Power supply control method, power supply control program, and power supply control system

Abstract

The present application provides a power supply control method, a power supply control program, and a power supply control system that can maintain information related to automatic travel even when a key of a work vehicle is temporarily turned off. A vehicle control device (11) includes a storage processing section (112) that causes a storage section (115) to store information related to automatic travel using power supplied from a battery (18) when a key switch of a work vehicle (1) is in an on state, and a maintenance processing section (114) that continues the supply of power to the storage section (115) when the key switch becomes an off state if a prescribed condition for starting automatic travel is satisfied, and stops the supply of power to the storage section (115) if the prescribed condition is not satisfied.

Description

Technical Field

[0001] This invention relates to a technology for controlling the power supply of autonomously operating vehicles. Background Technology

[0002] In recent years, with the development of automation technology in agricultural machinery, work vehicles that can automatically drive and operate in fields have been applied. For example, operators can pre-set information related to automatic driving, such as a baseline that serves as the reference for automatic driving, and the work vehicle will drive automatically based on the stored information (see, for example, Patent Document 1).

[0003] Patent Document 1: Japanese Patent No. 7203654

[0004] However, when operators interrupt operations performed by the work vehicle or perform maintenance on the work vehicle, they sometimes turn off the key switch used to start the work vehicle's engine. When the key switch is in the off state, power from the battery (power source) is not supplied to the storage unit. Therefore, depending on the type of storage unit, information related to automatic driving cannot be stored in the storage unit. When automatic driving begins, the operator must turn the key switch back to the on state to reset the information related to automatic driving. Summary of the Invention

[0005] The purpose of this invention is to provide a power control method, power control program, and power control system that can maintain information related to automatic driving even when the engine key of the working vehicle is temporarily disconnected.

[0006] The power control method of the present invention performs the following steps: when the switch of the work vehicle is in the on state, the power supplied from the battery is used to store information related to automatic driving in the storage unit; and when the switch is in the off state, the power supply to the storage unit continues if the predetermined conditions for starting automatic driving are met, and the power supply to the storage unit is stopped if the predetermined conditions are not met.

[0007] Furthermore, the power control method of the present invention performs the following: when the switch of the work vehicle is in the on state, the positioning device stores positioning information using power supplied from the battery; and when the switch is in the off state, the power supply to the positioning device continues if the predetermined conditions for starting automatic driving are met, and the power supply to the positioning device stops if the predetermined conditions are not met.

[0008] Furthermore, the power control method of the present invention performs the following: when the switch of the work vehicle is in the on state, the power supplied from the battery is used to store information related to automatic driving in the storage unit; when the switch is in the off state, an operation is performed to enable or disable the function of continuing the supply of power to the storage unit; and when the operation of enabling the function is received, the supply of power to the storage unit continues when the switch is in the off state, and when the operation of disabling the function is received, the supply of power to the storage unit stops when the switch is in the off state.

[0009] The power control program of the present invention is used to cause one or more processors to perform: when the switch of the work vehicle is in the on state, using power supplied from the battery to store information related to automatic driving in the storage unit; and when the switch is in the off state, if the predetermined conditions for starting automatic driving are met, to continue the supply of power to the storage unit, and if the predetermined conditions are not met, to stop the supply of power to the storage unit.

[0010] The power control system of this invention includes a storage processing unit and a retention processing unit. When the switch of the working vehicle is on, the storage processing unit uses power supplied from the battery to store information related to autonomous driving in the storage unit. When the switch is off, the retention processing unit continues to supply power to the storage unit if predetermined conditions for initiating autonomous driving are met, and stops supplying power to the storage unit if the predetermined conditions are not met.

[0011] According to the present invention, a power control method, a power control program, and a power control system are provided that can maintain information related to automatic driving even when the key of the working vehicle is temporarily disconnected. Attached Figure Description

[0012] Figure 1 This is a block diagram illustrating the structure of the work vehicle according to an embodiment of the present invention.

[0013] Figure 2 This is an external view showing an example of a work vehicle according to an embodiment of the present invention.

[0014] Figure 3 This is a diagram illustrating an example of the field and target path involved in an embodiment of the present invention.

