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 travel position accuracy of a traction target machine that performs traction while a work vehicle is automatically traveling. In an automatic travel system (1), a travel processing unit (111) automatically travels a work vehicle (10) provided with a tractor and a work machine (30) connected to the tractor so as to be swingable. The travel processing unit (111) causes the work vehicle (10) to travel automatically on the basis of positioning information positioned by a work machine antenna (164B) provided to the work machine (30).

Description

Technical Field

[0001] This invention relates to a technology that enables work vehicles such as tractor-trailers and trailers to drive automatically. Background Technology

[0002] Previously, it was known that a technology was used to enable a work vehicle to drive automatically in a field based on location information located by a positioning antenna (e.g., a GPS antenna) mounted on the work vehicle (for example, see Patent Document 1).

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

[0004] For example, when the work vehicle is equipped with a work machine, trailer, or other work object that can be freely connected to the towing vehicle (tractor) via a coupling point, it is difficult to make the towing object move along the target path while the towing vehicle moves automatically. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic driving method, automatic driving program, and automatic driving system that can improve the driving position accuracy of a towing object while the towing vehicle is automatically driving and towing.

[0006] The automatic driving method of the present invention enables a work vehicle, which includes a tractor and a towing object machine flexibly connected to the tractor, to drive automatically. The automatic driving method enables the work vehicle to drive automatically based on first positioning information positioned by a first positioning device installed on the towing object machine.

[0007] The automatic driving program involved in this invention is a program that enables a work vehicle, equipped with a tractor and a towing object machine flexibly connected to the tractor, to drive automatically. In the above-mentioned automatic driving program, one or more processors enable the work vehicle to drive automatically based on first positioning information positioned by a first positioning device provided on the towing object machine.

[0008] The automatic driving system of this invention enables a work vehicle, which includes a tractor and a towing object machine flexibly connected to the tractor, to drive automatically. The automatic driving system enables the work vehicle to drive automatically based on first positioning information located by a first positioning device installed on the towing object machine.

[0009] According to the present invention, an automatic driving method, an automatic driving program, and an automatic driving system are provided that can improve the driving position accuracy of a towing object machine while the working vehicle is automatically driving and towing. Attached Figure Description

[0010] Figure 1 This is a block diagram illustrating the structure of the automatic driving system according to an embodiment of the present invention.

[0011] Figure 2 This is an external view showing the structure of the work vehicle involved in the embodiment of the present invention.

[0012] Figure 3 This is a diagram illustrating an example of a target path set in a field according to an embodiment of the present invention.

[0013] Figure 4 This is a diagram illustrating an example of the position of a positioning antenna on a work vehicle according to an embodiment of the present invention.

[0014] Figure 5 This is a diagram illustrating an example of a method of driving a work vehicle according to an embodiment of the present invention.

[0015] Figure 6 This is a diagram illustrating an example of a method of driving a work vehicle according to an embodiment of the present invention.

[0016] Figure 7 This is a diagram illustrating an example of a menu screen displayed on an operating terminal according to an embodiment of the present invention.

[0017] Figure 8 This is a diagram illustrating an example of a workstation setting screen displayed on an operating terminal according to an embodiment of the present invention.

[0018] Figure 9 This is a diagram illustrating an example of a workstation setting screen displayed on an operating terminal according to an embodiment of the present invention.

[0019] Figure 10 This is a flowchart illustrating an example of the sequence of automatic driving processes performed by the automatic driving system according to an embodiment of the present invention.

[0020] Figure 11 This is a diagram illustrating an example of a workstation setting screen displayed on an operating terminal according to an embodiment of the present invention.

[0021] Figure 12 This is a diagram illustrating an example of a method of driving a work vehicle according to an embodiment of the present invention.

[0022] Figure 13A This is a diagram illustrating another example of a workstation setting screen displayed on an operating terminal according to an embodiment of the present invention.

[0023] Figure 13B It is used for explanation Figure 13AThe diagram shows a reference diagram of the antenna setting method.

[0024] Figure 14A This is a diagram illustrating another example of a workstation setting screen displayed on an operating terminal according to an embodiment of the present invention.

[0025] Figure 14B It is used for explanation Figure 14A The diagram shows a reference diagram of the antenna setting method.

[0026] Explanation of reference numerals in the attached figures

[0027] 1...Automatic driving system; 10...Working vehicle; 10A...Tractor (tractor); 11...Vehicle control device; 16...Positioning unit; 20...Operating terminal; 21...Operating control unit; 30...Working machine (towing target machine); 31...Hook-off point; 32...Wheel; 111...Travel processing unit; 161...Positioning control unit; 164A...Vehicle antenna (second positioning device); 164B...Working machine antenna (first positioning device); 211...Setting processing unit; 212...Generation processing unit; 213...Output processing unit; D1...Menu screen; D2...Working machine setting screen; F...Field; F1...Working area; F2...Non-working area; R...Target path; S...Work start position; G...Work end position; P1...Control target point. Detailed Implementation

[0028] The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

[0029] like Figure 1 As shown, the automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operating terminal 20. The work vehicle 10 and the operating terminal 20 can communicate via a communication network N1. For example, the work vehicle 10 and the operating terminal 20 can communicate via a mobile phone network, a packet network, or a wireless LAN. Automated driving system 1 is an example of the automated driving system of the present invention.

[0030] The work vehicle 10 is configured to include a tractor 10A and a work machine 30 that is flexibly connected to and towed by the tractor 10A relative to it. The tractor 10A is an example of a towing vehicle of the present invention. The work machine 30 is, for example, a vegetable harvester and is an example of a towing machine of the present invention. The towing machine of the present invention can also be a trailer. The work vehicle 10 is capable of operating in a field F (see reference). Figure 3 The structure that automatically travels along a pre-set target path R.

[0031] For example, the operator registers the field F to be worked on and sets a target path R for the work vehicle 10 to travel automatically on the field F. Based on the position information of the current position of the work vehicle 10 obtained by the positioning unit 16, the work vehicle 10 travels automatically according to the target path R pre-set for the field F. In addition, while the work vehicle 10 travels automatically within the field F, it performs the prescribed work (such as harvesting vegetables) through the work machine 30.

[0032] The operating terminal 20 is a mobile terminal capable of remotely operating the work vehicle 10, such as a tablet, a laptop computer, or a smartphone. Operators can configure various settings on the operating terminal 20. For example, operators can use the operating terminal 20 to register field F and set a target path R on the registered field F. Furthermore, the operating terminal 20 can display information such as the operating status and driving status of the automatically moving work vehicle 10, allowing operators to monitor these conditions.

[0033] Conventionally, when the work vehicle 10 is equipped with a work machine 30 that is freely connected to the tractor 10A via a coupling point, it is difficult to automatically drive the tractor 10A while simultaneously driving the work machine 30 along the target path R. For example, when the tractor 10A turns along the target path R, the work machine 30 may turn at the coupling point and travel at a position different from that of the tractor 10A, making it difficult to drive the work machine 30 according to the operator's intention, resulting in a decrease in the accuracy of the work machine 30's driving position. In contrast, as shown below, the automatic driving system 1 according to this embodiment has a structure that can improve the driving position accuracy of the work machine 30 (the towing target machine) while the tractor 10A (the towing vehicle) is automatically driving and towing.

