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) that is movable between a non-work position and a work position to travel automatically on the basis of a target route. The lifting processing unit (112) moves the work machine (14) from the non-work position to the work position at a position closer to a first predetermined distance than the work start position in the target path. The vehicle speed control processing unit (113) decelerates the vehicle speed of the work vehicle (10) to a vehicle speed slower than the set vehicle speed at a position closer to the work start position by a second predetermined distance. The drive processing unit (114) starts driving the work machine (14) at the work start position or at a position closer to the travel direction than the work start 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 that cause a work vehicle to automatically travel along a target path in a field and cause a work machine mounted on the work vehicle to perform a predetermined operation. For example, a technology is known in which a rice transplanter that automatically travels along a target path while planting seedlings is lowered to the field surface just before reaching a planting start position, thereby starting the planting operation from a position closer to the planting start position (see, for example, Patent Document 1).

[0003] Patent Document 1: Japanese Patent No. 7249965

[0004] However, when the working device (planting device) is driven from a predetermined distance in front of a pre-set working start position (planting start position), the work may not start accurately at the working start position due to deviations in the working device's stop position, or delays in the start of the drive due to jitters in the drive transmission system caused by aging and degradation. In this case, the actual starting position of the work deviates from the working start position, resulting in reduced work accuracy. Summary of the Invention

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system capable of improving the working accuracy of a working vehicle that performs work while driving automatically.

[0006] The automatic driving method involved in the present invention performs: causing a working vehicle equipped with a working machine that can move between a non-working position and a working position to automatically drive according to a target path; at a position in the above-mentioned target path that is closer to a first specified distance before the working start position, causing the above-mentioned working machine to move from the above-mentioned non-working position to the above-mentioned working position; at a position that is closer to a second specified distance before the above-mentioned working start position, causing the speed of the above-mentioned working vehicle to be slower than a pre-set set speed; and starting the driving of the above-mentioned working machine at the above-mentioned working start position or at a position on the side of the traveling direction than the above-mentioned working start position.

[0007] In addition, the automatic driving method involved in the present invention executes: a working vehicle equipped with a working machine that can move between a non-working position and a working position is automatically driven according to a target path; at a position in the above-mentioned target path that is a specified distance closer to the front of the working start position, the speed of the above-mentioned working vehicle is decelerated to a speed slower than a pre-set set speed; at the moment when the above-mentioned speed after deceleration reaches a threshold value, the working clutch that transmits power to the above-mentioned working machine is engaged, so that the operation of the above-mentioned working machine starts after a specified time has passed from the above-mentioned moment.

[0008] In addition, the automatic driving program involved in the present invention is used to enable one or more processors to execute: causing a working vehicle equipped with a working machine that can move between a non-working position and a working position to automatically drive according to a target path; at a position in the above-mentioned target path that is closer to a first specified distance before the working start position, causing the above-mentioned working machine to move from the above-mentioned non-working position to the above-mentioned working position; at a position that is closer to a second specified distance before the above-mentioned working start position, causing the vehicle speed of the above-mentioned working vehicle to be slower than a pre-set set speed; and starting the driving of the above-mentioned working machine at the above-mentioned working start position or at a position closer to the traveling direction side than the above-mentioned working start position.

[0009] In addition, the automatic driving system involved in the present invention includes a driving processing unit, a lifting processing unit, a vehicle speed control processing unit and a drive processing unit. The driving processing unit causes a working vehicle equipped with a working machine that can move between a non-working position and a working position to automatically drive according to a target path. The lifting processing unit causes the working machine to move from the non-working position to the working position at a position closer to the first prescribed distance than the working start position in the target path. The vehicle speed control processing unit causes the working vehicle to decelerate to a speed slower than a pre-set set speed at a position closer to the second prescribed distance than the working start position. The drive processing unit starts driving the working machine at the working start position or at a position closer to the traveling direction side than the working start position.

[0010] 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

[0011] Figure 1 This is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention.

[0012] Figure 2A It is a side view which shows an example of the working vehicle (rice transplanter) which concerns on embodiment of this invention.

[0013] Figure 2BIt is a top view which shows an example of the working vehicle (rice transplanter) which concerns on embodiment of this invention.

[0014] 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.

[0015] Figure 3 This is a diagram showing an example of a field and a target route according to an embodiment of the present invention.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] Figure 7 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.

[0020] Figure 8 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 9 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 10 This is a flowchart showing an example of a procedure of an automatic driving process executed by the automatic driving system according to the embodiment of the present invention.

[0023] Figure 11 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.

[0024] Description of Reference Numerals

[0025] 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 detection 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…Working position; H2…Non-working position; P0…Working start position; R…Target path; T0…Specified time; V1…Set vehicle speed; Vth…Threshold value. DETAILED DESCRIPTION

[0026] The following embodiment is an example of embodying the present invention and does not limit the technical scope of the present invention.

[0027] 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.

[0028] In this embodiment, the case where the work vehicle 10 is a rice transplanter is taken as an example for explanation. In addition, as other embodiments, the work vehicle 10 may also be a tractor, a combine harvester, construction machinery, 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, an operator (user) registers a field of work object and sets a driving path (target path) for the work vehicle 10 to automatically drive in 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.

[0029] For example, the work vehicle 10 Figure 3 The vehicle automatically travels along the target path R in the field F shown. Figure 3 The illustrated field F includes an inner area Fa and an outer headland area Fb. A target route R, consisting of multiple work routes, is pre-set in the field F. For example, a work route Ra is set in the inner area Fa, which travels back and forth in parallel from a travel start position S. A work route Rb is set in the outer headland area Fb, which travels in a spiral (circular) pattern toward a travel end position G.

[0030] 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.

[0031] Here, the work route Rb of the headland area Fb is set based on the number of work strokes. Figure 3 The work path Rb is shown in the case where the number of work strokes is 2, but 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.

[0032] The target path R is not limited to Figure 3 The target route R is set appropriately according to the shape of the field F, the content of the work, etc. For example, the target route R is set appropriately according to the number of work strokes in the headland area Fb or the width of the headland area Fb.

[0033] However, in the prior art in which the working device (planting device) is driven at a specified distance from the front side of a pre-set working start position (planting start position), the work may not be started accurately 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 and degradation, etc., resulting in a delay in the start of the drive. In this case, the position where the work is actually started deviates from the working start position, resulting in a problem of reduced 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.

[0034] [Work vehicle 10]

[0035] 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 detector 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 detector 17, and the like. Furthermore, vehicle control device 11 and positioning unit 16 may also be capable of wireless communication.

[0036] First, refer to Figures 2A to 2CAn example of the work vehicle 10, i.e., a rice transplanter, will be described. Figure 2A This is a side view of the work vehicle 10 (rice transplanter). Figure 2B This is a top view of the work vehicle 10. Figure 2C This is a top view showing the schematic structure of the power transmission mechanism of the work vehicle 10. The work vehicle 10 includes a vehicle body portion 13, a pair of left and right front wheels 132, a pair of left and right rear wheels 133, a work machine 14 (planting portion), etc.