[0015] Figure 4 This is a diagram illustrating an example of the field and target path involved in an embodiment of the present invention.

[0016] Figure 5 This is an example of a circuit diagram illustrating the power supply from the battery to electrical components in a work vehicle according to an embodiment of the present invention.

[0017] Figure 6 This is an example of a circuit diagram illustrating the power supply from the battery to electrical components in a work vehicle according to an embodiment of the present invention.

[0018] Figure 7 This is an example of a circuit diagram illustrating the power supply from the battery to electrical components in a work vehicle according to an embodiment of the present invention.

[0019] Figure 8 This is a diagram illustrating an example of a setting screen displayed on an operating device according to an embodiment of the present invention.

[0020] Figure 9A This is a diagram illustrating an example of a setting screen displayed on an operating device according to an embodiment of the present invention.

[0021] Figure 9B This is a diagram illustrating an example of a setting screen displayed on an operating device according to an embodiment of the present invention.

[0022] Figure 10 This is a diagram illustrating an example of a setting screen displayed on an operating device according to an embodiment of the present invention.

[0023] Figure 11 This is a flowchart illustrating an example of the steps of power control processing performed in a work vehicle according to an embodiment of the present invention.

[0024] Figure 12 This is a block diagram illustrating the structure of an operating vehicle according to other embodiments of the present invention.

[0025] Figure 13 This is a diagram illustrating an example of a driving screen displayed on an operating device according to other embodiments of the present invention.

[0026] Figure 14 This is a diagram illustrating an example of a driving screen displayed on an operating device according to other embodiments of the present invention.

[0027] Figure 15 This is a diagram illustrating an example of a driving screen displayed on an operating device according to other embodiments of the present invention.

[0028] Explanation of reference numerals in the attached figures

[0029] 1...Work vehicle; 11...Vehicle control device; 12...Storage unit; 13...Travel device; 14...Working machine; 15...Communication module; 16...Positioning unit (positioning device); 17...Operating device; 18...Battery; 19...Power cut-off switch; 20...Electrical installation components; 21...Operating switch; 40...Base station; 50...Positioning satellite; 71...Operating control unit; 72...Storage unit; 73...Operating display unit; 111...Travel processing unit; 112...Storage processing unit; 113...Timer processing unit; 114...Holding processing unit; 115...Storage unit; 161...Satellite navigation device; 162...Inertial measurement unit; 163...Positioning antenna; C1...First switch; C2...Second switch; D1...Setting screen; D2...Setting screen; F1...Field; L1...Baseline; R...Target path. Detailed Implementation

[0030] The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

[0031] like Figure 1 As shown, the work vehicle 1 involved in the embodiment of the present invention is an automatic driving vehicle equipped with a positioning unit 16, which is capable of automatically driving (autonomous driving) in the field along a pre-set driving path (target path) based on the positioning information of the positioning unit 16.

[0032] In this embodiment, the case where the work vehicle 1 is a tractor is used as an example for explanation. However, in other embodiments, the work vehicle 1 can also be a rice transplanter, combine harvester, construction machinery, or snowplow, etc. The work vehicle 1 has a structure capable of automatically driving within a pre-registered field. For example, the operator (user) registers the field to be worked on and sets a target path for the work vehicle 1 to drive automatically. Based on the position information of the work vehicle 1's current position calculated by the positioning unit 16, the work vehicle 1 automatically drives according to the target path pre-set for the field. Furthermore, the work vehicle 1 performs the prescribed work while automatically driving within the field.

[0033] For example, work vehicle 1 in Figure 3 In the field F1 shown, the vehicle automatically travels along the target path R. Specifically, the work vehicle 1 performs its work while automatically traveling along the target path R from the start position S to the end position G. The target path R includes both the work path and non-work paths (movement path, turning path, etc.). The start position S and end position G can be set at any location within the field F1. The target path R is not limited to... Figure 3The path shown should be appropriately set according to the task content. For example, such as... Figure 4 As shown, the target path R can also consist only of a straight path (work path) parallel to the baseline L1 set according to the operator's registered operation, without including non-work paths.