[0034] [10 working vehicles]

[0035] like Figure 1 as well as Figure 2 As shown, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a travel device 13, a work machine 30, a communication unit 15, and a positioning unit 16. The work vehicle 10 consists of a tractor 10A and a work machine 30 that is rotatably connected to the tractor 10A. The vehicle control device 11 is electrically connected to the storage unit 12, the travel device 13, the work machine 30, and the positioning unit 16. Furthermore, the vehicle control device 11 and the positioning unit 16 are capable of wireless communication.

[0036] The communication unit 15 is a communication interface used to connect the work vehicle 10 to the communication network N1 via wired or wireless means, and to perform data communication with external devices (such as the operation terminal 20) via the communication network N1 in accordance with the prescribed communication protocol.

[0037] Storage unit 12 is a non-volatile storage unit such as HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various types of information. Storage unit 12 stores information for enabling vehicle control unit 11 to perform the automated driving processing described later (see reference). Figure 10 The automatic driving program and other control programs are included. For example, the automatic driving program is not temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read and stored in the storage unit 12 using a specified reading device (not shown). Alternatively, the automatic driving program can also be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. Additionally, the storage unit 12 stores data such as the target path generated in the operation terminal 20.

[0038] The traveling mechanism 13 is the drive unit that enables the tractor 10A to move. For example... Figure 2 As shown, the running gear 13 includes an engine 131, a front wheel 132, a rear wheel 133, a transmission 134, a front axle 135, a rear axle 136, a steering wheel 137, etc. Furthermore, the front wheel 132 and the rear wheel 133 are respectively provided on the left and right sides of the tractor 10A. In addition, the running gear 13 is not limited to a wheeled type with front wheels 132 and rear wheels 133; it can also be a tracked type with tracks provided on the left and right sides of the tractor 10A.

[0039] Engine 131 is a diesel engine or gasoline engine, powered by fuel supplied from a fuel tank (not shown). The driving unit 13 may also include an electric motor, which serves as a drive source along with or replaces engine 131. Furthermore, a generator (not shown) is connected to engine 131, supplying power to electrical components such as vehicle control device 11 and positioning unit 16 installed on tractor 10A, as well as a battery. The battery is charged using power supplied from the generator. Moreover, the electrical components such as vehicle control device 11 and positioning unit 16 installed on tractor 10A can be driven using power supplied from the battery even after engine 131 has stopped.

[0040] The driving force of engine 131 is transmitted to the front wheel 132 via transmission 134 and front axle 135, and to the rear wheel 133 via transmission 134 and rear axle 136. Additionally, the driving force of engine 131 is also transmitted to the work machine 30 via PTO shaft (not shown). When tractor 10A is in automatic driving mode, the travel device 13 performs driving actions according to the commands of vehicle control device 11. Furthermore, the travel device 13 causes tractor 10A to decelerate and stop according to the commands of vehicle control device 11.

[0041] The work machine 30, for example, is a vegetable harvester, which can be detached and freely connected to the tractor 10A. Specifically, the work machine 30 is connected to the tractor 10A via a coupling point 31 (rotating shaft, joint), and its posture relative to the tractor 10A is relative to the coupling point 31 as a fulcrum. Figure 5 The angle d1 shown changes relatively. Additionally, the work machine 30 has wheels 32 on the left and right sides, which move with the tractor 10A. The work machine 30 starts or stops driving according to commands from the vehicle control device 11. Furthermore, the vehicle control device 11 can also automatically steer the wheels 32 according to the steering operation of the tractor 10A.

[0042] The steering wheel 137 is an operating part operated by an operator or the vehicle control device 11. For example, in the travel device 13, the direction of travel of the tractor 10A is changed by changing the angle of the front wheels 132 through a hydraulic power steering mechanism (not shown) or the operation of the steering wheel 137 by the vehicle control device 11.

[0043] In addition to the steering wheel 137, the driving unit 13 also includes a gear lever (not shown), an accelerator, and a brake, all operated by the vehicle control unit 11. Furthermore, in the driving unit 13, based on the operation of the gear lever by the vehicle control unit 11, the gear position of the transmission 134 is switched to forward or reverse, and the driving mode of the tractor 10A is switched to forward or reverse. Additionally, the vehicle control unit 11 operates the accelerator to control the speed of the engine 131. Furthermore, the vehicle control unit 11 operates the brake to use an electromagnetic brake to brake the rotation of the front wheels 132 and the rear wheels 133.

[0044] The positioning unit 16 is a communication device comprising a positioning control unit 161, a storage unit 162, a communication unit 163, a vehicle antenna 164A, and a work machine antenna 164B. For example, ... Figure 2As shown, the positioning unit 16 is located on the upper part of the cab 138 where the operator sits. However, the location of the positioning unit 16 is not limited to the cab 138. Furthermore, the positioning control unit 161, storage unit 162, communication unit 163, vehicle antenna 164A, and work machine antenna 164B of the positioning unit 16 can be distributed in different locations within the work vehicle 10. For example, the vehicle antenna 164A is located on the tractor 10A, and the work machine antenna 164B is located on the work machine 30 (see reference 30). Figure 2 Furthermore, as described above, the positioning unit 16 is connected to the aforementioned battery, and it can operate even when the engine 131 is stopped. Alternatively, the positioning unit 16 can be replaced by, for example, a mobile phone terminal, smartphone, tablet terminal, or quantum compass.

[0045] The positioning control unit 161 is a computer system equipped with one or more processors, non-volatile memory, and storage memory such as RAM. The storage unit 162 is a non-volatile memory that stores data such as programs, positioning information, and movement information used by the positioning control unit 161 to perform positioning processing. For example, the program may be non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read using a specified reading device (not shown), and stored in the storage unit 162. Alternatively, the program may be downloaded from a server (not shown) via communication network N1 to the positioning unit 16 and stored in the storage unit 162.

[0046] The communication unit 163 is a communication interface used to connect the positioning unit 16 to the communication network N1 via wired or wireless means, and to perform data communication with external devices such as base station servers via the communication network N1 in accordance with the prescribed communication protocol.

[0047] The vehicle antenna 164A and the work machine antenna 164B are antennas for receiving radio waves (GNSS signals) transmitted from satellites.

[0048] The positioning control unit 161 calculates the current position of the tractor 10A based on the GNSS signal received from the satellite by the vehicle antenna 164A. Additionally, the positioning control unit 161 calculates the current position of the work machine 30 based on the GNSS signal received from the satellite by the work machine antenna 164B.

[0049] For example, when the tractor 10A is automatically driving in the field F, if the vehicle antenna 164A receives radio waves (transmission time, orbit information, etc.) transmitted from multiple satellites, the positioning control unit 161 calculates the distance between the vehicle antenna 164A and each satellite, and calculates the current position (latitude and longitude) of the tractor 10A based on the calculated distance. Alternatively, the positioning control unit 161 can perform positioning using a real-time dynamic method (RTK-GNSS positioning method (RTK method)). This real-time dynamic method uses correction information corresponding to base stations (base stations) closer to the tractor 10A to calculate the current position of the tractor 10A. In this way, the tractor 10A uses positioning information obtained using the RTK method for automatic driving. Furthermore, the current position (control target point) of the tractor 10A can be the same as the positioning position (e.g., the position of the vehicle antenna 164A), or it can be a position deviated from the positioning position.

