device 11 according to the second embodiment is shown in FIG. For example, when the work vehicle 10 starts to travel automatically and travels straight toward the work path Ra at a predetermined speed (set speed) and reaches the position P1 (see FIG. Figure 4 In (b)), the lifting and lowering processing unit 112 outputs an instruction (a lowering instruction) to the work machine 14 to lower the work machine 14 from the non-working position H2 to the working position H1. That is, as in the first embodiment, the lifting and lowering processing unit 112 starts lowering the work machine 14 from the non-working position H2 toward the working position H1 at a position P1 that is a predetermined distance L1 from the working start position P0.

[0084] When the working machine 14 receives the descending instruction at the position P1, it starts descending from the non-working position H2 to the working position H1 ( Figure 6 In addition, the work vehicle 10 also continues to automatically travel at the set vehicle speed while the work machine 14 is lowered (time T2). Therefore, the work vehicle 10 continues to automatically travel at the set vehicle speed while the work machine 14 is moving from the non-working position H2 to the working position H1 ( Figure 6 time T2) and travels a prescribed distance corresponding to the set vehicle speed.

[0085] When the work machine 14 reaches the working position H1, the drive processing unit 114 engages the planting clutch 5 (time t22) after a predetermined time T3 has elapsed since the arrival time (time t21). Power is thereby transmitted to the work machine 14 via the PTO shaft 37, thereby starting the drive of the work machine 14. Thus, in Example 2, the drive processing unit 114 engages the planting clutch 5 after the work machine 14 reaches the working position H1 (time t21).

[0086] After the drive processing unit 114 engages the planting clutch 5 at time t22 to start driving the work machine 14, the work vehicle 10 continues to automatically travel at the set vehicle speed for a predetermined time T0 (time lag). Then, when the work vehicle 10 reaches the work start position P0 (time t4), the work machine 14 begins planting.

[0087] In the above-mentioned structure, as in Example 1, in order to make the starting position of the planting action of the working machine 14 consistent with the working start position P0, it is necessary to consider the prescribed time T0 and determine the timing of engaging the planting clutch 5. Therefore, for example, the drive processing unit 114 determines the timing (time t22) of engaging the planting clutch 5 in such a way that the working vehicle 10 reaches the working start position P0 at a time point after the prescribed time T0 has passed after the planting clutch 5 is engaged. That is, the drive processing unit 114 determines the timing of engaging the planting clutch 5 (the drive start timing of the working machine 14) based on the prescribed time T0 and the distance moved by the working vehicle 10 during the prescribed time T0. In addition, the drive processing unit 114 sets the timing (predetermined time T3) of engaging the planting clutch 5 based on the required time T2 required for the working machine 14 to move from the non-working position H2 to the working position H1.

[0088] In addition, similar to the first embodiment, the vehicle control device 11 sets the predetermined distance L1 based on the required time T2 required for the working machine 14 to move from the non-working position H2 to the working position H1 and the predetermined time T0 from the start of driving the working machine 14 to the start of the planting operation of the working machine 14 (see Figure 4 Specifically, in the second embodiment, the vehicle control device 11 sets a distance longer than the total of the first distance traveled by the work vehicle 10 during the required time T2 and the second distance traveled by the work vehicle 10 during the predetermined time T0 as the predetermined distance L1.

[0089] As described above, in the first embodiment, the drive processing unit 114 starts driving the work machine 14 (engages the planting clutch 5) while the work machine 14 is moving from the non-working position H2 to the working position H1, and starts the operation (planting operation) of the work machine 14 after the work machine 14 reaches the working position H1. In the second embodiment, the drive processing unit 114 starts driving the work machine 14 (engages the planting clutch 5) after the work machine 14 reaches the working position H1, thereby starting the operation (planting operation) of the work machine 14.

[0090] According to the configurations of the first and second embodiments, the drive timing of the work machine 14 can be controlled in consideration of the time lag associated with the drive of the work machine 14 (the time from the drive start instruction to the start of the planting operation), so that the planting operation can be started at an appropriate position. In addition, according to the configuration of the first embodiment, the drive of the work machine 14 can be started while the work machine 14 is descending, so that the descent start timing of the work machine 14 ( Figure 5 Therefore, for example, a longer section in which the working machine 14 maintains the non-working position H2 can be realized, and thus the vehicle speed in this section can be increased to shorten the moving time when not working.

[0091] Furthermore, according to the configuration of the second embodiment, the driving of the working machine 14 can be started after the working machine 14 is lowered, so the working machine 14 can be driven while the working machine 14 is stable at the working position H1.

[0092] The vehicle control device 11 may also include the structures of each of the first and second embodiments, and may be capable of switching between the two modes in response to an operator's operation. For example, the vehicle control device 11 may include a first drive mode corresponding to the structure of the first embodiment and a second drive mode corresponding to the structure of the second embodiment, and may switch between the first drive mode and the second drive mode in response to an operator's operation (selection operation, switching operation) on the operation terminal 20.