[0034] The operating device 17 is an operating terminal that registers the field F1, sets the target path R, receives start and stop instructions for automatic driving from the operator, or displays the operation status during automatic driving. The operator can bring the operating device 17 into the work vehicle 1 for operation, or operate the operating device 17 from outside the work vehicle 1.

[0035] However, when operators interrupt the work performed by the work vehicle 1 or perform maintenance on the work vehicle 1, they sometimes interfere with the engine 131 (see reference 131) used to power the work vehicle 1. Figure 2 The ignition key switch is turned off when the ignition key switch is turned off. When the ignition key switch is off, power from the battery 18 is not supplied to the storage unit (vehicle control device). Therefore, depending on the type of storage unit, information related to automatic driving cannot be stored in the storage unit. When driving automatically, the ignition key switch must be turned on again to reset the information related to automatic driving. In contrast, as shown below, the work vehicle 1 according to this embodiment has the following structure: even when the engine key of the work vehicle 1 is temporarily turned off, information related to automatic driving can be retained.

[0036] [Work Vehicle 1]

[0037] like Figure 1 and Figure 2 As shown, the work vehicle 1 includes a vehicle control device 11, a storage unit 12, a driving device 13, a work machine 14, a communication module 15, a positioning unit 16, an operating device 17, and a battery 18. The vehicle control device 11 is electrically connected to the storage unit 12, the driving device 13, the work machine 14, the communication module 15, the positioning unit 16, the operating device 17, and the battery 18. Furthermore, the vehicle control device 11 and the positioning unit 16 can also communicate wirelessly. Additionally, the vehicle control device 11 and the operating device 17 can also communicate wirelessly.

[0038] Communication module 15 is used to connect the work vehicle 1 to the communication network via wired or wireless means, and to communicate with base station 40 (see reference) via the communication network. Figure 2The communication module 15 is a communication interface for data communication with external devices such as [device name missing] according to a specified communication protocol. The work vehicle 1 can also wirelessly communicate with the operating device 17 via the communication module 15. Furthermore, the work vehicle 1 can wirelessly communicate with the base station 40 via the communication module 15, including various information such as positioning information (correction information). That is, the communication module 15 functions as a correction terminal in RTK-GNSS (Real Time Kinematic GNSS).

[0039] The traveling device 13 is the drive unit that enables the working vehicle 1 to move. For example... Figure 2 As shown, the running gear 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a steering wheel 137, etc. Furthermore, the front wheels 132 and rear wheels 133 are respectively positioned on the left and right sides of the working vehicle 1. Additionally, 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 positioned on the left and right sides of the working vehicle 1.

[0040] Engine 131 is a diesel engine or gasoline engine, etc., powered by fuel supplied from a fuel tank (not shown). The driving unit 13 may also be equipped with an electric motor as a drive source, either together with or in place of engine 131. Furthermore, a generator (not shown) is connected to engine 131, supplying power from the generator to electrical components such as vehicle control device 11 and battery 18 installed on the work vehicle 1.

[0041] Battery 18 is charged by power supplied from the generator. Battery 18 supplies power to electrical components such as vehicle control unit 11, positioning unit 16, communication module 15, and operating device 17.

[0042] The driving force of the engine 131 is transmitted to the front wheel 132 via the transmission 134 and the front axle 135, and to the rear wheel 133 via the transmission 134 and the rear axle 136. Additionally, the driving force of the engine 131 is also transmitted to the work machine 14 via the PTO shaft (not shown). When the work vehicle 1 is in automatic driving mode, the travel device 13 performs driving actions according to the commands of the vehicle control device 11.

[0043] The work machines 14, such as tillers, mowers, plows, fertilizer applicators, seeders, and spreaders, can be loaded and unloaded relative to the work vehicle 1. Thus, the work vehicle 1 can use each of the work machines 14 to perform various tasks. Figure 2 The image shows the case where the work machine 14 is a tiller.