[0050] Furthermore, for example, when the tractor 10A is automatically driving in the field F, if the work machine antenna 164B receives radio waves (transmission time, orbit information, etc.) transmitted from multiple satellites, the positioning control unit 161 calculates the distance between the work machine antenna 164B and each satellite, and calculates the current position (latitude and longitude) of the work machine 30 based on the calculated distance. Alternatively, the positioning control unit 161 can perform positioning using RTK (Reference Time Kinematics) method, which uses correction information corresponding to a base station (base station) closest to the work machine 30 to calculate the current position of the work machine 30. Furthermore, the current position (control target point) of the work machine 30 can be the same as the positioning position (e.g., the position of the work machine antenna 164B), or it can be a position offset from the positioning position.

[0051] exist Figure 4 The configuration positions of the vehicle antenna 164A installed on the tractor 10A and the work machine antenna 164B installed on the work machine 30 are shown. For example, the work machine antenna 164B is configured on the axle of the left and right wheels 32 of the work machine 30 and at the center of the left and right sides of the work machine 30. However, the configuration position of the work machine antenna 164B is not limited to this and can be configured at any position.

[0052] In addition, the positioning control unit 161 can also use a quantum compass to calculate the current position of the (positioning) tractor 10A and the work machine 30.

[0053] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile storage unit that pre-stores control programs such as BIOS and OS for the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile storage unit that stores various information and serves as temporary storage for the various processes executed by the CPU. Furthermore, the vehicle control device 11 controls the operating vehicle 10 by executing various control programs pre-stored in the ROM or storage unit 12 using the CPU.

[0054] Specifically, such as Figure 1 As shown, the vehicle control device 11 includes a driving processing unit 111 and other processing units. Furthermore, the vehicle control device 11 functions as these various processing units by executing various processes according to the aforementioned automatic driving program using the CPU. Additionally, some or all of these processing units may be constructed using electronic circuitry. Furthermore, the aforementioned automatic driving program may be a program that enables multiple processors to function as these processing units.

[0055] The driving processing unit 111 controls the driving of the work vehicle 10. For example, when the driving mode of the work vehicle 10 is manual driving (manual driving mode), the work vehicle 10 can be driven manually based on the operator's operation (manual steering operation). For example, the driving processing unit 111 obtains the operation information corresponding to the driving operations performed by the operator, such as steering wheel operation, gear shifting operation, driving direction switching operation, and brake operation, and drives the driving device 13 to perform driving actions based on the operation information. For example, when registering the field F to be worked on, the operator rides on the tractor 10A in the outer perimeter of the area to be worked within the designated area and drives manually (teaching driving).

[0056] Furthermore, when the driving mode of the work vehicle 10 is automatic driving (automatic driving mode), the driving processing unit 111 enables the work vehicle 10 to drive automatically based on the location information (positioning information) indicating the current position of the work vehicle 10 as located by the positioning unit 16. For example, when the work vehicle 10 meets the start conditions for automatic driving and receives a work start instruction (automatic driving start instruction) from the operator, the driving processing unit 111 enables the work vehicle 10 to drive automatically from the driving start position (work start position S) to the driving end position (work end position G) according to the pre-generated and set target path R on the operating terminal 20. For example, the driving processing unit 111 enables the work vehicle 10 to drive straight automatically along a straight path and to drive automatically turning automatically along a turning path. In addition, the driving processing unit 111 enables the work vehicle 10 to drive automatically according to multiple work paths included in the target path R that allow the work vehicle 10 to perform the prescribed work and multiple non-work paths connecting the work paths.

[0057] For example, in such Figure 3 In the field F shown, the travel processing unit 111 automatically travels along the target path R (work path) in the inner work area F1 while the work machine 30 performs the work (vegetable harvesting). Additionally, the travel processing unit 111 automatically travels along the target path R (non-work path) in the non-work area F2 (field edge area) outside the work area F1. The travel processing unit 111 automatically travels the work vehicle 10 from the work start position S to the work end position G.

[0058] Here, the driving processing unit 111 enables the work vehicle 10 to drive automatically based on the work machine positioning information (an example of the first positioning information of the present invention) located by the work machine antenna 164B installed on the work machine 30. Figure 5 An example of a target path R is shown. For example, the travel processing unit 111 controls the travel position of the tractor 10A so that the work machine 30 passes through the target path R. For example, the travel processing unit 111 controls the travel of the tractor 10A so that the work machine antenna 164B of the work machine 30 passes through the target path R at a position (positioning position). As another embodiment, the travel processing unit 111 may also control the travel of the tractor 10A so that it passes through the target path R at a position (control target point) that is separated from the position of the work machine antenna 164B of the work machine 30 by a predetermined distance. For example, the control target point may be set at the front or rear end of the work machine 30, or it may be set at a working position within the work machine 30 (e.g., the position of the harvesting section for harvesting vegetables) (see below). Figure 12 ).

[0059] Specifically, the driving processing unit 111 infers the posture of the work machine 30 relative to the tractor 10A based on the positioning information (work machine side information) from the work machine antenna 164B, and enables the work vehicle 10 to drive automatically based on the inferred posture of the work machine 30. Furthermore, the driving processing unit 111 infers the posture of the work machine 30 based on the work machine positioning information from the work machine antenna 164B and the vehicle positioning information located by the vehicle antenna 164A (an example of the second positioning information of the present invention).

[0060] For example, the travel processing unit 111, based on the machine positioning information and the vehicle positioning information, infers the change in the posture of the machine 30 according to the current travel state of the tractor 10A, and controls the travel direction of the tractor 10A based on the inferred change. For example, the travel processing unit 111 obtains information on the direction of movement of the machine 30 when the tractor 10A is actually moving in a specified direction (change in machine positioning information), and feeds back this information to infer (predict) the direction of movement of the machine 30 relative to the direction in which the tractor 10A will move next (change in posture). Based on the change in the direction of movement (posture) of the machine 30, the travel processing unit 111 controls the travel direction of the tractor 10A so that the machine 30 travels along the target path R.

[0061] Additionally, the travel processing unit 111 controls the orientation (travel direction) of the tractor 10A to ensure that the aforementioned change is below a threshold. Thus, the travel processing unit 111 feeds back information on the posture change of the work machine 30 corresponding to the current travel state of the tractor 10A, and controls the travel direction of the tractor 10A so that the work machine 30 travels to the target position.

[0062] If the aforementioned change becomes large, the actions of the work machine 30 may become unstable, such as wheel slippage (idling) or lateral sliding. Therefore, when the aforementioned change exceeds a threshold, the travel processing unit 111 causes the tractor 10A to perform a prescribed response. This response includes slowing down or stopping the tractor 10A, or moving the tractor 10A forward, backward, or turning to correct the posture of the work machine 30 (correction process: retry). For example, when the aforementioned change exceeds a threshold, the travel processing unit 111 slows down or stops the tractor 10A to ensure safety.

[0063] Furthermore, if the aforementioned change amount is above a threshold, the travel processing unit 111 performs a retry operation to move the tractor 10A forward, backward, or turn, so that the aforementioned change amount is below the threshold. For example, the travel processing unit 111 obtains information in advance about the forward, backward, and turning movements of the work machine 30 relative to the tractor 10A, feeds back this information to perform a retry operation, and corrects the posture of the work machine 30.

[0064] Furthermore, the travel processing unit 111 can also compare the inferred position (positioning position) of the work machine 30 with the actual position passed by the work machine 30, control the travel direction of the tractor 10A, and perform corresponding processing. In addition, the above-mentioned corresponding processing may also include reporting to the operator that the change amount is above a threshold.