[0037] Inside the engine hood 134 disposed at the front of the vehicle body portion 13, an engine (drive portion) 131 is disposed. 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 work machine 14 via a PTO shaft 37 disposed at the rear of the vehicle body portion 13. In addition, it is configured to transmit power to the PTO shaft 37 via a planting clutch 5 (work clutch, PTO clutch) (refer to Figure 2C ). At a position between the front wheels 132 and the rear wheels 133 in the front-rear direction of the vehicle body portion 13, a driver's seat 138 for an operator to ride on is provided.

[0038] In front of the driver's seat 138, there are provided operation members such as a steering control handle 137, a main speed change lever (not shown), a planting clutch lever (not shown), etc. The steering control handle 137 is an operation member for changing the steering angle of the work vehicle 10. The main speed change lever is configured to be able to select at least gears of "forward", "reverse", "neutral", and "seedling continuation (Japanese: 苗継)". If the main speed change lever is operated to the "forward" position, power is transmitted to rotate the front wheels 132 and the rear wheels 133 in the direction to make the work vehicle 10 move forward. If the main speed change lever is operated to the "reverse" position, power is transmitted to rotate the front wheels 132 and the rear wheels 133 in the direction to make the work vehicle 10 move backward. If the main speed change lever is operated to the "neutral" position, the transmission of power to the front wheels 132 and the rear wheels 133 is cut off. If the main speed change lever is operated to the "seedling continuation" position, the transmission of power to the front wheels 132, the rear wheels 133, and the PTO shaft 37 is cut off. In addition, if the planting clutch lever is operated to the "engage" position, the planting clutch 5 becomes a transmission state for transmitting power to the PTO shaft 37 (i.e., the work machine 14), and if the planting clutch lever is operated to the "disengage" position, the planting clutch 5 becomes a cut-off state for not transmitting power to the PTO shaft 37. That is, if the planting clutch lever is set to the "engage" position, the driving of the work machine 14 starts and the planting operation starts. In addition, if the planting clutch lever is set to the "disengage" position, the driving of the work machine 14 stops and the planting operation stops.

[0039] In addition, in the present embodiment, the vehicle control device 11 switches the "engagement (on)" and "disengagement (off)" of the planting clutch 5. If 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, if the vehicle control device 11 sets the planting clutch 5 to "disengagement", 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 "disengagement" of the planting clutch 5 as an internal process, and the position of the planting clutch lever may not be moved.

[0040] The work machine 14 is connected to the rear of the vehicle body 13 via a lifting link mechanism 31. The lifting link mechanism 31 is composed of a parallel link structure including an upper link 39 and a lower link 38. The lower link 38 is connected to a lifting cylinder (lifting device) 32. 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 an operating position (operating height) in which the work machine 14 is lowered for planting operations and a non-operating position (non-operating height) in which the work machine 14 is raised for not performing planting operations. In addition, the lifting cylinder 32 is a hydraulic cylinder, but an electric cylinder can also be used. In addition, it is also possible to configure the work machine 14 to be lifted and lowered by an actuator other than a cylinder.

[0041] The working machine 14 (planting unit) includes a planting input box 33, a plurality of planting units 34, a seedling loading platform 35, a plurality of floats 36, and the like.

[0042] 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. Each rotary box 42 is mounted side by side with two planting claws 43 along the travel direction of the work vehicle 10. These two planting claws 43 perform planting in one row.

[0043] 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 be able to carry a seedling mat. The seedling loading platform 35 is configured to be able to be transported back and forth laterally (can slide laterally). 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. Through this structure, the seedling loading platform 35 can supply seedlings of the seedling mat to each planting unit 34. In this way, in the work vehicle 10, seedlings can be supplied to each planting unit 34 in sequence, and the seedlings can be planted continuously.

[0044] Figure 2AThe illustrated float 36 is disposed below the work machine 14 and is configured so that its lower surface can contact the ground. The contact between the float 36 and the ground smoothes the field surface before seedlings are planted. Furthermore, the float 36 is provided with a float sensor (not shown) that detects the swing angle of the float 36. The swing angle of the float 36 corresponds to the distance between the field surface and the work machine 14. The work vehicle 10 actuates the lift cylinder 32 based on the swing angle of the float 36, thereby raising and lowering the work machine 14, thereby maintaining the height of the work machine 14 above the ground constant.

[0045] like Figure 2C As shown, a transmission 130 is arranged behind the engine 131. A front axle 132b is arranged on the left and right of the transmission 130, and a front wheel 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 member 3, and the rear wheel drive shaft 2 is arranged along the coupling member 3. The rear wheel drive shaft 2 transmits the driving force from the transmission 130 to the rear axle 6. Figure 2A ) is installed on the rear wheel shaft 133a set on the rear axle 6 and is driven by the driving force transmitted from the transmission device 130 via the rear wheel drive shaft 2.

[0046] A planting clutch 5 is arranged at the rear of the transmission device 130 via a coupling member 51. For the driving force transmitted from the transmission device 130 via the coupling member 51, the power transmission state is switched to any one of a connected state ("engaged") and a disconnected state ("disconnected") by the planting clutch 5. 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 (4 locations as an example in the present 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 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.

[0047] The seedling stand 19 is located outside the hood 134 in the vehicle width direction and can accommodate a seedling box containing a seedling mat. The upper portions of the left and right seedling stands 19 are connected by a connecting frame 18 extending vertically and across the vehicle width. A positioning unit 16 is located in the center of the connecting frame 18 in the vehicle width direction.

[0048] 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. Figure 2Aand 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 may be dispersed and arranged at different locations within the work vehicle 10. Furthermore, the positioning unit 16 is connected to a battery, allowing it to operate even when the engine 131 is stopped. Alternatively, for example, a mobile phone, smartphone, tablet computer, or quantum compass may be used in place of the positioning unit 16.

[0049] The positioning control unit 161 is a computer system equipped with one or more processors, as well as nonvolatile memory and storage memory such as RAM. The storage unit 162 is a nonvolatile memory that stores programs for the positioning control unit 161 to execute positioning processing, as well as data such as positioning information and movement information. For example, the programs are 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 programs 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.

[0050] The communication unit 163 is a communication interface for connecting the positioning unit 16 to the communication network N1 via a wire or wireless connection and performing data communication in accordance with a predetermined communication protocol with an external device such as a base station server via the communication network N1.

[0051] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0052] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received from satellites by the positioning antenna 164. For example, when the work vehicle 10 is autonomously traveling within a field F, if the positioning antenna 164 receives radio waves (including transmission time, orbital information, etc.) 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 positioning using a real-time kinematic (RTK) GNSS positioning method (RTK method), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) located near the work vehicle 10. In this way, the work vehicle 10 can autonomously travel using positioning information obtained using the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (e.g., the position of the positioning antenna 164) or may be a position offset from the positioning position (e.g., the planting position of the planting unit 34). The positioning control unit 161 may also calculate (position) the current position of the work vehicle 10 using a quantum compass.