[0044] The work machine 14 can also be supported vertically within the work vehicle 1 by a lifting mechanism (not shown). The vehicle control device 11 can control the lifting mechanism to raise or lower the work machine 14. For example, the vehicle control device 11 lowers the work machine 14 when the work vehicle 1 is traveling straight in the forward direction on the work path, and raises the work machine 14 when the work vehicle 1 is turning. Furthermore, the vehicle control device 11 outputs a work stop command to the work machine 14 upon receiving a work stop instruction. For example, if the operator performs a stop instruction operation on the operating device 17, the vehicle control device 11 receives the stop instruction from the operating device 17. When the vehicle control device 11 receives the work stop instruction, it stops the drive of the PTO shaft, thereby stopping the work of the work machine 14.

[0045] The steering wheel 137 is an operating part operated by the operator or the vehicle control device 11. For example, in the driving device 13, the angle of the front wheels 132 is changed by the operation of the steering wheel 137 by the vehicle control device 11, thereby changing the direction of travel of the work vehicle 1. In the case of the operator performing the teaching operation when registering the field F1, the operator operates the steering wheel 137 and manually drives the work vehicle 1. In addition, when moving the work vehicle 1 towards the work start position S (the beginning of the work path, etc.), the operator operates the steering wheel 137 and manually drives the work vehicle 1.

[0046] In addition to the steering wheel 137, the driving device 13 also includes a gear shift lever (not shown), accelerator, and brake, which are operated by the vehicle control device 11. Furthermore, in the driving device 13, according to the operation of the gear shift lever by the vehicle control device 11, the gear position of the transmission 134 is switched to forward or reverse, and the driving mode of the work vehicle 1 is switched to forward or reverse. Additionally, the vehicle control device 11 operates the accelerator to control the speed of the engine 131. Furthermore, the vehicle control device 11 operates the brake, using an electromagnetic brake to brake the rotation of the front wheels 132 and the rear wheels 133.

[0047] like Figure 2As shown, the positioning unit 16 includes: a satellite navigation device that uses GPS (Global Positioning System), an example of a Navigation Satellite System (NSS), to determine the current position and orientation of the work vehicle 1; and an inertial measurement unit (IMU) 23 that has a 3-axis gyroscope and a 3-direction accelerometer, etc., and measures the attitude, orientation, etc., of the work vehicle 1. Positioning methods utilizing GPS include DGPS (Differential GPS) and RTK-GPS (Real-Time Kinematic GPS). Alternatively, the positioning unit 16 may also employ a GNSS-based positioning method. In this embodiment, RTK-GNSS, suitable for positioning mobile objects, is used. Therefore, as... Figure 2 As shown, a base station 40 (base station) capable of positioning using TK-GNSS is set up at a known location around the field.

[0048] like Figure 2 As shown, the work vehicle 1 and the base station 40 respectively include: a positioning antenna 163 and a base station antenna 41 for receiving radio waves transmitted from the positioning satellite 50, and a communication module 15 (see reference) capable of wireless communication between the work vehicle 1 and the base station 40, including various information such as positioning information (correction information). Figure 1 The satellite navigation device 161 includes a satellite navigation device 161 and an inertial measurement unit 162, which enable it to accurately determine the current position and orientation of the work vehicle 1 based on the positioning information obtained by the positioning antenna 163 on the work vehicle side from the radio waves received from the positioning satellite 50, and the positioning information obtained by the base station antenna 41 on the base station side from the radio waves received from the positioning satellite 50 (correction information for determining the current position of the work vehicle 1). Furthermore, the positioning unit 16 includes the satellite navigation device 161 and the inertial measurement unit 162, thereby enabling it to accurately determine the current position, orientation, and attitude angles (yaw angle, roll angle, pitch angle) of the work vehicle 1.

[0049] Alternatively, mobile phones, smartphones, tablets, quantum compasses, etc., can be used instead of positioning unit 16.

[0050] The operating device 17 is a device operated by an operator sitting in the work vehicle 1, displaying various information or receiving operations from the operator. Specifically, the operating device 17 displays various setting screens and receives various setting operations from the operator, or displays information related to the work vehicle 1 while it is in motion. The operating device 17 is, for example, located near the steering wheel 137 inside the driver's seat 138.

[0051] like Figure 1 As shown, the operating device 17 includes an operating control unit 71, a storage unit 72, an operating display unit 73, etc. The operating device 17 can be a device that can be loaded and unloaded relative to the work vehicle 1. Alternatively, the operating device 17 can also be a portable terminal (tablet terminal, smartphone, etc.) that can be carried by the operator. Furthermore, the operating device 17 can be communicatively connected to the vehicle control device 11 via wired or wireless means.