[0093] Here, in each of the configurations of the first and second embodiments, the operator may set a predetermined time for starting the driving of the working machine 14. For example, in the first embodiment, when the operator inputs a desired time in the operation terminal 20, the vehicle control device 11 sets the input time as the predetermined time T1 (see Figure 5 ). Similarly, for example, in Example 2, when the operator inputs a desired time in the operation terminal 20, the vehicle control device 11 sets the input time as the prescribed time T3 (refer to Figure 6 ). In addition, a lower limit value (lower limit time) and an upper limit value (upper limit time) of the time that the operator can set (input) can also be set. This allows the operator to input a time within the range from the lower limit time to the upper limit time, thereby preventing an unexpected time from being set as the specified time.

[0094] In addition, in each of the configurations of the first and second embodiments, the operator may be able to set a predetermined distance L1 (distance from the positions P1 to P0) that specifies the timing for starting the descent of the work machine 14 (see Figure 4 For example, when the operator inputs a desired distance into the operation terminal 20, the vehicle control device 11 sets the input distance as the predetermined distance L1. Furthermore, a lower limit (lower limit distance) and an upper limit (upper limit distance) of the distance that the operator can set (input) can also be set. This allows the operator to input a distance within the range from the lower limit distance to the upper limit distance, thereby preventing an unexpected distance from being set as the predetermined distance L1.

[0095] [Operation Terminal 20]

[0096] like Figure 1As 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 configured as a portable terminal such as a tablet terminal or a smartphone.

[0097] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the communication network N1 via a wired or wireless connection and performing data communication based on a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0098] 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, and an operation unit such as a touch panel, mouse, or keyboard that receives operations. 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 registers a field F to be worked on using the operation unit.

[0099] Furthermore, the operator can operate the operating unit to issue driving start and stop instructions to the work vehicle 10. Furthermore, the operator can understand the driving status of the work vehicle 10, which is automatically driving along the target route R in the field F, based on the driving trajectory displayed on the operating terminal 20, while at a location far from the work vehicle 10.

[0100] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores a control program for causing the operation control unit 21 to execute various processes. For example, the control 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 control program can be downloaded from a server (not shown) via the communication network N1 to the operation terminal 20 and stored in the storage unit 22.

[0101] 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 for 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.

[0102] 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.

[0103] 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 storage unit 22 may store the work vehicle information related to each work vehicle 10.

[0104] 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 which the work for 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 perform work in the field F.

[0105] Furthermore, the storage unit 22 may store the target path information associated with one target path R or multiple target paths R. For example, if a specific operator generates multiple target paths R for one or more fields F owned by the operator, the storage unit 22 may store the target path information associated with each target path R. Furthermore, a single target path R or multiple target paths R may be set for a field F.

[0106] 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 register the work vehicle information and the target route information in the server (e.g., a personal computer, a cloud server, etc.).

[0107] 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.

[0108] like Figure 1As 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 based on the control program. Furthermore, some or all of the processing units may be composed of electronic circuits. Furthermore, the control program may be a program for causing multiple processors to function as the processing units.

[0109] The setting processing unit 211 sets various setting information for enabling the work vehicle 10 to perform automatic driving. 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 installed 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 turning (speed for turning) and the engine speed. This information is registered by the operator through the operation terminal 20.

[0110] 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 work machine information related to the work machine 14 .

[0111] The setting processing unit 211 also sets information related to the field F (hereinafter referred to as field information). The setting processing unit 211 sets information related to the field F (hereinafter referred to as field information). Figure 3 ), working direction and other information, the setting processing unit 211 sets this information 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.

[0112] Information on the position and shape of the field F can be automatically acquired, for example, by an operator riding work vehicle 10 and driving around the perimeter of the field F, recording the change in information regarding a specific position (e.g., the position of a lateral end of work vehicle 10) based on the positioning information of work vehicle 10 at that time. Alternatively, the position and shape of the field F can be acquired based on a polygon, obtained by the operator operating the operation terminal 20 while displaying a map and specifying multiple points on the map. The area identified by the acquired position and shape of the field F is the area (travel area) in which the work vehicle 10 can travel.

[0113] Furthermore, the setting processing unit 211 sets information related to how to perform specific work (hereinafter referred to as work information). The setting processing unit 211 is configured to set, as work information, information such as whether an unmanned work vehicle 10 and a manned work vehicle 10 are to work together, the number of work paths that the work vehicle 10 skips when turning at a headland (i.e., the number of skips), the width of the headland, and the width of the non-cultivated land. For example, the operator selects "Register Work Area" on the menu screen D1 to register work information.

[0114] Furthermore, the setting processing unit 211 generates a target path R, which is 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; a curved path connecting the work paths; a straight work path for the work vehicle 10 to travel around the headland area Fb; and a curved path connecting the work paths. The setting processing unit 211 generates and stores the target path R for the work vehicle 10 based on the above setting information. For example, the operator selects "Route Creation" 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.

[0115] Furthermore, the setting processing unit 211 sets the vehicle speed for straight travel and turning travel, for example, based on the operator's setting operation. For example, the operator sets the set speed for straight travel. Furthermore, the setting processing unit 211 may also set a lower limit (lower speed limit) and an upper limit (upper speed limit) for the vehicle speed that the operator can set.