[0053] An obstacle detection unit 17 is provided in front of the vehicle body 13. The obstacle detection unit 17 is composed of a sensor that detects obstacles within a specified detection area using, for example, infrared rays, ultrasonic waves, etc. For example, the obstacle detection 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 above-mentioned obstacles are, for example, ridges, water intakes, utility poles, materials temporarily placed in the field F, people, etc. If the obstacle detection unit 17 detects the above-mentioned obstacles, it sends the detection results (measurement information) to the vehicle control unit 11. If the obstacle detection unit 17 detects an obstacle within the detection area, the vehicle control unit 11 slows down and stops the work vehicle 10. In addition, the obstacle detection unit 17 can also be provided in each direction: the front, rear, left side, and right side. In this case, the vehicle control unit 11 controls the driving of the work vehicle 10 based on the detection results of each obstacle detection unit 17.

[0054] The storage unit 12 is a non-volatile storage unit such as a HDD (Hard Disk Drive), SSD (Solid State Drive) or flash memory that stores various information. The storage unit 12 stores information for the vehicle control device 11 to execute the automatic driving process described later (see Figure 10) 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.

[0055] 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 is used as temporary storage (a work area) for the various processes performed by the CPU. 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.

[0056] 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.

[0057] 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 using the CPU to execute various processes in accordance with 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.

[0058] The travel processing unit 111 controls the travel of the work vehicle 10. Specifically, the travel processing unit 111 causes the work vehicle 10 to automatically travel according to the target path R set in the field F. For example, if a travel start instruction is obtained from the operation terminal 20, the travel processing unit 111 causes the work vehicle 10 to start automatic travel. For example, when the current position of the work vehicle 10 is at a position that satisfies the travel start conditions, if 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. If the above-mentioned travel start instruction is obtained from the operation terminal 20, the travel processing unit 111 causes the work vehicle 10 to start automatic travel according to the target path R. For example, the travel processing unit 111 causes the work vehicle 10 to travel straight from the starting end to the end of each work path, and to turn from the starting end to the end of each turning path.

[0059] Furthermore, upon receiving a travel stop instruction from the operation terminal 20 , the travel processing unit 111 stops the automatic travel of the work vehicle 10 . For example, if the operator presses a temporary stop button on the operation screen of the operation terminal 20 , the operation terminal 20 outputs a travel stop instruction to the work vehicle 10 .

[0060] Furthermore, the driving processing unit 111 controls the driving of the work vehicle 10 based on the detection results of the obstacle detection unit 17. Specifically, if the obstacle detection 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.

[0061] 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 the working position (working height) in which the working machine 14 is lowered to perform planting work and the non-working position (non-working height) in which the working machine 14 is raised to perform no planting work. Figure 2A ) When leveling the field surface, the work machine 14 is lowered to the working position. The lifting processing unit 112 inputs a control signal to the lifting cylinder 32, causing the lifting cylinder 32 to extend and retract, thereby lifting the work machine 14.

[0062] In addition, the lifting processing unit 112 controls the lifting of the working machine 14 based on the position information of the working vehicle 10. Specifically, the lifting processing unit 112 lowers the working machine 14 from the non-working position to the working position at a position closer to the working start position by a first predetermined distance in the target path R. For example Figure 4 As shown in (a), if the work vehicle 10 is at the travel start position S (refer to Figure 3) starts automatic driving, the working machine 14 is maintained in the non-working position and automatically drives. Afterwards, if the working vehicle 10 reaches a position P1 closer to the first predetermined distance than the working starting position P0 of the working path Ra (refer to Figure 4 (b)), the lifting and lowering unit 112 lowers the work machine 14 from the non-working position to the working position. When the work machine 14 reaches the working position, the floating body 36 contacts the ground. If the driving unit 111 causes the work vehicle 10 to automatically drive in this state, the floating body 36 can be used to level the field surface. At this point, the work machine 14 is stopped, so no planting is performed.

[0063] The speed control processing unit 113 controls the speed of the work vehicle 10 during automatic driving. Specifically, the speed control processing unit 113 switches the speed of the work vehicle 10 based on the setting information pre-set on the operation terminal 20. For example, if the operator sets the speed for straight driving and the speed for turning driving on the operation terminal 20, the speed control processing unit 113 switches the speed of the work vehicle 10 (the set speed) according to the driving path (straight path, turning path, etc.). For example, when the work vehicle 10 is traveling on the straight path, the speed control processing unit 113 switches to the set speed for straight driving. When the work vehicle 10 is traveling on the turning path, the speed control processing unit 113 switches to the set speed for turning.

[0064] In addition, the vehicle speed control processing unit 113 changes the set vehicle speed of the work vehicle 10 based on the work start position in the target path R. Specifically, the vehicle speed control processing unit 113 decelerates the speed of the work vehicle 10 to a speed slower than the preset set vehicle speed at a position closer to the second predetermined distance ahead of the work start position. Figure 4 As shown, the work vehicle 10 automatically travels at a set vehicle speed for straight travel while maintaining the work machine 14 at the work position (see Figure 4 (b)), then, if the work vehicle 10 reaches a position P2 closer to the front second predetermined distance than the work start position P0 of the work path Ra (refer to Figure 4 If (c) is reached, the speed control processing unit 113 decelerates the work vehicle 10 to a speed slower than the set speed. This allows the work vehicle 10 to smooth the field surface while traveling at a low speed using the float 36. Furthermore, at this point, the drive of the work implement 14 is also stopped, so no planting occurs. If the speed control processing unit 113 decelerates the vehicle to 0 m / s, the work vehicle 10 stops. The speed control processing unit 113 may also decelerate the vehicle from the set speed continuously (steplessly) or in stages.

[0065] As described above, by adopting a structure in which the vehicle speed is decelerated after the work machine 14 is lowered to the working position, that is, a structure in which the distance from the working start position P0 to the position P1 (the first prescribed distance of the present invention) is longer than the distance from the working start position P0 to the position P2 (the second prescribed distance of the present invention), the posture of the work machine 14 does not change during the deceleration of the work vehicle 10, so the driving stability of the work vehicle 10 can be improved. In addition, as another embodiment, the vehicle speed control processing unit 113 can also decelerate the vehicle speed when the work machine 14 is in the non-working position. That is, the descent of the work machine 14 can also be started after the deceleration of the vehicle speed of the work vehicle 10 is started. However, in this case, considering the driving stability of the work vehicle 10, it is preferable to ensure that the deceleration period is longer. In addition, as another embodiment, the timing of starting the deceleration of the vehicle speed of the work vehicle 10 and the timing of starting the descent of the work machine 14 can also be made consistent.

[0066] 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 onto the field surface). Specifically, the drive processing unit 114 switches the "engagement" and "disengagement" of the planting clutch 5, and switches the drive and stop of the working machine 14. For example, the drive processing unit 114 sets the planting clutch 5 to "engagement" to start the drive of the working machine 14 and start the planting action of the planting unit 34. In addition, the drive processing unit 114 sets the planting clutch 5 to "disengagement" to stop the drive of the working machine 14 and stop the planting action of the planting unit 34.

[0067] In addition, the drive processing unit 114 starts driving the work machine 14 at the work start position P0. Specifically, the drive processing unit 114 starts driving the work machine 14 when 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 (d)), the planting action of the planting unit 34 is started, and the engagement timing of the planting clutch 5 is controlled.