[0052] The operation display unit 73 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display for displaying various information, and an operation unit such as operation buttons or a touch panel for receiving operations. The operation display unit 73 displays various setting screens, operation screens, etc., according to the instructions of the operation control unit 71. Furthermore, the operation display unit 73 receives operations from the operator on the aforementioned setting screens and operation screens.

[0053] In addition, the aforementioned operating unit includes: an automatic driving button for the operator to indicate the start of driving when the work vehicle 1 begins automatic driving; a path shifting button for correcting the positional deviation (positional offset) between the work vehicle 1 and the target path R (shifting operation); and multiple selection buttons for selection operations in the setting screen and the work screen (none of which are shown). These operation buttons can be physical buttons or electronic image buttons displayed on the touch panel.

[0054] Storage unit 72 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 72 stores control programs for causing operation control unit 71 to perform various processes (such as display processing, path generation processing, etc.). For example, the control programs are non-temporarily recorded on computer-readable recording media such as flash ROM, EEPROM, CD, or DVD, and are read and stored in storage unit 72 by a designated reading device (not shown).

[0055] The operation control unit 71 includes various processing units such as a display processing unit 711, a receiving processing unit 712, and a generating processing unit 713.

[0056] The display processing unit 711 causes the operation display unit 73 to display various information. For example, the display processing unit 711 causes the operation display unit 73 to display a setting screen for making various settings (e.g., ...). Figures 8-10 The settings screens (D1, D2) include driving screens (not shown) showing driving information such as the driving status and working status of the work vehicle 1.

[0057] The receiving and processing unit 712 accepts various operations performed by the operator. For example, in the aforementioned setting screen, the receiving and processing unit 712 receives from the operator an operation for generating a target path R (see reference). Figure 3 and Figure 4 ), baseline L1 (refer to) Figure 4 Operations such as ) and various operations related to path generation jobs.

[0058] The generation processing unit 713 generates the target path R (refer to...). Figure 3 and Figure 4 For example, such as Figure 4 As shown, the generation processing unit 713 generates a target path R that includes a baseline L1 set according to the operator's settings. Specifically, the generation processing unit 713 generates a target path R that includes multiple straight paths arranged at equal intervals, based on the baseline L1 passing through point A (first baseline point) and point B (second baseline point) in the field F1.

[0059] The following is about Figure 4 An example of the steps for generating the target path R will be explained. The generation processing unit 713 receives a setting operation from the operator to set the baseline L1. For example, the operator moves the work vehicle 1 to any position at the outer perimeter of the field F1 (e.g., the target position for starting work (work start target position)) and registers point A. When the operator registers point A, the generation processing unit 713 registers the current position of the work vehicle 1 as the first reference point (point A). Next, the operator manually moves the work vehicle 1 in the direction in which the work vehicle 1 is to be driven and work (target direction). Specifically, the operator moves the work vehicle 1 straight in a direction parallel to the work direction in which the work vehicle 1 is working in the work area. Then, the operator registers a second reference point (point B) at any position (e.g., the outer perimeter of the field F1). For example, the operator moves the work vehicle 1 to the target position at the outer perimeter of the field F1 where the work ends (work end target position) and registers point B. When the generation processing unit 713 obtains the position information of points A and B, it sets the straight line passing through points A and B as the baseline L1 and generates a travel path (target path R) including the baseline L1 and multiple straight lines parallel to the baseline L1. Based on a preset working width (the lateral width of the work machine 14) and overlap width (the width overlapping with adjacent work completion areas), the generation processing unit 713 generates multiple straight lines parallel to the baseline L1 and arranged at equal intervals (see reference). Figure 4Information related to the target path R (path information), such as the positions of reference points (points A and B), reference line L1, and other information about the target path R, is stored in storage unit 72. Additionally, the information related to the target path R (path information) is read into vehicle control device 11 and stored in storage unit 115. Furthermore, the aforementioned information related to the target path R is an example of the "information related to autonomous driving" of the present invention.