[0065] Furthermore, if the distance La from the end of the work machine 30 to the end of the field F (field shape), determined by the work machine positioning information of the work machine 30, is less than a predetermined distance, the travel processing unit 111 causes the tractor 10A to perform avoidance processing to prevent the work machine 30 from contacting the end of the field F or protruding beyond the field. For example, such as Figure 6 As shown, when the tractor 10A turns right near the end of the field F, the left rear end of the work machine 30 may approach the end of the field F. If the work machine 30 approaches the end of the field F and protrudes beyond the field, it may come into contact with obstacles (such as field ridges). Therefore, if the distance La from the end of the work machine 30 to the end of the field F is less than the prescribed distance, the travel processing unit 111 causes the tractor 10A to perform avoidance actions such as deceleration, stopping, and retrying. This ensures safety at the end of the field F.

[0066] Furthermore, the travel processing unit 111 determines whether the distance La is insufficient based on the position of the end (outer shape) of the work machine 30 by measuring the position of the work machine antenna 164B in the work machine 30. Thus, by equipping the work machine antenna 164B on the work machine 30, the position and posture of the work machine 30 relative to the tractor 10A can be accurately measured, and therefore the distance La can be accurately calculated. Therefore, appropriate obstacle avoidance procedures can be performed, and unnecessary obstacle avoidance procedures can be prevented. Alternatively, the travel processing unit 111 may also determine whether the distance La is insufficient based on the detection results of a camera, obstacle sensor, or the like mounted on the tractor 10A.

[0067] As described above, the work vehicle 10, based on the vehicle positioning information located by the vehicle antenna 164A configured on the tractor 10A and the work machine positioning information located by the work machine antenna 164B configured on the work machine 30, infers the posture of the work machine 30 and controls the travel (travel direction and speed) of the tractor 10A in such a way that the work machine 30 travels along the target path R.

[0068] Furthermore, when the work machine 30 is connected with the tractor 10A in a left-right offset direction, the travel processing unit 111 can calculate the difference between a preset offset and the offset during travel, and adjust the offset of the work machine 30 to reduce the difference. Additionally, the calculated difference can be reported to the operator.

[0069] [Operating Terminal 20]

[0070] like Figure 1 As shown, the operating terminal 20 is an information processing device including an operating control unit 21, a storage unit 22, an operating display unit 23, and a communication unit 24. The operating terminal 20 may also be a mobile terminal such as a tablet terminal or a smartphone.

[0071] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the communication network N1 via wired or wireless means, and for performing data communication in accordance with a prescribed communication protocol with one or more external devices such as work vehicles 10 via the communication network N1.

[0072] The operation display unit 23 is a user interface equipped with a liquid crystal display or organic EL display for displaying various information, and an operation unit such as a touch panel, mouse, or keyboard for receiving operations. The operator can operate the operation unit on the operation screen displayed on the display unit to register various information (such as work vehicle information, field information, and work information, described later). Furthermore, the operator can operate the operation unit to issue work start and stop instructions for the work vehicle 10. Additionally, the operator can monitor the driving status of the work vehicle 10, which is automatically moving along the target path R within the field F, from a location away from the work vehicle 10, by viewing the driving trajectory displayed on the operation terminal 20 and images captured by the camera.

[0073] Storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. Storage unit 22 stores control programs for instructing operation control unit 21 to perform various control processes. For example, these control programs are non-temporarily recorded on computer-readable recording media such as CDs or DVDs, read from a specified reading device (not shown), and stored in storage unit 22. Furthermore, these control programs can also be downloaded from a server (not shown) via communication network N1 to operation terminal 20 and stored in storage unit 22.

[0074] The operation control unit 21 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile storage unit that pre-stores control programs such as BIOS and OS for the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile storage unit that stores various information and serves as temporary storage (working area) for the various processes executed by the CPU. Furthermore, the operation control unit 21 controls the operation terminal 20 by executing various control programs pre-stored in the ROM or storage unit 22 using the CPU.

[0075] like Figure 1 As shown, the operation control unit 21 includes various processing units such as a setting processing unit 211, a generation processing unit 212, and an output processing unit 213. Furthermore, the operation control unit 21 functions as these various processing units by executing various processes according to the control program using the CPU. Additionally, some or all of these processing units may be constructed using electronic circuitry. Furthermore, the control program may be a program for enabling multiple processors to function as these processing units.

[0076] The setting processing unit 211 sets and registers various setting information for enabling the work vehicle 10 to perform automatic driving. Specifically, the setting processing unit 211 registers information related to the work vehicle 10 (hereinafter referred to as work vehicle information). The setting processing unit 211 registers information such as the type (model) of the work vehicle 10, the location of the antennas (vehicle antenna 164A and work machine antenna 164B) installed in the work vehicle 10, the type of work machine 30, the size and shape of the work machine 30, the position of the work vehicle 10 relative to the work machine 30, the speed and engine speed of the work vehicle 10 during operation, and the speed and engine speed of the work vehicle 10 during turning, through the operator's registration operation on the operation terminal 20.

[0077] For example, the setting processing unit 211 causes the operation display unit 23 to display... Figure 7 The menu screen D1 is shown. The operator selects "Worker Registration" on menu screen D1 to register worker information related to worker 30. For example, when the operator selects "Worker Registration," the setting processing unit 211... Figure 8The machine setup screen D2 is shown. On the machine setup screen D2, the operator can set the positions of the vehicle antenna 164A and the machine antenna 164B, as well as the external dimensions of the machine 30. For example, when the operator specifies (clicks) the position of the machine antenna 164B installed on the machine 30 in the machine setup screen D2, the setting processing unit 211 sets the specified position as the position of the machine antenna 164B. Similarly, when the operator specifies (clicks) the position of the vehicle antenna 164A installed on the tractor 10A, the setting processing unit 211 sets the specified position as the position of the vehicle antenna 164A. The operator can install each antenna at any position and register that position.

[0078] Furthermore, the setting processing unit 211 can also display the initial setting positions of the vehicle antenna 164A and the work machine antenna 164B on the work machine setting screen D2. For example, the setting processing unit 211 can also display the position on the axle of the left and right wheels 32 of the work machine 30, the front position of the work machine 30, or the working position in the work machine 30 (e.g., the position of the harvesting section for harvesting vegetables) as the initial setting position of the work machine antenna 164B. In this case, the operator can also change the setting position of the work machine antenna 164B.

[0079] In addition, as other implementation methods, such as Figure 9 As shown, the setting processing unit 211 can also select the position of the antenna 164B for the work machine from multiple options ("front end of the work machine", "work position (position of the harvesting part)", "center of the wheel", etc.).

[0080] In addition, the operator can input the following in the setting screen D2: the distance between the vehicle antenna 164A and the attachment point 31, the distance between the vehicle antenna 164A and the front end of the work machine 30, the distance between the work machine antenna 164B and the front end of the work machine 30, the distance between the work machine antenna 164B and the rear end of the work machine 30, the distance between the work machine antenna 164B and the wheel 32, the external dimensions of the tractor 10A and the work machine 30.