[0068] Furthermore, in the work vehicle 10 , the distance between the positioning antenna 164 and the planting unit 34 is a fixed value, so the drive processing unit 114 can calculate the position of the planting unit 34 by acquiring the position of the positioning antenna 164 .

[0069] Here, a predetermined time T0 (time lag) is required from the time when the planting clutch 5 switches from "disengagement" to "engagement" to the start of driving the working machine 14 (planting unit 34). The predetermined time T0 (time lag) includes structural delay time, delay time caused by aging and degradation, etc. For example, the structural delay time is a time inherent to the working machine 14 and varies due to individual differences of the working machine 14. In addition, the delay time caused by aging and degradation becomes longer depending on the length of the operating period of the working machine 14.

[0070] In the present embodiment, the driving of the working machine 14 is started at the moment when the prescribed time T0 (time lag) has passed since the driving processing unit 114 engaged the planting clutch 5. Therefore, in order to start the drive (planting action) at the moment when the planting unit 34 reaches the working start position P0, the driving processing unit 114 only needs to engage the planting clutch 5 at the moment when the prescribed time T0 is before the time when the planting unit 34 reaches the working start position P0. However, for example, when the soil is not in a good state, there is a situation where the wheels of the working vehicle 10 slip and cannot travel the distance that should have been traveled. If the above-mentioned slip occurs, for example, there is a problem that the planting unit 34 cannot reach the working start position P0 at the moment when the prescribed time T0 has passed, and the planting action is started from a position closer to the working start position P0.

[0071] The degree of slip (slip rate) is related to vehicle speed. The faster the vehicle speed, the more likely it is to slip, resulting in a shorter travel distance. The slower the vehicle speed, the less likely it is to slip, resulting in a longer travel distance. Therefore, the travel distance of the work vehicle 10 can be calculated based on the slip rate and vehicle speed.

[0072] Therefore, the drive processing unit 114 engages the planting clutch 5 at the first moment when the vehicle speed after deceleration reaches the threshold value Vth, thereby starting the drive of the work machine 14 after a specified time T0 has passed from the above-mentioned first moment. For example, at the moment when the vehicle speed of the work vehicle 10 gradually decelerates from the set vehicle speed from position P2 and reaches a certain speed (threshold value Vth), the drive processing unit 114 engages the planting clutch 5. If the planting clutch 5 switches from "disengagement" to "engagement", it becomes a transmission state for transmitting power to the PTO shaft 37, and after a specified time T0 (time lag), the drive of the work machine 14 (planting unit 34) starts. In addition, the drive processing unit 114 sets the threshold value Vth based on the specified time T0. For example, the drive processing unit 114 sets the threshold value Vth in such a way that the position of the work vehicle 10 after the specified time T0 is consistent with the work start position P0 or is within a specified range from the work start position P0.

[0073] As another embodiment, the drive processing unit 114 may also set the threshold value Vth based on a setting operation by an operator. Furthermore, the drive processing unit 114 may also set a lower limit and an upper limit of the threshold value Vth that can be set by the operator. For example, the lower limit and the upper limit may be set based on a predetermined time T0. Furthermore, the setting operation of the threshold value Vth may be permitted for an unspecified number of users, or may be permitted only for specified users with permission to operate the threshold value.

[0074] Figure 5An example of the control timing of each processing unit of the vehicle control device 11 is shown in FIG. Figure 4 (b)), the lifting processing unit 112 lowers the working machine 14 from the non-working position H2 to the working position H1. When the working machine 14 moves to the working position H1, the floating body 36 contacts the ground. After that, if the working vehicle 10 continues to automatically travel while leveling the ground with the floating body 36 and reaches the position P2 (refer to Figure 4 (c)), the vehicle speed control processing unit 113 decelerates the set vehicle speed V1 (e.g., 1.8 m / s) for straight travel. For example, the vehicle speed control processing unit 113 gradually decelerates the set vehicle speed V1 until the vehicle speed reaches 0 m / s. In addition, the vehicle speed control processing unit 113 decelerates the set vehicle speed V1 so that the vehicle speed reaches 0 m / s at the work start position P0. In addition, the vehicle speed control processing unit 113 may also set the acceleration during deceleration ( Figure 5 The slope of the straight line from the set vehicle speed V1 to the vehicle speed 0m / s).

[0075] At the moment when the working vehicle 10 decelerates from the set speed V1 and the vehicle speed reaches the threshold value Vth, the drive processing unit 114 engages the planting clutch 5. As a result, power is transmitted to the working machine 14 via the PTO shaft 37. Here, it takes a specified time T0 (time lag) from the switching of the planting clutch 5 from "disengagement" to "engagement" to the driving of the working machine 14 (start of the planting action). Therefore, at the moment when the vehicle speed of the working vehicle 10 reaches the threshold value Vth and the drive processing unit 114 engages the planting clutch 5 and a specified time T0 has passed, the driving of the working machine 14 is started and the planting action is started.

[0076] In the above configuration, the planting unit 34 reaches the work start position P0 when a predetermined time T0 has passed since the planting clutch 5 was switched from "disengaged" to "engaged" (see FIG. Figure 4 (d)) adjusts the timing (threshold value Vth) for engaging the planting clutch 5. Here, if the threshold value Vth is set to a larger vehicle speed, wheel slip is likely to occur, and the distance traveled by the work vehicle 10 during the prescribed time T0 is shorter than the assumed distance. Figure 6As shown, it is easy to start the planting action at a position closer to the front than the operation start position P0. In contrast, if the threshold value Vth is set to a smaller vehicle speed, wheel slippage is less likely to occur, and the distance traveled by the work vehicle 10 during the specified time T0 is close to the assumed distance, so the planting action can be started from the operation start position P0 or near the operation start position P0. Therefore, the threshold value Vth is preferably set to a smaller value (for example, a vehicle speed of approximately 1 / 3 of the set vehicle speed V1). In this way, the drive processing unit 114 can also set the threshold value Vth based on the set vehicle speed V1. That is, the drive processing unit 114 can also set the threshold value Vth based on at least any one of the set vehicle speed V1 and the specified time T0.

[0077] If the threshold value Vth is too small, the planting unit 34 is likely to deviate from the work start position P0 to the travel direction side when the predetermined time T0 has passed (see Figure 7 ), so the threshold value Vth can also be set to a value greater than 0m / s. In addition, when it is allowed to start the planting action from a position on the side of the direction of travel than the operation starting position P0, the threshold value Vth can also be set to approximately 0m / s.

[0078] Thus, in this embodiment, the driving (planting operation) of the working machine 14 may be started at the work start position P0 or a position closer to the travel direction than the work start position P0. This allows the seedlings to be planted at appropriate positions and suppresses unnecessary waste of the seedlings.