[0116] The output processing unit 212 outputs the route data of the target route R to the work vehicle 10 . For example, when the operator selects a desired target route R on the operation screen and instructs to start work, the output processing unit 212 outputs the route data of the selected target route R to the work vehicle 10 .

[0117] Work vehicle 10 is configured to transmit route data for target route R generated by operation terminal 20 to work vehicle 10 and store it in storage unit 12. Work vehicle 10 is configured to autonomously travel along target route R while detecting the current position of work vehicle 10 using positioning antenna 164. The current position of work vehicle 10 may or may not coincide with the position of positioning antenna 164.

[0118] If the work vehicle 10 satisfies specified start conditions and the operator presses the work start button on the operation screen to issue a work start instruction, the travel processing unit 111 of the work vehicle 10 initiates automatic travel, and the planting operation by the work implement 14 begins. For example, the operation control unit 21 permits automatic travel of the work vehicle 10 if the current position of the work vehicle 10 is within a specified distance from the travel start position S and the vehicle orientation is within a specified orientation. The conditions for permitting the automatic travel of the work vehicle 10 are not limited to the above-described conditions.

[0119] The travel processing unit 111 of the work vehicle 10 automatically travels the work vehicle 10 from the travel start position S to the travel end position G according to the target route R acquired from the operation terminal 20 .

[0120] Furthermore, when the operation control unit 21 acquires a detection result indicating that an obstacle has been detected from the work vehicle 10 , the operation control unit 21 may display the detected position of the obstacle in the image captured by the camera at the operation terminal 20 .

[0121] Alternatively, the operation terminal 20 can be configured to access a website (agricultural support website) providing agricultural support services provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation 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.

[0122] [Automatic driving processing]

[0123] Below, refer to Figure 8 and Figure 9 , an example of the automatic driving process performed by the automatic driving system 1 is described. Figure 8 An example of the automatic driving process corresponding to the first embodiment is shown. Figure 9 An example of automatic driving processing corresponding to the second embodiment is shown.

[0124] In addition, the present invention can be understood 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 also be omitted as appropriate. In addition, within the scope of producing the same effect, the execution order of each step in the automatic driving process can be different. 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, but as another embodiment, an automatic driving method in which each step in the automatic driving process is executed in a decentralized manner by one or more processors can also be considered.

[0125] [Example 1 (refer to Figure 8 )]

[0126] In step S1, the vehicle control device 11 determines whether the work vehicle 10 is in a state capable of automatic driving. Figure 3 ) satisfies the start conditions for automatic travel (S1: YES), the vehicle control device 11 shifts the process to step S2. The vehicle control device 11 waits until the work vehicle 10 satisfies the start conditions for automatic travel (S1: NO).

[0127] In step S2, the vehicle control device 11 starts the work vehicle 10 to automatically travel. For example, when the operator issues a travel start instruction on the operation screen of the operation terminal 20, the operation control unit 21 outputs the travel start instruction to the work vehicle 10. If the vehicle control device 11 receives the travel start instruction from the operation terminal 20, it starts the work vehicle 10 to automatically travel. As a result, the work vehicle 10 travels from the travel start position S in the field F along the target path R (refer to Figure 3 ) starts automatic driving.

[0128] At the start of the automatic driving, the position of the working machine 14 is set to the non-working position H2 (see Figure 5 ), the planting clutch 5 is set to "disconnected", and the speed of the work vehicle 10 is set to a pre-set speed (set speed). Therefore, the work vehicle 10 starts to automatically travel at the set speed in a state where the work machine 14 is raised (non-driven state).

[0129] In step S3, the vehicle control device 11 determines whether the work vehicle 10 has reached a position P1 (see FIG. 1 ) on the work path Ra that is a predetermined distance L1 ahead of the work start position P0. Figure 4 (b)). If the vehicle control device 11 determines that the work vehicle 10 has reached position P1 (S3: Yes), the process shifts to step S4. The vehicle control device 11 waits until the work vehicle 10 reaches position P1 (S3: No). The vehicle control device 11 causes the work vehicle 10 to continue automatically traveling at the set vehicle speed with the work implement 14 raised (non-driven state) until it reaches position P1.

[0130] In step S4, the vehicle control device 11 starts moving (descending) the working machine 14 to the working position H1 (see Figure 4 Specifically, when the work vehicle 10 reaches the position P1, the vehicle control device 11 outputs a control signal ( ) to the work machine 14 to instruct the work machine 14 to descend from the non-work position H2 to the work position H1. Figure 5 The control signal is input to the lift cylinder 32 to drive the lift cylinder 32, thereby starting the lowering operation of the work machine 14 to the work position H1 (refer to Figure 5 ).

[0131] Next, in step S5, the vehicle control device 11 determines whether a predetermined time T1 has elapsed since the work machine 14 started to move (descend) to the work position H1. That is, the vehicle control device 11 determines whether a predetermined time T1 has elapsed since the work machine 14 started to move (descend) to the work position H1. Figure 5 For example, the vehicle control device 11 measures the timer start time when the descent instruction is output to the work machine 14, and when the measured time reaches the prescribed time T1, it determines that the prescribed time T1 has passed. If the vehicle control device 11 determines that the prescribed time T1 has passed since the descent instruction was output to the work machine 14 (S5: Yes), the processing is transferred to step S6. The vehicle control device 11 waits until the prescribed time T1 has passed (S5: No). In addition, the vehicle control device 11 continues the automatic driving of the work vehicle 10 until the prescribed time T1 has passed.