[0081] Furthermore, the dimensions of the work machine 30 can be input via a keyboard on the display screen, via voice input from the operator, or via a setting read function. This setting read function can also be used to set information about the work machine 30 by communicating with the tractor (tractor 10A) via ISO BUS or similar means. For example, the work machine 30 sends its dimensions, the position information of the work machine antenna 164B, and steering angle information to the tractor 10A, which then receives this information and performs automatic settings. Additionally, this setting read function can also read existing settings when the work machine 30 is selected in the "Work Machine Registration" settings.

[0082] Additionally, the setting processing unit 211 registers information related to the field F (hereinafter referred to as field information). The setting processing unit 211 registers this information by performing a registration operation on the operation terminal 20, which includes information such as the location and shape of the field F, the start position S of the operation, the end position G of the operation, and the operation direction. Furthermore, the operation direction refers to the direction in which the work vehicle 10 travels while the work machine 30 is operating in the work area excluding the non-work area of ​​the field F. For example, the operator selects "Field Registration" on the menu screen D1 to register the field information.

[0083] Information about the location and shape of field F can be obtained, for example, by an operator riding in a work vehicle 10 and moving along a designated area (see reference). Figure 3 The vehicle drives around the perimeter of the vehicle, automatically acquiring the position information of the vehicle via antenna 164A. Specifically, the setting processing unit 211 acquires the current position information of the work vehicle 10 based on the positioning information located by the positioning unit 16. When the setting processing unit 211 acquires the above position information, it registers it in the storage unit 22.

[0084] In addition, the setting processing unit 211 registers information related to how the work is specifically carried out (hereinafter referred to as work information). The setting processing unit 211 is configured to register, as work information, whether there is coordinated work between unmanned and manned work vehicles 10, the number of work paths skipped when the work vehicle 10 turns at the edge of the field (i.e., the number of skips), the width of the field edge, and the width of the non-work area, etc. For example, the operator selects "Work Registration" on menu screen D1 to register the information of the driving path.

[0085] The generation processing unit 212 generates a target path R for the automatic movement of the work vehicle 10 in the field F. The generation processing unit 212 executes the target path R generation process when the operator selects "Path Creation" on the menu screen D1 and receives an instruction to generate the target path R. Specifically, the generation processing unit 212 generates a path through the location of the work object (e.g., the location where crops are planted) as the target path R. That is, the generation processing unit 212 generates a path for the work machine 30 to pass through as the target path R, so that work (e.g., harvesting operations) can be performed by the work machine 30. In this embodiment, the tractor 10A and the work machine 30 are connected in a manner that allows for relative changes in posture; therefore, as... Figure 5 As shown, the travel position of the tractor 10A and the travel position of the work machine 30 may not be the same. Therefore, the generation processing unit 212 generates a target path R for the work machine 30 to travel in order to actually perform the work (harvesting work). Specifically, the generation processing unit 212 generates a target path R that includes a work path that is the target for the work machine 30 to travel in the work area F1 and a non-work path (turning path) that is the target for the work machine 30 to move from the work path to the next work path in the non-work area F2 (see reference). Figure 3 ).

[0086] In another embodiment, the generation processing unit 212 may also generate a travel path, designated as the target path R, for the tractor 10A to travel when the work machine 30 passes the position of the work object. For example, the generation processing unit 212 simulates the path that the work machine 30 should travel based on the position of the work object, infers the posture change of the tractor 10A when the work machine 30 travels along the path, and generates the target path R based on the inference result. Alternatively, in another embodiment, the generation processing unit 212 may generate a target path corresponding to the travel position of the work machine 30 and a target path corresponding to the travel position of the tractor 10A, respectively.

[0087] When generating the target path R for the work vehicle 10, the generation processing unit 212 registers the target path R in association with the field F. Furthermore, the generation processing unit 212 can generate and register multiple target paths corresponding to the work content for a single field F.

[0088] The output processing unit 213 outputs the path data of the target path R to the work vehicle 10. For example, when the operator selects the desired target path R on the operation screen to give the work start instruction, the output processing unit 213 outputs the path data of the selected target path R to the work vehicle 10.

[0089] The work vehicle 10 transmits the path data of the target path R generated in the operation terminal 20 to the work vehicle 10 and stores it in the storage unit 12. While using the vehicle antenna 164A and the work machine antenna 164B to detect the current position and posture of the tractor 10A and the work machine 30 respectively, the work machine 30 controls the tractor 10A to drive along the target path R to perform automatic driving.

[0090] For example, if the operator presses the start button on the operation screen to give a start instruction when the specified start conditions are met, the work vehicle 10 will automatically start moving through the travel processing unit 111 and begin the work (harvesting operation) based on the work machine 30. For example, the automatic movement of the work vehicle 10 is allowed when the current position of the tractor 10A is within a set distance from the start position S and the vehicle orientation is within a set orientation. However, the start conditions for allowing the automatic movement of the work vehicle 10 are not limited to the above conditions. The travel processing unit 111 causes the work vehicle 10 to automatically move from the start position S to the end position G along the target path R obtained from the operation terminal 20.

[0091] Furthermore, the operating terminal 20 can also access the agricultural support service website (agricultural support website) provided by the server (not shown) via the communication network N1. In this case, the operating terminal 20 can function as an operating terminal for the server by executing a browser program through the operation control unit 21. Moreover, the server has the aforementioned processing units and performs various processes.

[0092] [Automatic driving processing]

[0093] The following is for reference Figure 10 An example of the above-mentioned automatic driving process performed by the automatic driving system 1 will be described.

[0094] Furthermore, this invention can be understood as an invention of an automatic driving method that performs one or more steps included in the above-described automatic driving process. Additionally, the one or more steps included in the above-described automatic driving process described herein may be appropriately omitted. Furthermore, the execution order of each step in the above-described automatic driving process may differ within the scope of producing the same effect. Moreover, the example described here is of the vehicle control device 11 performing each step in the above-described automatic driving process; however, as other embodiments, an automatic driving method in which one or more processors separately execute each step in the automatic driving process can also be considered.

[0095] <Step S1>

[0096] In step S1, the vehicle control device 11 determines whether a work start instruction has been received. When the work start instruction is received from the operation terminal 20 (S1: Yes), the vehicle control device 11 moves the processing to step S2. Before receiving the work start instruction, the vehicle control device 11 enters standby mode (S1: No).

[0097] <Step S2>

[0098] In step S2, the vehicle control unit 11 begins automatic driving processing. Specifically, the vehicle control unit 11 follows the target path R (refer to the path data obtained from the operation terminal 20) corresponding to the path data. Figure 3 This causes the work vehicle 10 to start moving automatically.

[0099] <Step S3>

[0100] In step S3, the vehicle control device 11 acquires the positioning information of the work vehicle 10. Specifically, when automatic driving begins, the vehicle control device 11 begins acquiring vehicle positioning information located by the vehicle antenna 164A installed on the tractor 10A and work machine positioning information located by the work machine antenna 164B installed on the work machine 30. The vehicle control device 11 acquires the vehicle positioning information and the work machine positioning information from the vehicle antenna 164A and the work machine antenna 164B respectively at a predetermined period.