[0079] In addition, as another embodiment, when the vehicle speed becomes 0 m / s at the operation start position P0 and the operation vehicle 10 stops, the operation vehicle 10 may be stopped at the operation start position P0 until the prescribed time T0 has passed. In this way, the planting action can be reliably started at the operation start position P0. In addition, if the stop state of the operation vehicle 10 becomes longer, the operation efficiency is reduced, so an upper limit may be set for the stop time. In addition, for example, when the operator sets the operation terminal 20 to a mode that prioritizes operation accuracy (operation accuracy priority mode), the operation vehicle 10 may be stopped at the operation start position P0 until the prescribed time T0 has passed. When the operator sets the operation terminal 20 to a mode that prioritizes operation efficiency (operability priority mode), the operation vehicle 10 may be stopped without setting the above-mentioned stop time (resuming driving immediately after stopping at the operation start position P0 or not stopping at the operation start position P0 (refer to Figure 8 ))processing.

[0080] After the planting operation starts, the vehicle speed control processing unit 113 gradually accelerates the speed of the work vehicle 10 until it reaches the set speed V1. In addition, the vehicle speed control processing unit 113 can also set the acceleration ( Figure 5 In addition, the vehicle speed control processing unit 113 may set the acceleration during acceleration to be the same as the acceleration during deceleration, or may set it to be different. In this way, after starting the planting operation, the vehicle speed control processing unit 113 sets the vehicle speed in the interval from the operation start position P0 to the specified distance on the side of the travel direction to be below the threshold value Vth. After the working vehicle 10 travels in the above interval, the vehicle speed is continuously or stepwise accelerated to the set vehicle speed V1 (refer to Figure 5 ).

[0081] Figure 8 Another example of the control timing of each processing unit is shown in FIG. Figure 8 In the example shown, the work vehicle 10 continues to automatically travel without stopping at the work start position P0. Specifically, if the work vehicle 10 continues to automatically travel to the position P2 (refer to Figure 4 (c)), the vehicle speed control processing unit 113 gradually decelerates the set vehicle speed V1 for straight travel (for example, 1.8 m / s) until it reaches the threshold value Vth, and maintains the vehicle speed at the threshold value Vth to continue automatic travel. In addition, when the vehicle speed of the work vehicle 10 reaches the threshold value Vth, the drive processing unit 114 engages the planting clutch 5. Thus, when the specified time T0 has passed since the drive processing unit 114 engaged the planting clutch 5, the drive of the work machine 14 is started and the planting action is started.

[0082] according to Figure 8 In the example shown, the work vehicle 10 continues to travel without stopping, so the work efficiency can be improved. Figure 8 In the example shown, the drive processing unit 114 switches the planting clutch 5 from "disengaged" to "engaged" when the vehicle speed reaches the threshold value Vth. However, as another embodiment, the drive processing unit 114 may switch the planting clutch 5 from "disengaged" to "engaged" after a predetermined time has passed since the vehicle speed reached the threshold value Vth. Thus, the speed of the work vehicle 10 after the planting clutch 5 is engaged is maintained constant, thereby suppressing changes in the travel distance due to slippage during the predetermined time T0 of the work vehicle 10. Therefore, it is easy to align the starting position of the planting action with the work start position P0.

[0083] In addition, Figure 8In the example shown, after the planting action starts, the speed control processing unit 113 maintains the speed of the work vehicle 10 at the threshold value Vth for a specified time, and gradually accelerates after the specified time until it reaches the set speed V1. As a result, the work vehicle 10 accelerates after traveling a certain distance while performing the planting action, so that the work accuracy and driving stability can be improved. In this way, the speed control processing unit 113 sets the speed of the interval from the work start position P0 to the specified distance on the side of the travel direction after the planting action starts as the threshold value Vth. After the work vehicle 10 travels in the above-mentioned interval, the speed is continuously or stagedly accelerated to the set speed V1 (refer to Figure 8 ). In addition, Figure 8 In the example shown, the minimum vehicle speed is set to the threshold value Vth. However, in another embodiment, the minimum vehicle speed may be set to a speed faster than 0 m / s and slower than the threshold value Vth.

[0084] In each of the above configurations, for example, the vehicle control device 11 may determine the distance from the work start position P0 to the position P2 (the second predetermined distance of the present invention), i.e., the position at which the vehicle speed V1 is to be decelerated, based on the predetermined time T0 (time lag). Specifically, the vehicle control device 11 sets the distance (the second predetermined distance) longer as the predetermined time T0 increases, and the vehicle control device 11 sets the distance shorter as the predetermined time T0 decreases.

[0085] [Operation Terminal 20]

[0086] like Figure 1 As shown, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0087] 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 in accordance with a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0088] 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. An 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, an operator can register a field F to be worked on using the operation unit.

[0089] 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 path R in the field F, by viewing the driving trajectory displayed on the operating terminal 20, while at a distance from the work vehicle 10.

[0090] 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.

[0091] Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the storage unit 22. The operation control unit 21 activates the dedicated application to perform processing such as setting various information related to the work vehicle 10, generating a target route R for the work vehicle 10, and instructing the work vehicle 10 to automatically drive.

[0092] The storage unit 22 also stores data such as work vehicle information, which is information related to the work vehicle 10, and target route information, which is 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.

[0093] 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.

[0094] The target route information includes information such as a route name, a field name, an address, a field area, and a work time for each target route R. The route name is the name of the target route R generated by the operation terminal 20. The field name is the name of the field F to be worked on, for which the target route R is set. The address is the address of the field F, and the field area is the area of ​​the field F. The work time is the time required for the work vehicle 10 to work on the field F.

[0095] The storage unit 22 may store the target path information related to 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 target path information related to each target path R may be stored in the storage unit 22. Furthermore, a single target path R or multiple target paths R may be set for a single field F.

[0096] In addition, as another embodiment, part or all of the work vehicle information, target route information, and other information may be stored in a server accessible from the operation terminal 20. The operator may also register the work vehicle information and target route information in the server (e.g., a personal computer, a cloud server, etc.).

[0097] 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 memory for the various processes performed by the CPU. 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.

[0098] like Figure 1 As shown, the operation control unit 21 includes various processing units, such as a setting processing unit 211 and an output processing unit 212. Furthermore, the operation control unit 21 functions as the various processing units described above by executing various processes in accordance with the control program using the CPU. Furthermore, some or all of the processing units described above may be comprised of electronic circuits. Furthermore, the control program may be a program for causing multiple processors to function as the processing units described above.

[0099] The configuration processing unit 211 sets various configuration information for enabling the work vehicle 10 to execute automatic driving. Specifically, the configuration processing unit 211 sets information related to the work vehicle 10 (hereinafter referred to as work vehicle information). The configuration processing unit 211 sets information such as the type (model) of the work vehicle 10, the location of the positioning antenna 164 on the work vehicle 10, the type of the work machine 14, the size and shape of the work machine 14, the position of the work machine 14 relative to the work vehicle 10, the speed of the work vehicle 10 during operation (straight driving speed) and engine speed, and the speed of the work vehicle 10 during turning (turning driving speed) and engine speed. This information is set by the configuration processing unit 211 through an operator's registration operation on the operation terminal 20.

[0100] For example, the processing unit 211 is set to Figure 9 The menu screen D1 shown is displayed on the operation display unit 23. The operator selects "work machine registration" on the menu screen D1, for example, to register the work machine information related to the work machine 14.