[0132] In step S6, the vehicle control device 11 switches the planting clutch 5 from "disconnected" to "engaged" ( Figure 5 For example, the vehicle control device 11 outputs a switching signal to switch the planting clutch 5 from "disconnected" to "engaged".

[0133] Then, in step S7, the vehicle control device 11 determines whether the prescribed time T0 has passed. Specifically, the vehicle control device 11 measures the timed start time of switching the planting clutch 5 from "disconnected" to "engaged", and when the measured time reaches the prescribed time T0, it determines that the prescribed time T0 has passed. If the vehicle control device 11 determines that the prescribed time T0 has passed (S7: Yes), the processing is transferred to step S8. The vehicle control device 11 waits until the prescribed time T0 has passed (S7: No). In addition, the vehicle control device 11 continues the automatic driving of the work vehicle 10 until the prescribed time T0 has passed. In addition, the vehicle control device 11 moves the work machine 14 to the work position H1 ( Figure 5 time t3).

[0134] In step S8, the vehicle control device 11 starts the planting operation of the planting unit 34. Thus, the planting operation is started at a timing when a predetermined time T0 has passed after the planting clutch 5 is switched from "disconnected" to "engaged" ( Figure 5 When the planting operation starts, the vehicle control device 11 automatically drives the work vehicle 10 along the target route (work route Ra) at a set vehicle speed (work vehicle speed) while executing the planting operation.

[0135] Next, in step S9, the vehicle control device 11 determines whether the work vehicle 10 has reached the work end position of the work path Ra. If the vehicle control device 11 determines that the work vehicle 10 has reached the work end position of the work path Ra (S9: Yes), the process proceeds to step S10. The vehicle control device 11 continues the automatic driving and planting operation on the work path Ra until the work vehicle 10 reaches the work end position of the work path Ra (S9: No).

[0136] In step S10, the vehicle control device 11 raises the work machine 14 to the non-working position H2. Specifically, when the work vehicle 10 reaches the end of the working path Ra, the vehicle control device 11 switches the planting clutch 5 from "engaged" to "disengaged," inputs a control signal to the lifting cylinder 32, and drives the lifting cylinder 32, thereby raising the work machine 14 from the working position H1 to the non-working position H2.

[0137] Next, in step S11, 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 ). If the vehicle control device 11 determines that the work vehicle 10 has reached the travel end position G (S11: Yes), the automatic travel processing is terminated. On the other hand, if the vehicle control device 11 determines that the work vehicle 10 has not reached the travel end position G (S11: No), the processing is transferred to step S3 and the above processing is performed again. In addition, when the work vehicle 10 continues to travel automatically and moves to the next work path Ra, the position of the work machine 14 is set to the non-working position H2, the planting clutch 5 is set to "disconnected", and the speed of the work vehicle 10 is set to the pre-set set speed. Therefore, the work vehicle 10 continues to travel automatically at the set speed in a state where the work machine 14 is raised (non-driven state). The vehicle control device 11 repeatedly performs the processing of steps S3 to S10 until the work vehicle 10 reaches the travel end position G.

[0138] [Example 2 (refer to Figure 9 )]

[0139] The processing of steps S21 to S24 of Example 2 is the same as that of Example 1 (see Figure 8 ) is the same as steps S1 to S4.

[0140] In step S25, the vehicle control device 11 determines whether the working machine 14 has reached the working position H1. Figure 6If the vehicle control device 11 waits until the work machine 14 reaches the work position H1 (S25: No), the vehicle control device 11 causes the work vehicle 10 to continue to travel automatically until the work machine 14 reaches the work position H1.

[0141] In step S26, the vehicle control device 11 determines whether the predetermined time T3 has elapsed since the work machine 14 arrived at the work position H1. For example, the vehicle control device 11 starts measuring the time when the work machine 14 arrives at the work position H1, and if the measured time reaches the predetermined time T3, the vehicle control device 11 determines that the predetermined time T3 has elapsed. If the vehicle control device 11 determines that the predetermined time T3 has elapsed since the work machine 14 arrived at the work position H1 (S26: Yes), the process shifts to step S27. The vehicle control device 11 waits until the predetermined time T3 has elapsed (S26: No). Furthermore, the vehicle control device 11 continues the automatic driving of the work vehicle 10 until the predetermined time T3 has elapsed.

[0142] In step S27, the vehicle control device 11 switches the planting clutch 5 from "disconnected" to "engaged" ( Figure 6 For example, the vehicle control device 11 outputs a switching signal to switch the planting clutch 5 from "disconnected" to "engaged".