[0060] After generating the target path R, the operator gives an instruction to start the work vehicle 1 to drive automatically within the field F1 (driving start instruction). For example, if the work vehicle 1 meets the automatic driving start conditions and becomes capable of automatic driving, the operator can press the automatic driving button (not shown) on the operation display unit 73 to give the driving start instruction.

[0061] When the working vehicle 1 meets the conditions for automatic driving start and the operator gives the driving start instruction, the vehicle control device 11 receives the driving start instruction and begins automatic steering operation of the working vehicle 1 along the target path R. Thus, the vehicle control device 11 automatically drives the working vehicle 1 along the straight path of the target path R through automatic steering operation.

[0062] Furthermore, the vehicle control device 11 can also terminate the automatic steering operation at the end of each straight path. For example, when the work vehicle 1 is traveling straight on a straight path by means of automatic steering operation and approaches the position obtained by moving parallel to the end of the straight path adjacent to the completed (immediately preceding) straight path (e.g., the end of the baseline L1 (point B, the target position for the completion of the work)), the vehicle control device 11 notifies the operator to terminate the automatic steering operation according to the operator's operation.

[0063] Storage unit 12 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. Storage unit 12 stores power control processing (described later) for causing vehicle control device 11 to perform... Figure 11 The system includes a power control program and an automatic driving program for enabling the vehicle control device 11 to perform automatic driving processing. These control programs are non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and are read and stored in the storage unit 12 by a designated reading device (not shown). Alternatively, the control programs can also be downloaded from a server (not shown) to the work vehicle 1 via the communication network N1 and stored in the storage unit 12.

[0064] The vehicle control device 11 includes control components 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 is used as temporary storage (operating area) for the various processes executed by the CPU. Therefore, the vehicle control device 11 controls the operating vehicle 1 by executing various control programs pre-stored in the ROM or storage unit 12 using the CPU.

[0065] In this embodiment, the vehicle control device 11 includes a volatile storage unit 115 (e.g., RAM). The storage unit 115 stores information related to autonomous driving, such as path information for the target path R used in autonomous driving (the positions of reference points (points A and B), reference line L1, target path R, etc., registration information). The "information related to autonomous driving" in this invention is not limited to the positions of reference points (points A and B), reference line L1, and target path R; it includes various setting information required to start, continue, or restart autonomous driving. For example, it may also include information related to the driving method of autonomous driving, such as vehicle speed and turning method. The storage unit 115 uses power supplied from the battery 18 to store and maintain the above information. Furthermore, if the power supply to the storage unit 115 is cut off, the stored information is deleted. That is, the storage unit 115 is a volatile memory that can retain data only during periods when power is supplied.

[0066] The vehicle control device 11 controls the movement of the work vehicle 1 according to various operations performed by the user. In addition, the vehicle control device 11 performs automatic driving processing of the work vehicle 1 based on the current position of the work vehicle 1 calculated by the positioning unit 16 and the preset target path R.

[0067] like Figure 1 As shown, the vehicle control device 11 includes various processing units such as a driving processing unit 111, a storage processing unit 112, a timer processing unit 113, and a holding processing unit 114. Furthermore, the vehicle control device 11 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 one or more processors to function as these processing units.

[0068] The travel processing unit 111 controls the travel of the work vehicle 1. Specifically, the travel processing unit 111 causes the work vehicle 1 to travel along a target path R set in the field F1 (refer to...). Figure 3 and Figure 4Automatic driving. Furthermore, the driving processing unit 111 determines whether the work vehicle 1 is in a state where it can begin automatic driving. For example, the driving processing unit 111 determines whether the lateral deviation and azimuth deviation relative to the straight path included in the target path R meet the automatic driving start conditions. If the above-mentioned automatic driving start conditions are met, the driving processing unit 111 determines that the work vehicle 1 is in a state where it can begin automatic driving, and allows the start of automatic driving. On the other hand, if the above-mentioned automatic driving start conditions are not met, the driving processing unit 111 determines that the work vehicle 1 is not in a state where it can begin automatic driving, and prohibits the start of automatic driving.