[0101] In addition, the setting processing unit 211 sets information related to the field F (hereinafter referred to as field information). The position and shape of the field F, the driving start position S for starting automatic driving, and the driving end position G for ending automatic driving (see Figure 3 ), working direction, etc., are registered by the operation terminal 20, and the setting processing unit 211 sets the information. For example, the operator selects "field registration" on the menu screen D1 to register the field information.

[0102] Information on the position and shape of the field F can be automatically acquired, for example, by an operator riding in the work vehicle 10 and driving around the perimeter of the field F, while recording the transition of information regarding a specific position of the work vehicle 10 (e.g., the position of the side end of the work vehicle 10) based on positioning information. Alternatively, the position and shape of the field F can be acquired based on a polygon created by the operator operating the operation terminal 20 and specifying multiple points on a map displayed on the operation terminal 20. 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.

[0103] The setting processing unit 211 also 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 unmanned work vehicles 10 and manned work vehicles 10 are to work in collaboration, the number of work paths that the work vehicles 10 skip 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 "Work Area Registration" on the menu screen D1 to register work information.

[0104] 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 3The target path R shown includes a straight work path for the work vehicle 10 to travel back and forth parallel to the inner area Fa of the field F, and a connecting curved path. Within the headland area Fb, it includes a straight work path for the work vehicle 10 to travel in a circular motion, and a connecting curved path. The setting processing unit 211 generates and stores the target path R for the work vehicle 10 based on the aforementioned setting information. For example, the operator can instruct the creation of the target path R by selecting "Create Path" on the menu screen D1. Furthermore, the setting processing unit 211 can generate and store multiple target paths R for a single field F, depending on the work content.

[0105] In addition, the setting processing unit 211 sets the vehicle speed when traveling straight and when traveling in a turn, for example, based on the setting operation of the operator. For example, the operator sets the set vehicle speed V1 for traveling straight (see Figure 5 The setting processing unit 211 may also set a lower limit (lower speed limit) and an upper limit (upper speed limit) of the vehicle speed that the operator can set. Furthermore, the setting processing unit 211 may also set a lower limit (lower speed limit) and an upper limit (upper speed limit) of the vehicle speed that the operator can set for the vehicle speed after deceleration (e.g., a threshold value Vth, a speed below the threshold value Vth, etc.). This allows the operator to set the vehicle speed within the range from the lower speed limit to the upper speed limit, thereby preventing the operator from setting an unexpected speed.

[0106] 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 .

[0107] Work vehicle 10 is configured such that the route data of target route R generated by operation terminal 20 can be transmitted to work vehicle 10 and stored in storage unit 12. Work vehicle 10 detects the current position of work vehicle 10 via positioning antenna 164 and autonomously travels along target route R. The current position of work vehicle 10 may or may not coincide with the position of positioning antenna 164.

[0108] When 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 work vehicle 10's travel processing unit 111 begins automatic travel, and the planting operation with the work implement 14 begins. For example, the operation control unit 21 permits automatic travel of the work vehicle 10 based on the conditions that the work vehicle 10's current position is within a specified distance from the travel start position S and the vehicle's orientation is within a specified orientation. The conditions for permitting the work vehicle 10 to start automatic travel are not limited to the above-mentioned conditions.

[0109] 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 based on the target route R acquired from the operation terminal 20 .

[0110] Furthermore, upon acquiring 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 on the captured image captured by the camera at the operation terminal 20 .

[0111] Furthermore, the operation terminal 20 can also 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 using the operation control unit 21. The server is equipped with the aforementioned processing units and executes the various processes.

[0112] [Automatic driving processing]

[0113] Below, refer to Figure 10 An example of the automatic driving process executed by the automatic driving system 1 will be described.

[0114] 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 above-mentioned automatic driving process. In addition, one or more steps included in the above-mentioned automatic driving process described here can also be appropriately omitted. In addition, for each step in the above-mentioned automatic driving process, the execution order can also be different within the scope of producing the same effect. Moreover, the case where the vehicle control device 11 executes each step in the above-mentioned automatic driving process is cited here as an example for explanation, but as another embodiment, an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner is also conceivable.

[0115] In step S1, the vehicle control device 11 determines whether the work vehicle 10 is in a state where it can automatically travel. Figure 3 ) satisfies the start conditions for automatic travel (S1: YES), the vehicle control device 11 moves 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).

[0116] In step S2, the vehicle control device 11 starts the automatic driving of the work vehicle 10. For example, if the operator issues a driving start instruction in the operation screen of the operation terminal 20, the operation control unit 21 outputs the driving start instruction to the work vehicle 10. If the driving start instruction is received from the operation terminal 20, the vehicle control device 11 starts the automatic driving of the work vehicle 10. As a result, the work vehicle 10 moves along the target path R (refer to Figure 3 ) Starts automatic driving from the driving start position S.

[0117] At the start of the automatic travel, 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 "disengagement", and the speed of the work vehicle 10 is set to a predetermined speed (set speed V1). Therefore, the work vehicle 10 starts to automatically travel at the set speed V1 with the work machine 14 raised (non-driving state).

[0118] In step S3, the vehicle control device 11 determines whether the work vehicle 10 has reached a position P1 (see FIG. 1 ) closer to the front of the work start position P0 of the work path Ra by a first predetermined distance. Figure 4 (b)). If the vehicle control device 11 determines that the work vehicle 10 has reached position P1 (S3: Yes), the process moves to step S4. The vehicle control device 11 waits until the work vehicle 10 reaches position P1 (S3: No). The vehicle control device 11 continues automatic driving at the set vehicle speed V1 with the work implement 14 raised (non-driven state) until the work vehicle 10 reaches position P1.

[0119] In step S4, the vehicle control device 11 lowers the working machine 14 to the working position H1 (see Figure 4 Specifically, when the working vehicle 10 reaches the position P1, the vehicle control device 11 inputs a control signal to the lifting cylinder 32 to drive the lifting cylinder 32, thereby lowering the working machine 14 from the non-working position H2 to the working position H1 (refer to Figure 5 ).

[0120] Next, in step S5, the vehicle control device 11 determines whether the work vehicle 10 has reached a position P2 (refer to the reference number 50) closer to the front of the work start position P0 of the work path Ra by a second predetermined distance. Figure 4(c)). If the vehicle control device 11 determines that the work vehicle 10 has reached position P2 (S5: Yes), the process moves to step S6. The vehicle control device 11 waits until the work vehicle 10 reaches position P2 (S5: No). The vehicle control device 11 continues automatic travel at the set vehicle speed V1 with the work implement 14 lowered until the work vehicle 10 reaches position P2. By traveling with the work implement 14 lowered, the work vehicle 10 can level the field surface using the float 36.

[0121] In step S6, the vehicle control device 11 decelerates the speed of the work vehicle 10. Specifically, the vehicle control device 11 decelerates the speed of the work vehicle 10 from the set speed V1 continuously (steplessly) or in stages. In addition, the vehicle control device 11 can decelerate the set speed V1 to a speed of 0 m / s (refer to Figure 5 ), or you can decelerate to a specified vehicle speed (such as a threshold value Vth) (refer to Figure 8 ) In addition, the vehicle control device 11 controls the vehicle speed so that the vehicle speed becomes equal to or less than the threshold value Vth at the work start position P0 or so that the work vehicle 10 stops at the work start position P0.