[0143] Next, in step S28, the vehicle control device 11 determines whether the prescribed time T0 has passed. Specifically, the vehicle control device 11 measures the timer start time for switching the planting clutch 5 from "disconnection" to "engagement", and when the measured time reaches the prescribed time T0, it determines that the prescribed time T0 has passed. If the vehicle control device 11 determines that the prescribed time T0 has passed (S28: Yes), the processing is transferred to step S29. The vehicle control device 11 waits until the prescribed time T0 has passed (S28: No). In addition, the vehicle control device 11 continues the automatic driving of the work vehicle 10 until the prescribed time T0 has passed.

[0144] In step S29, the vehicle control device 11 starts the planting operation by the planting unit 34. Thus, the planting operation is started at a timing when a predetermined time T0 has passed after the planting clutch 5 is switched from "disconnected" to "engaged" ( Figure 6 When the planting operation starts, the vehicle control device 11 automatically drives the work vehicle 10 along the target route (work route Ra) at a set vehicle speed (work vehicle speed) while executing the planting operation.

[0145] Next, in step S30, the vehicle control device 11 determines whether the work vehicle 10 has reached the work end position of the work path Ra. If the vehicle control device 11 determines that the work vehicle 10 has reached the work end position of the work path Ra (S30: Yes), the process proceeds to step S31. The vehicle control device 11 continues the automatic driving and planting operation on the work path Ra until the work vehicle 10 reaches the work end position of the work path Ra (S30: No).

[0146] In step S31, the vehicle control device 11 raises the work machine 14 to the non-working position H2. Specifically, when the work vehicle 10 reaches the end of the working path Ra, the vehicle control device 11 switches the planting clutch 5 from "engaged" to "disengaged," inputs a control signal to the lifting cylinder 32, and drives the lifting cylinder 32, thereby raising the work machine 14 from the working position H1 to the non-working position H2.

[0147] Next, in step S32, 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 If the vehicle control device 11 determines that the work vehicle 10 has reached the travel end position G (S32: Yes), the automatic travel process ends. On the other hand, if the vehicle control device 11 determines that the work vehicle 10 has not reached the travel end position G (S32: No), the process shifts to step S23 and executes the above process again. The vehicle control device 11 repeatedly executes the processes of steps S23 to S31 until the work vehicle 10 reaches the travel end position G.

[0148] As described above, the automatic driving system 1 according to the present embodiment causes the working vehicle 10 equipped with the working machine 14 capable of moving between the non-working position H2 and the working position H1 to automatically travel along the target path R. At a position P1 before the predetermined distance L1 relative to the working start position P0 in the target path R, the working machine 14 starts to move from the non-working position H2 toward the working position H1. Furthermore, after a predetermined time T1 (refer to the reference time T1) has passed since the working machine 14 started to move, the working vehicle 10 automatically drives along the target path R. Figure 5 ) or after a predetermined time T3 (see Figure 6 ) After that, the driving of the working machine 14 is started.

[0149] According to the above configuration, when the conditions for starting the operation of the work machine 14 are met, the timing for starting the operation of the work machine 14 can be controlled based on the time (predetermined time T1 or T3) that has elapsed since the time when the conditions were met. Therefore, compared to a configuration in which the timing for starting the operation of the work machine 14 is controlled based on the distance moved since the time when the conditions were met, the timing for starting the operation of the work machine 14 can be more appropriately set by taking into account the movement time (descent time) of the work machine 14 and the time lag in the operation of the work machine 14. Consequently, it is possible to suppress deviations in the actual operation start position from the operation start position, thereby improving operation accuracy.

[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 fix the speed of the work vehicle 10 at a predetermined speed (set speed) from the time the work machine 14 starts moving until the operation (planting operation) of the work machine 14 begins (a first scenario). Alternatively, the vehicle control device 11 may change (decelerate or increase) the speed of the work vehicle 10 before and after the operation of the work machine 14 begins (before and after the operation start position P0) (a second scenario).

[0153] For example, Figure 10 , a method for controlling the vehicle speed Va corresponding to the first situation and a method for controlling the vehicle speed Vb corresponding to the second situation are shown as examples.

[0154] In the first scenario, the vehicle control device 11 maintains the vehicle speed Va at the non-operating speed V2 from the time the work machine 14 begins descending (time t1) until the work machine 14 begins planting (the period from time t1 to time T4). Furthermore, after the work machine 14 begins planting (time t4: after the work start position P0), the vehicle control device 11 increases the non-operating speed V2 to the working speed V1 at a constant rate of change (increase rate). According to this first scenario, by suppressing changes in vehicle speed before the work is started, it is easier to accurately align the actual work start position with the work start position P0.

[0155] In the second scenario, the vehicle control device 11 increases the vehicle speed Vb from the non-operating speed V2 to the operating speed V1 at a predetermined rate of change (increase rate) from the time the work machine 14 starts to descend (at time t1) until the planting operation of the work machine 14 starts (during the period from time t1 to T4). Specifically, the vehicle control device 11 increases the vehicle speed Vb from the non-operating speed V2 to the operating speed V1 from the time point when the work machine 14 reaches the operating position H1 (at time t3) to the time point when the planting operation starts (at time t4) (during the period from time t3 to t4). According to the second scenario described above, the operating speed V1 is set at the time point when the planting operation starts (at time t4: the operating start position P0), and a constant operating speed V1 can be maintained from the operating start position to the operating end position of the operating path. Therefore, deviations in the operation caused by changes in vehicle speed can be suppressed, and the accuracy of the operation can be improved.