[0101] <Step S4>

[0102] In step S4, the vehicle control device 11 infers the posture of the work machine 30 while controlling the movement of the tractor 10A. Specifically, the vehicle control device 11 infers the posture of the work machine 30 based on the aforementioned vehicle positioning information and the work machine positioning information. For example, the vehicle control device 11 obtains information about the direction of movement of the work machine 30 when the tractor 10A is actually moving in a predetermined direction (change in work machine positioning information), and feeds back this information to infer the direction of movement of the work machine 30 relative to the direction in which the tractor 10A will move next (change in posture). Thus, while enabling the tractor 10A to move automatically, the vehicle control device 11 obtains (feedbacks) the posture change of the work machine 30 being towed by the tractor 10A, and infers the direction of movement of the work machine 30 relative to the direction of movement of the tractor 10A. Then, based on the inferred direction of movement of the work machine 30 (change in posture), the vehicle control device 11 controls the direction of movement of the tractor 10A so that the work machine 30 moves along the target path R. In this way, during the automatic driving process of the tractor 10A, the vehicle control device 11 confirms the changes in the posture of the work machine 30 and controls the driving of the tractor 10A in such a way that the work machine 30 passes through the target path R. In addition, the vehicle control device 11 can also control the driving direction of the tractor 10A and control the speed of the tractor 10A.

[0103] For example, in Figure 5 In the illustrated state, assuming that tractor 10A will turn right next, if it is deduced that the work machine 30 has shifted its position inward from the target path R, then vehicle control device 11 moves tractor 10A in the forward direction or to the left so that work machine 30 follows the target path R. Thus, vehicle control device 11 infers the posture of work machine 30 and controls the movement of tractor 10A based on vehicle positioning information and work machine positioning information.

[0104] <Step S5>

[0105] In step S5, the vehicle control device 11 determines whether the change in the posture of the machine 30 is above a threshold. When the vehicle control device 11 determines that the change in the posture of the machine 30 is above the threshold (S5: Yes), the process moves to step S6. On the other hand, when the vehicle control device 11 determines that the change in the posture of the machine 30 is below the threshold (S5: No), the process moves to step S7.

[0106] <Step S6>

[0107] In step S6, the vehicle control device 11 causes the tractor 10A to perform a prescribed response. For example, the vehicle control device 11 performs a process to slow down or stop the tractor 10A, or a process to move the tractor 10A forward, backward, or turn in order to change the posture of the work machine 30 (retry action).

[0108] For example, if the change in the posture of the work machine 30 is greater than or equal to a threshold, the vehicle control device 11 causes the tractor 10A to perform a retry operation until the change is less than the threshold. As another embodiment, if the change in the posture of the work machine 30 is greater than or equal to a threshold, the vehicle control device 11 may first perform a predetermined number of retry operations, and if the change is still greater than or equal to the threshold, cause the tractor 10A to decelerate or stop.

[0109] Furthermore, the operator can pre-set in the operating terminal 20 the response actions to be performed by the tractor 10A when the change in the posture of the work machine 30 exceeds a threshold. Additionally, the operator can pre-set the priority order of these response actions.

[0110] Furthermore, the vehicle control device 11 can also switch the response based on the amount of change in the posture of the work machine 30 when the change is above a threshold. For example, the vehicle control device 11 performs a retry operation when the change is at a low level, performs deceleration and retry operation when the change is at a medium level, and performs a stop operation when the change is at a high level.

[0111] <Step S7>

[0112] In step S7, the vehicle control device 11 determines the distance La from the end of the work machine 30 to the end of the field F (field shape) (refer to...). Figure 6 Whether the distance La is less than the specified distance. When the vehicle control device 11 determines that the distance La is less than the specified distance (S7: Yes), the process moves to step S8. On the other hand, when the vehicle control device 11 determines that the distance La is greater than or equal to the specified distance (S7: No), the process moves to step S9.

[0113] <Step S8>

[0114] In step S8, the vehicle control device 11 causes the tractor 10A to perform a prescribed avoidance maneuver. For example, the vehicle control device 11 performs a maneuver to slow down or stop the tractor 10A, or to move the tractor 10A forward, backward, or turn in order to change the posture of the work machine 30 (retry action).

[0115] For example, if the distance to La is less than a specified distance, the vehicle control device 11 causes the tractor 10A to perform a retry operation until the distance to La becomes greater than the specified distance. As another embodiment, if the distance to La is less than the specified distance, the vehicle control device 11 may first perform a specified number of retry operations, and if the distance to La is still less than the specified distance, cause the tractor 10A to decelerate or stop.

[0116] Furthermore, the operator can pre-set the avoidance procedures that the tractor 10A will perform if the distance to La is less than a specified distance in the operating terminal 20. Additionally, the operator can pre-set the priority order of the aforementioned avoidance procedures.

[0117] Furthermore, if the distance to La is less than a predetermined distance, the vehicle control device 11 can also switch to avoidance handling based on the distance to La. For example, if the distance to La is greater than or equal to a first distance L1 but less than a predetermined distance L0, the vehicle control device 11 will initiate a retry operation; if the distance to La is greater than or equal to a second distance L2 but less than a first distance L1, it will initiate a deceleration operation; if the distance to La is greater than or equal to a second distance L2 but less than a first distance L1, it will initiate both deceleration and a retry operation; and if the distance to La is less than a second distance L2, it will initiate a stop operation. Moreover, the aforementioned distances satisfy the relationship 0 < L2 < L1 < L0.

[0118] <Step S9>

[0119] In step S9, the vehicle control device 11 determines whether the work vehicle 10 has reached the work end position G (refer to...). Figure 3 When the vehicle control device 11 determines that the work vehicle 10 has reached the work end position G (S9: Yes), it terminates the above-mentioned automatic driving process. When the vehicle control device 11 determines that the work vehicle 10 has not reached the work end position G (S9: No), it moves the process to step S3. The vehicle control device 11 repeatedly executes the above-mentioned process until the work vehicle 10 reaches the work end position G (S9: No).

[0120] For example, when returning to step S3, the vehicle control device 11 obtains positioning information (vehicle positioning information and work machine positioning information) from both the vehicle antenna 164A and the work machine antenna 164B. Then, the vehicle control device 11 infers the posture of the work machine 30 and controls the tractor 10A to travel along the target path R (step S4). If the change in the posture of the work machine 30 is above a threshold, a response is executed (step S6). If the distance La from the work machine 30 to the end of the field is less than a specified distance, an avoidance is executed (step S8). The vehicle control device 11 repeatedly executes steps S3 to S8 until the work vehicle 10 reaches the work end position G.

[0121] In this way, the vehicle control device 11 repeatedly performs the above-mentioned processing from the start position S to the end position G, so as to control the tractor 10A to travel along the target path R by the work machine 30.

[0122] As explained above, the automatic driving system 1 of this embodiment enables the work vehicle 10, which includes a tractor 10A (towing vehicle) and a work machine 30 (towing target machine) that is flexibly connected to the tractor 10A, to move automatically. Furthermore, the automatic driving system 1 enables the work vehicle 10 to move automatically based on work machine positioning information located by a work machine antenna 164B installed on the work machine 30. Thus, by installing a positioning antenna on the work machine 30 and enabling the work vehicle 10 to move automatically based on the positioning information of the work machine 30, the work machine 30 can be accurately aligned on the target path R. Therefore, the driving position accuracy of the work machine 30 towed by the tractor 10A can be improved.

[0123] Furthermore, the automatic driving system 1 infers the posture of the work machine 30 relative to the tractor 10A based on the work machine positioning information, and enables the tractor 10A to drive automatically based on the inferred posture of the work machine 30. For example, the automatic driving system 1 infers the posture of the work machine 30 based on the work machine positioning information and the vehicle positioning information. Then, the automatic driving system 1 controls the driving direction of the tractor 10A based on the change in the posture of the work machine 30 inferred from the current driving state of the tractor 10A. As a result, the posture change (action) of the work machine 30 corresponding to the driving state of the tractor 10A can be accurately grasped, and therefore the work machine 30 can be accurately aligned on the target path R by controlling the driving of the tractor 10A.