[0122] Next, in step S7, the vehicle control device 11 determines whether the speed of the work vehicle 10 has reached the threshold value Vth. If the vehicle control device 11 determines that the speed of the work vehicle 10 has reached the threshold value Vth (S7: Yes), the process proceeds to step S8. The vehicle control device 11 waits until the speed of the work vehicle 10 reaches the threshold value Vth (S7: No). The vehicle control device 11 continues automatic driving while decelerating the vehicle until the speed of the work vehicle 10 reaches the threshold value Vth.

[0123] In step S8, the vehicle control device 11 switches the plug clutch 5 from "disengagement" to "engagement" (see Figure 5 For example, the vehicle control device 11 outputs a switching signal to switch the planting clutch 5 from "disengagement" to "engagement".

[0124] Then, in step S9, the vehicle control device 11 determines whether the prescribed time T0 has passed. Specifically, the vehicle control device 11 starts measuring the time when the planting clutch 5 is switched from "disengagement" 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 (S9: Yes), the processing moves to step S10. The vehicle control device 11 waits until the prescribed time T0 has passed (S9: No). The vehicle control device 11 continues the automatic driving of the work vehicle 10 until the prescribed time T0 has passed (refer to Figure 5 and Figure 8 ).

[0125] In step S10, the vehicle control device 11 starts the planting operation by the planting unit 34. Thus, the planting operation starts at a timing when a predetermined time T0 has passed since the planting clutch 5 was switched from "disengaged" to "engaged" (see Figure 5 and Figure 8 ).

[0126] Next, in step S11, the vehicle control device 11 accelerates the speed of the work vehicle 10. Specifically, the vehicle control device 11 accelerates the speed of the work vehicle 10 continuously (steplessly) or stepwise to a set speed V1 (see Figure 5 and Figure 8 ).

[0127] Next, in step S12, 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 (S12: Yes), the process proceeds to step S13. The vehicle control device 11 continues the automatic driving and planting operation in the work path Ra until the work vehicle 10 reaches the work end position of the work path Ra (S12: No).

[0128] In step S13, 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 to drive the lifting cylinder 32, and thus raises the work machine 14 from the working position H1 to the non-working position H2.

[0129] Next, in step S14, 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 (S14: Yes), the above-mentioned automatic driving process 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 (S14: No), the process is moved to step S3 to perform the above-mentioned process again. In addition, when the work vehicle 10 continues to automatically travel 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 "disengagement", and the speed of the work vehicle 10 is set to a pre-set speed (set speed V1). Therefore, the work vehicle 10 continues to automatically travel in a state where the work machine 14 is raised (non-driven state) and at the set speed V1. The vehicle control device 11 repeatedly performs the processes of steps S3 to S13 until the work vehicle 10 reaches the travel end position G.

[0130] As described above, the automatic driving system 1 involved in this embodiment performs: automatically driving the working vehicle 10 equipped with a working machine 14 that can move between the non-working position H2 and the working position H1 according to the target path R; moving the working machine 14 from the non-working position H2 to the working position H1 at a position P1 that is closer to the first prescribed distance before the working start position P0 in the target path R; decelerating the speed of the working vehicle 10 to a speed slower than the set speed V1 at a position P2 that is closer to the second prescribed distance before the working start position P0; and starting to drive the working machine 14 at the working start position P0 or at a position closer to the traveling direction side than the working start position P0.

[0131] According to the above configuration, by decelerating the work vehicle 10 at a position closer to the work start position P0, the work machine 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 or a position closer to the travel direction than the work start position P0. In addition, by decelerating the vehicle speed, the influence of wheel slip can be reduced. As a result, the planting operation can be started from the appropriate position, thereby improving the accuracy of the operation.

[0132] Furthermore, by lowering the work machine 14 to the working position at a position forward of the work start position P0, the front-rear balance of the work vehicle 10 can be stabilized. This improves driving stability, reduces the effects of wheel slip, and enables the planting operation to start at an appropriate position.

[0133] In addition, the automatic driving system 1 involved in this embodiment performs: causing the work vehicle 10 to automatically drive according to the target path R; decelerating the speed of the work vehicle 10 to a speed slower than the pre-set set speed V1 at a position P1 that is a predetermined distance closer to the start position P0 of the work in the target path R; and engaging the work clutch (planting clutch 5) that transmits power to the work machine 14 at the moment when the above-mentioned speed after deceleration reaches the threshold value Vth, thereby starting the operation of the work machine 14 after a predetermined time T0 has passed from the above-mentioned moment.

[0134] In this way, by engaging the working clutch after decelerating the working vehicle 10, the time lag (predetermined time T0) until the operation of the working machine 14 is started can suppress the fluctuation caused by wheel slip, so the planting operation can be started from the appropriate position.

[0135] [Other embodiments]

[0136] The embodiment of the present invention is not limited to the above-described embodiment, and the following embodiments are also possible.

[0137] As another embodiment of the present invention, the vehicle control device 11 may also set the distance from the operation start position P0 to the position P2 (the second prescribed distance of the present invention), that is, the position where the deceleration of the vehicle speed V1 is started, according to the operation of the operator. For example, if the operator inputs the above distance (the second prescribed distance) at the operation terminal 20, the vehicle control device 11 sets the input distance as the deceleration timing of the vehicle speed. In addition, the operation terminal 20 or the vehicle control device 11 may also set the lower limit value (lower limit distance) and the upper limit value (upper limit distance) of the distance that the operator can input. For example, the above lower limit value is set according to the specified time T0. In addition, the input operation of the above distance (second prescribed distance) may be permitted to an unspecified majority of users, or the input operation of the above distance (second prescribed distance) may be permitted only to specified users with operating authority.

[0138] 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 11 In the setting screen D2 shown, the selection buttons of "Delay", "Normal" and "Advance" are displayed regarding the timing of starting the planting action. For example, when the operator selects "Delay", the vehicle control device 11 sets the threshold value Vth to a smaller value (for example, less than approximately 1 / 3 of the set vehicle speed V1) so that the start timing of the planting action is delayed, that is, the planting action is started at a position closer to the travel direction side than the operation start position P0. In addition, when the operator selects "Advance", the vehicle control device 11 sets the threshold value Vth to a larger value (for example, in the range of approximately 1 / 3 to approximately 2 / 3 of the set vehicle speed V1) so that the start timing of the planting action is advanced, that is, the planting action is started at a position closer to the front than the operation start position P0. In addition, when the operator selects "Normal", the vehicle control device 11 sets the threshold value Vth to, for example, approximately 1 / 3 of the set vehicle speed V1 so that the planting action is started near the operation start position P0. As another embodiment, the threshold value Vth can also be input by the operator. For example, the threshold value Vth corresponding to the above-mentioned “normal” (for example, 0.6 m / s) may be displayed as a default value on the setting screen, and the operator may change the default value on the setting screen.