[0156] As described above, the vehicle control device 11 can switch the vehicle speed of the work vehicle 10 to the work speed V1 after the work vehicle 10 reaches the work start position P0 (the first scenario), or it can switch the vehicle speed of the work vehicle 10 to the work speed V1 before the work vehicle 10 reaches the work start position P0 (the second scenario).

[0157] In the examples of Cases 1 and 2, the non-operating vehicle speed V2 is set lower than the operating vehicle speed V1. However, in other embodiments, the non-operating vehicle speed V2 may be set higher than the operating vehicle speed V1. In this case, the vehicle control device 11 decelerates the vehicle speed from the non-operating vehicle speed V2 to the operating vehicle speed V1 at a predetermined rate of change (decrease rate).

[0158] As another embodiment, the vehicle control device 11 may also set the operating speed V1 based on an operator's input. Furthermore, a lower limit (lower speed limit) and an upper limit (upper speed limit) for the speed that the operator can set (input) may also be set. This allows the operator to input a speed within the range from the lower speed limit to the upper speed limit, thereby preventing the setting of an unexpected operating speed V1. Similarly, the vehicle control device 11 may also set a non-operating speed V2 based on the operator's input.

[0159] Here, in each of the above embodiments, there is a case where the work vehicle 10 Figure 5 The prescribed time T1, Figure 6The situation in which the work vehicle 10 arrives at the work start position P0 before the predetermined time T3 is reached. For example, if the work vehicle 10 is traveling at a speed faster than the set speed due to the conditions of the field F, the work vehicle 10 may arrive at the work start position P0 before the predetermined time has elapsed. In this case, because the work machine 14 is not yet ready for the work (planting operation), the work vehicle 10 may begin traveling along the work path before the planting operation has begun.

[0160] Therefore, if the work vehicle 10 reaches the work start position P0 before the specified time has elapsed, the vehicle control device 11 stops the work vehicle 10 at the work start position P0 and resumes travel of the work vehicle 10 after the work machine 14 reaches the work position H1 and starts driving the work machine 14. Specifically, the vehicle control device 11 resumes travel of the work vehicle 10 after the specified time T0 has elapsed since the work machine 14 reaches the work position H1 and starts driving the work machine 14 (engages the planting clutch 5). This allows the planting operation to be reliably started from the work start position P0. In addition, when the work vehicle 10 reaches the work start position P0 without the work machine 14 reaching the work position H1, or when the work vehicle 10 reaches the work start position P0 without the work machine 14 starting to drive, the problem of the work vehicle 10 starting to travel on the work path without starting the planting action also arises. Therefore, in this case, the vehicle control device 11 also stops the work vehicle 10 at the work start position P0, and after the work machine 14 reaches the work position H1 and the driving of the work machine 14 starts, the travel of the work vehicle 10 is resumed.

[0161] As another embodiment, the vehicle control device 11 may also decelerate the speed of the work vehicle 10 to a speed slower than a preset work speed at a position a predetermined distance before the work start position P0. Figure 11As shown, in Example 2 corresponding to the above-described situation 2, the vehicle control device 11 decelerates the vehicle speed Vc from the working speed V1 at position Pc after the working machine 14 descends to the working position H1. In addition, position Pc is a position before the specified distance relative to the working start position P0. Then, the vehicle control device 11 engages the planting clutch 5 at the time point (time t22) when the vehicle speed Vc reaches the threshold value Vth. Then, the vehicle control device 11 also decelerates the vehicle speed Vc until it reaches the working start position P0, and then increases the vehicle speed Vc to the working speed V1 after reaching the working start position P0. That is, after the working machine 14 reaches the working position H1 and the working machine 14 starts driving, the vehicle control device 11 switches the vehicle speed of the working vehicle 140 to the pre-set working speed V1. In addition, the vehicle speed V2 can be 0 m / s or above 0 m / s. In addition, the vehicle speed during the period before position Pc (for example, during the specified time T2) can be lower than the working speed V1 or higher than the working speed V1. Alternatively, the vehicle speed Vc may be maintained constant (for example, at a threshold value Vth) during a predetermined time T0 from when the planting clutch 5 is engaged (start of driving) until when the planting operation is started.

[0162] According to the above configuration, by decelerating the work vehicle 10 at a position before the work start position P0, the work implement 14 can be driven while the work vehicle 10 is in a low-speed or stopped state, and the planting operation can be started at the work start position P0. Furthermore, by decelerating the vehicle, the effects of wheel slip can be reduced. Therefore, the planting operation can be started from the appropriate position, thereby improving work accuracy.