[0124] [Other Implementation Methods]

[0125] This invention is not limited to the embodiments described above. Other embodiments of this invention will be described below.

[0126] As another embodiment of the present invention, such as Figure 11 As shown, the operator can also set the position of the work machine antenna 164B and the control object point P1 for controlling the position of the work machine 30 in the work machine setting screen D2. For example, the operator can set the position of the work machine antenna 164B and the control object point P1 for controlling the position of the work machine 30 in the work machine setting screen D2. Figure 11 In the machine setup screen D2 shown, the position of the machine antenna 164B installed on the machine 30 and the position of the control point P1 are specified (clicked). Alternatively, the position of the machine antenna 164B can be preset; in this case, the operator only needs to specify the control point P1.

[0127] The setting processing unit 211 of the operating terminal 20 sets the control target point P1 at the location specified by the operator. Additionally, the setting processing unit 211 sets the distance between the position of the work machine antenna 164B and the control target point P1. Therefore, the vehicle control device 11, based on the work machine positioning information from the work machine antenna 164B and the distance between the work machine antenna 164B and the control target point P1, such as... Figure 12 As shown, the tractor 10A is controlled to travel along the target path R by means of the control target point P1. That is, the vehicle control device 11 controls the tractor 10A to travel along the pre-set target path R by means of the control target point P1. Furthermore, the control target point P1 is, for example, the working position in the work machine 30 (e.g., the position of the harvesting section for harvesting vegetables). The operator can set the control target point P1 at any position. As another embodiment, the setting processing unit 211 can automatically set the control target point P1 according to the type of work machine 30, or it can suggest a recommended position for the control target point P1 to the operator.

[0128] In the above-described embodiment, the vehicle control device 11 infers the posture of the work machine 30 relative to the tractor 10A based on vehicle positioning information located by the vehicle antenna 164A installed on the tractor 10A and work machine positioning information located by the work machine antenna 164B installed on the work machine 30. Alternatively, the vehicle control device 11 may also infer the posture of the work machine 30 relative to the tractor 10A based on the rotation angle of the joint portion of the attachment point 31. Figure 5 Based on the angle d1 and the aforementioned positioning information of the work machine, the posture of the work machine 30 relative to the tractor 10A is inferred. The aforementioned rotation angle can be detected, for example, by a sensor provided at the joint. According to the above structure, the positioning antenna can be installed only on the work machine 30, and the positioning antenna of the tractor 10A can be omitted.

[0129] Other setting methods for the antenna 164B used in the workpiece are explained. Figure 13A Another example of the machine setup screen D2 is shown. Furthermore, Figure 13B It is used for explanation Figure 13AThe diagram shows a reference for the antenna setting method. For example, as shown... Figure 13A As shown, in the setup screen D2 of the work machine, the operator can also input the antenna 164B for the work machine (refer to...). Figure 13B The location of the connection point. For example, the operator enters the location from connection point 31 (refer to...). Figure 13B The distance (longitudinal length) from the antenna 164B of the work machine to the tractor 10A is input, and the distance from the antenna 164B to the tractor 10A is input (refer to...). Figure 13B The distance (lateral length) from the left and right centers of the tractor body to the antenna 164B of the work machine is set by the setting processing unit 211 as the antenna position, determined by the longitudinal and lateral lengths input by the operator. Furthermore, in the work machine setting screen D2, the operator can also input the distance from the rear end of the tractor body 10A (see reference...) Figure 13B The length from the attachment point 31 to the axle center of the work machine 30 (trailer) (refer to...) Figure 13B The length of the tractor 10A, from the left and right center of the tractor body (refer to...) Figure 13B ) to the work center in work machine 30 (refer to Figure 13B The length from the left and right centers of the tractor 10A to the left and right ends of the work machine 30. In addition, when the work machine 30 is a work machine that harvests crops along rows (such as a potato harvester), the operator can also input the row spacing and the number of rows in the work machine setting screen D2.

[0130] exist Figure 14A It shows Figure 8 Another example of the machine setup screen D2 shown. Furthermore, Figure 14B It is used for explanation Figure 14A The diagram shows a reference for the antenna setting method. (See diagram for reference.) Figure 14A As shown, the antenna 164B used in the work machine (refer to...) Figure 14B ) is set in relation to tractor 10A (refer to Figure 14B When the machine body is positioned with its left and right centers aligned (left and right center), the operator can also input the connection point 31 (refer to) in the machine setting screen D2. Figure 14B The distance (longitudinal length) from the antenna 164B of the work machine 30. Furthermore, the operating terminal 20 can also display information based on the type of work machine 30 or the work content. Figure 13A The machine setting screen D2 shown is... Figure 14A The machine settings screen D2 is shown.

[0131] As another embodiment of the present invention, when the vehicle control device 11 enables the work vehicle 10 to travel straight, it may not use the work machine positioning information (an example of the first positioning information of the present invention) located by the work machine antenna 164B, but instead use the vehicle positioning information (an example of the second positioning information of the present invention) located by the vehicle antenna 164A. For example, when the vehicle control device 11 enables the work vehicle 10 to travel straight automatically along a straight path, it may disregard the work machine positioning information of the work machine 30 or invalidate the positioning processing based on the work machine antenna 164B, and enable the work vehicle 10 to travel straight based on the vehicle positioning information of the tractor 10A. This allows the work vehicle 10 to travel straight stably.

[0132] Additionally, as another embodiment of the present invention, the vehicle control device 11 may switch to manual driving mode to turn the work vehicle 10 when it is unable to obtain the work machine positioning information of the work machine 30 or when the positioning accuracy of the work machine positioning information is insufficient. Furthermore, "the situation where the work machine positioning information cannot be obtained" includes the case where the work machine 30 (the towing machine) is not equipped with the work machine antenna 164B (the case of straight-line driving based on the positioning information of the vehicle antenna 164A).

[0133] When the aforementioned machine positioning information cannot be obtained, or when the positioning accuracy of the aforementioned machine positioning information is insufficient, it is difficult to make the machine 30 travel along the turning path, and positional deviation relative to the turning path is likely to occur. Therefore, the vehicle control device 11 can also be configured to switch to manual driving mode, and make the machine 10 turn according to the manual steering operation performed by the operator. In addition, the vehicle control device 11 can be configured to temporarily stop the machine 10 when automatically switching to manual driving mode, or it can be configured to switch to manual driving mode according to the operator's operation when the machine 10 is temporarily stopped at the starting position of the turn. In addition, the vehicle control device 11 can also determine whether the aforementioned machine positioning information has been obtained from the machine antenna 164B while the machine 10 is traveling straight based on the vehicle positioning information of the tractor 10A, and determine whether the positioning accuracy of the obtained machine positioning information is above the specified accuracy, and decide whether to automatically travel on the turning path based on the aforementioned machine positioning information or switch to manual driving mode to turn.