[0139] As another embodiment of the present invention, the vehicle control device 11 may also be configured to set the threshold value Vth such that the timing of starting the planting action corresponds to the above-mentioned "delayed" or "normal" when the operator sets the operation terminal 20 to a mode prioritizing operation accuracy (operation accuracy priority mode); and may be configured to set the threshold value Vth such that the timing of starting the planting action corresponds to the above-mentioned "advance" when the operator sets the operation terminal 20 to a mode prioritizing operation efficiency (operability priority mode).

[0140] In the above embodiment, the work vehicle 10 alone corresponds to the automatic driving system of the present invention. However, the automatic driving system of the present invention may also be configured to include the work vehicle 10 and the operation terminal 20. In addition, the functions of the vehicle control device 11 may be included in a server that can communicate with the work vehicle 10.

[0141] [Notes on the invention]

[0142] The following is a summary of the invention extracted from the embodiment. In addition, each structure and each processing function described in the following notes can be selected and combined arbitrarily.

[0143] Note 1

[0144] An automatic driving method, wherein:

[0145] A working vehicle having a working machine movable between a non-working position and a working position is caused to automatically travel according to a target path;

[0146] moving the working machine from the non-working position to the working position at a position on the target path closer to the working start position by a first predetermined distance;

[0147] decelerating the working vehicle to a speed slower than a set speed at a position a second predetermined distance ahead of the working start position; and

[0148] The driving of the working machine is started at the working start position or at a position closer to the traveling direction than the working start position.

[0149] Note 2

[0150] The automatic driving method according to Note 1, wherein:

[0151] The working machine is provided on the working vehicle via a working clutch for transmitting power to the working machine.

[0152] The working clutch is engaged at a first timing when the vehicle speed after deceleration reaches a threshold value, and driving of the working machine is started after a predetermined time has elapsed from the first timing.

[0153] Note 3

[0154] According to the automatic driving method described in Note 2,

[0155] The threshold value is set based on the set vehicle speed.

[0156] Note 4

[0157] The automatic driving method according to Note 2 or 3, wherein:

[0158] The predetermined time includes a structural delay time from the engagement of the working clutch to the start of driving the working machine.

[0159] The threshold value is set based on at least one of the set vehicle speed and the predetermined time.

[0160] Note 5

[0161] The automatic driving method according to any one of Notes 1 to 4, wherein:

[0162] The first predetermined distance is set to be longer than the second predetermined distance.

[0163] Note 6

[0164] The automatic driving method according to any one of Notes 2 to 5, wherein:

[0165] Control is performed so that the vehicle speed becomes equal to or less than the threshold value at the work start position, or so that the work vehicle stops at the work start position.

[0166] Note 7

[0167] The automated driving method according to any one of Notes 2 to 6, wherein:

[0168] After starting to drive the work machine, the vehicle speed in a section from the work start position to a predetermined distance in the travel direction is set to be less than the threshold value.

[0169] After the work vehicle travels in the section, the vehicle speed is accelerated continuously or in stages to the set vehicle speed.

[0170] Note 8

[0171] The automatic driving method according to Note 7, wherein:

[0172] The set vehicle speed is set according to a setting operation by the user within a range from a lower speed limit to an upper speed limit.

[0173] Note 9

[0174] The automatic driving method according to any one of Notes 1 to 8, wherein:

[0175] The first predetermined distance is set according to a setting operation by the user within a range from a lower limit distance to an upper limit distance.

[0176] Note 10

[0177] The automated driving method according to any one of Notes 1 to 9, wherein:

[0178] The vehicle speed after deceleration is set according to a setting operation by the user within a range from a lower speed limit to an upper speed limit.

Claims

1. An automatic driving method, characterized in that: implement: A working vehicle having a working machine movable between a non-working position and a working position is caused to automatically travel according to a target path; moving the working machine from the non-working position to the working position at a position on the target path closer to the working start position by a first predetermined distance; decelerating the speed of the work vehicle to a speed slower than a preset speed at a position that is a second predetermined distance ahead of the work start position; as well as The driving of the working machine is started at the working start position or at a position closer to the traveling direction side than the working start position.

2. The automatic driving method according to claim 1, characterized in that: The working machine is installed on the working vehicle via a working clutch that transmits power to the working machine. The working clutch is engaged at a first timing when the vehicle speed after deceleration reaches a threshold value, and driving of the working machine is started after a predetermined time has elapsed from the first timing.

3. The automatic driving method according to claim 2, characterized in that: The threshold value is set based on the set vehicle speed or the prescribed time.

4. The automatic driving method according to claim 2, characterized in that: The predetermined time includes a structural delay time from the engagement of the working clutch to the start of driving the working machine. The threshold value is set based on at least one of the set vehicle speed and the predetermined time.

5. The automatic driving method according to claim 1, characterized in that: The first predetermined distance is set to be longer than the second predetermined distance.

6. The automatic driving method according to any one of claims 2 to 4, characterized in that: Control is performed so that the vehicle speed becomes equal to or less than the threshold value at the work start position, or so that the work vehicle stops at the work start position.

7. The automatic driving method according to any one of claims 2 to 4, characterized in that: After starting to drive the work machine, the vehicle speed in a section from the work start position to a predetermined distance in the travel direction is set to be less than the threshold value, After the work vehicle has traveled in the section, the vehicle speed is accelerated continuously or in stages to the set vehicle speed.

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

9. The automatic driving method according to any one of claims 1 to 5, characterized in that: The first predetermined distance is set according to a setting operation by a user within a range from a lower limit distance to an upper limit distance.

10. The automatic driving method according to any one of claims 1 to 5, characterized in that: The vehicle speed after deceleration is set according to a setting operation by a user within a range from a lower speed limit to an upper speed limit.

11. An automatic driving method, characterized in that: implement: A working vehicle having a working machine movable between a non-working position and a working position is caused to automatically travel according to a target path; decelerating the working vehicle to a speed slower than a preset set speed at a position on the target path that is a predetermined distance ahead of the working start position; as well as When the vehicle speed after deceleration reaches a threshold value, a working clutch that transmits power to the working machine is engaged, and the operation of the working machine is started after a predetermined time has elapsed from the threshold value.

12. An automatic driving program, characterized in that: Used to cause one or more processors to execute: A working vehicle having a working machine movable between a non-working position and a working position is caused to automatically travel according to a target path; moving the working machine from the non-working position to the working position at a position on the target path closer to the working start position by a first predetermined distance; decelerating the speed of the work vehicle to a speed slower than a preset speed at a position that is a second predetermined distance ahead of the work start position; as well as The driving of the working machine is started at the working start position or at a position closer to the traveling direction side than the working start position.

13. An automatic driving system, characterized in that: have: a travel processing unit that causes a work vehicle equipped with a work machine movable between a non-work position and a work position to automatically travel according to a target path; a lifting and lowering processing unit that moves the working machine from the non-working position to the working position at a position on the target path closer to the working start position by a first predetermined distance; a vehicle speed control processing unit that decelerates the vehicle speed of the work vehicle to a speed slower than a preset vehicle speed at a position that is a second predetermined distance ahead of the work start position; as well as The drive processing unit starts driving the work machine at the work start position or at a position closer to the travel direction than the work start position.

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