[0163] In each of the above-described embodiments, the vehicle control device 11 sets the descent start timing (time t1) and the prescribed time T1 or T3 of the work machine 14 so that the planting operation starts at the operation start position P0. However, as another embodiment, the vehicle control device 11 may set the descent start timing (time t1) and the prescribed time T1 or T3 of the work machine 14 so that the planting operation starts at a position before the operation start position P0, or may set the descent start timing (time t1) and the prescribed time T1 or T3 of the work machine 14 so that the planting operation starts at a position before the operation start position P0. The vehicle control device 11 may also determine the starting position of the planting operation based on the type of operation, the operator's request, etc., and set the descent start timing (time t1) and the prescribed time T1 or T3 of the work machine 14 based on the determined starting position.

[0164] In the above embodiments, planting is exemplified as an example of the operation of the work machine 14. However, the operation of the present invention is not limited to planting and may also be fertilizing, spraying, etc. In the case of fertilizing, the engagement / disengagement of the planting clutch 5 can be replaced by the engagement / disengagement of the fertilizing device. In the case of spraying, the engagement / disengagement of the planting clutch 5 can be replaced by the engagement / disengagement of the spraying device.

[0165] Here, in the spraying operation, for example, when the start timing of spraying is delayed from the operation start position P0, the same place can be prevented from being sprayed twice. In addition, when the start timing of spraying is advanced from the operation start position P0, it is difficult to generate an unsprayed area.

[0166] As another embodiment of the present invention, the vehicle control device 11 may also have a structure in which the operator can set the timing for starting the planting operation. Figure 12 In the setting screen D2 shown, selection buttons of "Delayed", "Normal", and "Advanced" are displayed regarding the timing for starting the planting action. For example, when the operator selects "Delayed", the vehicle control device 11 sets the descent start timing (time t1) and the prescribed time T1 or T3 of the work machine 14 in a manner that lags the start timing of the planting action, that is, starts the planting action at a position closer to the travel direction side than the work start position P0. In addition, when the operator selects "Advanced", the vehicle control device 11 sets the descent start timing (time t1) and the prescribed time T1 or T3 of the work machine 14 in a manner that advances the start timing of the planting action, that is, starts the planting action before the work start position P0. In addition, when the operator selects "Normal", the vehicle control device 11 sets the descent start timing (time t1) and the prescribed time T1 or T3 of the work machine 14 in a manner that starts the planting action near the work start position P0.

[0167] As another embodiment of the present invention, the vehicle control device 11 may also set the timing for starting the planting action to the descent start timing of the work machine 14 corresponding to the "delayed" or "normal" and the specified time T1 or T3 when the operator sets the mode that prioritizes work accuracy (work accuracy priority mode) at the operation terminal 20; and may set the timing for starting the planting action to the descent start timing of the work machine 14 corresponding to the "advance" and the specified time T1 or T3 when the operator sets the mode that prioritizes work efficiency (workability priority mode) at the operation terminal 20.

[0168] In the above embodiment, the work vehicle 10 alone corresponds to the automatic driving system of the present invention, but the automatic driving system of the present invention may also include the work vehicle 10 and the operation terminal 20. In addition, a server capable of communicating with the work vehicle 10 may include the functions of the vehicle control device 11.

[0169] [Supplementary Notes on the Invention]

[0170] The following is a supplementary note on the outline of the invention extracted from the embodiments. In addition, the various structures and processing functions described in the following supplementary notes can be selected and combined arbitrarily.

[0171] <Note 1>

[0172] An automatic driving method, wherein:

[0173] The automatic driving method performs the following steps:

[0174] A working vehicle having a working machine capable of moving between a non-working position and a working position is caused to automatically travel along a target path;

[0175] Starting the movement of the working machine from the non-working position toward the working position at a position in the target path that is a predetermined distance ahead of the working start position; and

[0176] The driving of the work machine is started after a predetermined time has passed since the work machine started moving or after a predetermined time has passed since the work machine arrived at the work position.

[0177] <Note 2>

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

[0179] The driving of the working machine is started while the working machine is moving from the non-working position to the working position, and the working of the working machine is started after the working machine reaches the working position.

[0180] <Note 3>

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

[0182] After the work machine reaches the work position, driving of the work machine is started.

[0183] <Note 4>

[0184] The automatic driving method according to any one of Supplementary Notes 1 to 3, wherein:

[0185] The predetermined time is set according to an input operation of a user.

[0186] <Note 5>

[0187] The automatic driving method according to any one of Supplementary Notes 1 to 3, wherein:

[0188] The predetermined time is set based on a required time required for the working machine to move from the non-working position to the working position.

[0189] <Note 6>

[0190] The automatic driving method according to any one of Supplementary Notes 1 to 5, wherein:

[0191] The predetermined distance is set according to an input operation by a user.

[0192] <Note 7>

[0193] The automatic driving method according to any one of Supplementary Notes 1 to 5, wherein:

[0194] The predetermined distance is set based on a required time required for the work machine to move from the non-work position to the work position and a required time from the start of driving the work machine to the start of work by the work machine.

[0195] <Note 8>

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

[0197] The vehicle speed of the work vehicle is fixed at a predetermined speed from the start of movement of the work machine until the start of work by the work machine, or the vehicle speed of the work vehicle is changed before and after the start of work by the work machine.

[0198] <Note 9>

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

[0200] If the work vehicle reaches the work start position before the predetermined time has elapsed, stopping the work vehicle;

[0201] After the work machine reaches the work position and driving of the work machine starts, traveling of the work vehicle is resumed.