[0134] In the above embodiments, the automatic driving system 1 corresponds to the automatic driving system according to the present invention, but the automatic driving system according to the present invention may also be composed of a single work vehicle 10. Furthermore, the automatic driving system according to the present invention may also be composed of a single operating terminal 20. When the automatic driving system according to the present invention is composed of a single operating terminal 20, the present invention can be defined as an invention of a path generation method for automatically driving a work vehicle 10, which includes a tractor 10A and a tractor-attached object (work machine 30, trailer, etc.) flexibly connected to the tractor 10. Specifically, the path generation method generates a target path R for automatically driving the work vehicle based on first positioning information positioned by a first positioning device provided on the tractor-attached object.

[0135] [Notes on the Invention]

[0136] Hereinafter, a summary of the invention extracted from the above embodiments will be provided. Furthermore, the structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0137] <Postscript 1>

[0138] An automatic driving method is an automatic driving method that enables a work vehicle, which includes a tractor and a towing target machine that is freely swaying relative to the tractor, to drive automatically, wherein...

[0139] Based on the first positioning information located by the first positioning device installed on the aforementioned traction object machine, the aforementioned work vehicle is made to drive automatically.

[0140] <Appendix 2>

[0141] According to the automatic driving method described in Appendix 1, wherein,

[0142] Based on the aforementioned first positioning information, the posture of the tractor relative to the tractor vehicle is inferred, and based on the inferred posture of the tractor, the work vehicle is made to drive automatically.

[0143] <Appendix 3>

[0144] According to the automatic driving method described in Appendix 2, wherein,

[0145] Based on the first positioning information and the second positioning information located by the second positioning device installed on the traction vehicle, the posture of the traction object is inferred.

[0146] <Appendix 4>

[0147] According to the automatic driving method described in Appendix 2 or 3, wherein,

[0148] The direction of travel of the tractor is controlled based on the change in the attitude of the tractor machine inferred from the current driving state of the tractor.

[0149] <Appendix 5>

[0150] According to the automatic driving method described in Appendix 4, wherein...

[0151] If the aforementioned change exceeds the threshold, the aforementioned traction vehicle will perform a corresponding action.

[0152] <Appendix 6>

[0153] According to the automatic driving method described in Appendix 5, wherein...

[0154] The aforementioned response measures include measures to slow down or stop the towing vehicle, or measures to move the towing vehicle forward, backward, or turn in order to change the posture of the towing object.

[0155] <Appendix 7>

[0156] According to any one of Appendices 1 to 6, the automatic driving method wherein,

[0157] If the distance from the end of the towing vehicle to the end of the field, as determined based on the first positioning information, is less than a predetermined distance, the towing vehicle performs an avoidance maneuver to prevent the towing vehicle from contacting the end of the field.

[0158] <Postscript 8>

[0159] According to any one of Appendices 1 to 7, in the automatic driving method, wherein,

[0160] The setting screen is displayed so that the external dimensions of the aforementioned traction object machine and the position of the aforementioned first positioning device can be set.

[0161] <Postscript 9>

[0162] The automatic driving method described in any one of Appendices 1 to 8, wherein,

[0163] The setting screen for the control point, which can be set to control the position of the aforementioned traction object machine, is displayed.

[0164] <Postscript 10>

[0165] According to the automatic driving method described in Appendix 9, wherein...

[0166] The aforementioned control points are used to enable the aforementioned work vehicles to drive automatically along a pre-set target path.

[0167] <Postscript 11>

[0168] The automatic driving method according to any one of Appendices 1 to 10, wherein,

[0169] When the aforementioned work vehicle is to travel straight, the first positioning information is not used; instead, the second positioning information, which is located by the second positioning device installed on the aforementioned traction vehicle, is used to enable the work vehicle to travel straight.

[0170] <Postscript 12>

[0171] The automatic driving method according to any one of Appendices 1 to 11, wherein,

[0172] When the aforementioned work vehicle is turning, if the aforementioned first positioning information cannot be obtained or the positioning accuracy of the aforementioned first positioning information is insufficient to meet the specified accuracy, the manual driving mode is switched to enable the aforementioned work vehicle to turn.

[0173] <Postscript 13>

[0174] An automatic driving program is an automatic driving program that enables a work vehicle, equipped with a tractor and a towing target machine that is freely swaying relative to the tractor, to drive automatically, wherein...

[0175] One or more processors enable the work vehicle to drive automatically based on first positioning information located by a first positioning device disposed on the aforementioned towing object machine.

[0176] <Postscript 14>

[0177] An automatic driving system is an automatic driving system that enables a work vehicle, which includes a tractor and a towing object machine that is freely swayed relative to the tractor, to drive automatically.

[0178] Based on the first positioning information located by the first positioning device installed on the aforementioned traction object machine, the aforementioned work vehicle is made to drive automatically.

Claims

1. An automatic driving method, characterized in that, a working vehicle equipped with a tractor and a towing target machine flexibly connected relative to the tractor are automatically driven, wherein... Based on the first positioning information located by the first positioning device installed on the traction object machine, the work vehicle is made to drive automatically.

2. The automatic driving method according to claim 1, characterized in that, Based on the first positioning information, the posture of the towing object machine relative to the towing vehicle is inferred, and based on the inferred posture of the towing object machine, the work vehicle is made to drive automatically.

3. The automatic driving method according to claim 2, characterized in that, Based on the first positioning information and the second positioning information located by the second positioning device installed on the traction vehicle, the posture of the traction object is inferred.

4. The automatic driving method according to claim 2 or 3, characterized in that, The direction of travel of the tractor is controlled based on the change in the attitude of the towing object inferred from the current driving state of the tractor.

5. The automatic driving method according to claim 4, characterized in that, If the change exceeds a threshold, the traction vehicle performs a response action.

6. The automatic driving method according to claim 5, characterized in that, The response measures include measures to slow down or stop the tractor vehicle, or measures to move the tractor vehicle forward, backward, or turn in order to change the posture of the towed object.

7. The automatic driving method according to claim 1, characterized in that, If the distance from the end of the towing machine to the end of the field, determined based on the first positioning information, is less than a predetermined distance, the towing vehicle performs an avoidance maneuver to prevent the towing machine from contacting the end of the field.

8. The automatic driving method according to claim 1, characterized in that, The screen displays a setting screen that allows users to set the external dimensions of the traction object and the position of the first positioning device.

9. The automatic driving method according to claim 1, characterized in that, The setting screen for the control object point, which can be set to control the position of the traction object machine, is displayed.

10. The automatic driving method according to claim 9, characterized in that, The work vehicle is automatically driven by the controlled object point through a pre-set target path.

11. The automatic driving method according to claim 1, characterized in that, When the work vehicle is to travel straight, the first positioning information is not used; instead, the work vehicle is to travel straight based on the second positioning information located by the second positioning device installed on the traction vehicle.

12. The automatic driving method according to claim 1, characterized in that, When the work vehicle is turning, if the first positioning information cannot be obtained or the positioning accuracy of the first positioning information is insufficient, the manual driving mode is switched to enable the work vehicle to turn.

13. An automatic driving program, characterized in that it enables a work vehicle, which includes a tractor and a towing object machine freely swaying relative to the tractor, to drive automatically, One or more processors enable the work vehicle to drive automatically based on first positioning information located by a first positioning device disposed on the traction object machine.

14. An automatic driving system, characterized in that it enables a work vehicle, comprising a tractor and a towing object machine freely swaying relative to the tractor, to drive automatically, Based on the first positioning information located by the first positioning device installed on the traction object machine, the work vehicle is made to drive automatically.

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