[0202] <Note 10>

[0203] The automatic driving method according to any one of Supplementary Notes 1 to 9, wherein:

[0204] After the work vehicle reaches the work start position, the vehicle speed of the work vehicle is switched to a preset work vehicle speed.

[0205] <Note 11>

[0206] The automatic driving method according to Supplementary Note 10, wherein:

[0207] The working vehicle speed is set according to an input operation by a user.

[0208] <Note 12>

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

[0210] At a position before the predetermined distance from the work start position, the vehicle speed of the work vehicle is decelerated to a vehicle speed slower than a preset work vehicle speed.

[0211] <Note 13>

[0212] The automatic driving method according to any one of Supplementary Notes 1 to 12, wherein:

[0213] After the work machine reaches the work position and starts driving, the vehicle speed of the work vehicle is switched to a preset work vehicle speed.

[0214] Description of Reference Numerals

[0215] 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; 20: Operation terminal; 21: Operation control unit; 34: Planting unit; 37: PTO shaft; 5: Planting clutch (Work clutch); 111: Driving processing unit; 112: Lifting processing unit; 113: Vehicle speed control processing unit; 114: Drive processing unit; D1: Menu screen; D2: Setting screen; F: Field; S: Driving start position; G: Driving end position; H1: Work position; H2: Non-work position; P0: Work start position; R: Target path; T0: Specified time (time lag); T1: Specified time; T2: Specified time; T3: Specified time.

Claims

1. An automatic driving method, wherein: The automatic driving method performs the following steps: A working vehicle having a working machine capable of moving between a non-working position and a working position is caused to automatically travel along a target path; starting movement of the working machine from the non-working position toward the working position at a position in the target path that is a predetermined distance ahead of the working start position; as well as The driving of the work machine is started after a predetermined time has passed since the work machine started moving or after a predetermined time has passed since the work machine arrived at the work position.

2. The automatic driving method according to claim 1, wherein: The driving of the working machine is started while the working machine is moving from the non-working position to the working position, and the working of the working machine is started after the working machine reaches the working position.

3. The automatic driving method according to claim 1, wherein: After the work machine reaches the work position, driving of the work machine is started.

4. The automatic driving method according to any one of claims 1 to 3, wherein: The predetermined time is set according to an input operation of a user.

5. The automatic driving method according to any one of claims 1 to 3, wherein: The predetermined time is set based on a required time required for the working machine to move from the non-working position to the working position.

6. The automatic driving method according to any one of claims 1 to 3, wherein: The predetermined distance is set according to an input operation by a user.

7. The automatic driving method according to any one of claims 1 to 3, wherein: The predetermined distance is set based on a required time required for the work machine to move from the non-work position to the work position and a required time from the start of driving the work machine to the start of work by the work machine.

8. The automatic driving method according to any one of claims 1 to 3, wherein: The vehicle speed of the work vehicle is fixed at a predetermined speed from the start of movement of the work machine until the start of work by the work machine, or the vehicle speed of the work vehicle is changed before and after the start of work by the work machine.

9. The automatic driving method according to any one of claims 1 to 3, wherein: If the work vehicle reaches the work start position before the predetermined time has elapsed, if the work vehicle reaches the work start position without the work machine reaching the work position, or if the work vehicle reaches the work start position without the work machine starting to drive, the work vehicle is stopped. After the work machine reaches the work position and driving of the work machine starts, traveling of the work vehicle is resumed.

10. The automatic driving method according to any one of claims 1 to 3, wherein: After the work vehicle reaches the work start position, the vehicle speed of the work vehicle is switched to a preset work vehicle speed.

11. The automatic driving method according to claim 10, wherein: The working vehicle speed is set according to an input operation by a user.

12. The automatic driving method according to any one of claims 1 to 3, wherein: At a position before the predetermined distance from the work start position, the vehicle speed of the work vehicle is decelerated to a vehicle speed slower than a preset work vehicle speed.

13. The automatic driving method according to any one of claims 1 to 3, wherein: After the work machine reaches the work position and starts driving, the vehicle speed of the work vehicle is switched to a preset work vehicle speed.

14. An automatic driving program, wherein: The automatic driving program is used to enable one or more processors to execute the following steps: A working vehicle having a working machine capable of moving between a non-working position and a working position is caused to automatically travel along a target path; starting movement of the working machine from the non-working position toward the working position at a position in the target path that is a predetermined distance ahead of the working start position; as well as The driving of the work machine is started after a predetermined time has passed since the work machine started moving or after a predetermined time has passed since the work machine arrived at the work position.

15. An automatic driving system, wherein: The automatic driving system comprises: a travel processing unit that causes a work vehicle including a work machine movable between a non-work position and a work position to automatically travel along a target path; a lifting and lowering processing unit configured to start moving the working machine from the non-working position toward the working position at a position in the target path that is a predetermined distance ahead of the working start position; as well as A drive processing unit starts driving the work machine after a predetermined time has passed since the work machine started moving or after a predetermined time has passed since the work machine arrived at the work position.

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