[0069] The storage processing unit 112 stores information related to autonomous driving in the storage unit 115. Specifically, the storage processing unit 112 stores information related to autonomous driving set by the operator before autonomous driving begins in the storage unit 115. For example, if the operator registers a reference point in the operating device 17, the storage processing unit 112 reads the reference point, the baseline L1 generated based on the reference point, and the target path R from the operating device 17 and stores them in the storage unit 115. Additionally, for example, if the operator selects a field F1 and a target path R for the work vehicle 1 to drive autonomously in the operating device 17, the storage processing unit 112 reads the information of the target path R and stores it in the storage unit 115.

[0070] When the key switch (engine key) of the work vehicle 1 is in the on state, the storage processing unit 112 uses the power supplied from the battery 18 to enable the storage unit 115 to store information related to autonomous driving. In addition, "storage" includes the meaning of keeping (maintaining), and the storage processing unit 112 uses the power supplied from the battery 18 to keep (maintain) the information related to autonomous driving stored in the storage unit 115.

[0071] [Power retention function]

[0072] The work vehicle 1 has a power holding function that can maintain the power supply to each of the vehicle control device 11, the communication module 15, and the positioning unit 16. The vehicle control device 11 has a structure that can switch the power holding function to active or inactive, so that the power supply from the battery 18 to the vehicle control device 11, the communication module 15, and the positioning unit 16 continues (power holding) or stops.

[0073] The following uses Figure 5 The circuit diagram shown illustrates the power supply retention function. Figure 5This indicates the power supply path from battery 18 to various electrical installations. In the work vehicle 1, electrical installations supplying power from battery 18 include a vehicle control device 11, a communication module 15, a positioning unit 16, and various other electrical installations 20. As the power supply path from battery 18 to positioning unit 16, there is a first power supply path K1 that allows power to be supplied from battery 18 to positioning unit 16 and various electrical installations 20 via a first switch C1, and a second power supply path K2 that allows power to be supplied from battery 18 to positioning unit 16 via a second switch C2, which is different from the first switch C1.

[0074] The first power path K1 is the power path connecting the battery 18 and the positioning unit 16. A first switch C1 is disposed on the upstream side of the first power path K1 in the power supply direction. The first switch C1 is a key switch for initiating power supply to the various electrical installations 20 or starting the engine 131, and is disposed near the steering wheel 137 of the driver's seat 138. The first switch C1 is switched to an on state and an off state according to the operation of the operator, etc., becoming on by turning on the key switch and becoming off by turning off the key switch. The first switch C1 is an example of the switch of the present invention.

[0075] like Figure 5 As shown, the first energizing path K1 is configured such that the downstream side of the first switch C1 is connected to the first branch path E1 to the third branch path E3, which, in addition to the positioning unit 16, can also energize the electrical mounting components 20, the vehicle control device 11, and the communication module 15. The first branch path E1 branches from the upstream side in the energizing direction and connects the battery 18 to each electrical mounting component 20 (excluding the vehicle control device 11, the positioning unit 16, and the communication module 15). The second branch path E2 branches from the downstream side in the energizing direction of the first branch connection point E1a of the first branch path E1 and connects the battery 18 to the vehicle control device 11. The third branch path E3 branches from the downstream side in the energizing direction of the second branch connection point E2a of the second branch path E2 and connects the battery 18 to the communication module 15.

[0076] Furthermore, the second branch path E2 connected to the vehicle control device 11 and the third branch path E3 connected to the communication module 15 can be configured in reverse upstream and downstream directions in the power-on direction. The configuration of the second branch path E2 and the third branch path E3 in the power-on direction can be appropriately changed.

[0077] In the first power-carrying path K1, a unidirectional diode D is disposed between the first branch connection portion E1a and the second branch connection portion E2a, such that the power-carrying direction is from the first branch connection portion E1a side to the second branch connection portion E2a side. Therefore, power-carrying from the second branch connection portion E2a side to the first branch connection portion E1a side in the first power-carrying path K1 is blocked.

[0078] In the first energizing path K1, between the first branch connection E1a and the diode D, there is an energizing signal input path F that inputs an energizing signal indicating that the first switch C1 (key switch) is in the energized state to the vehicle control device 11. Thus, the vehicle control device 11 can determine whether the first switch C1 is in the energized or de-energized state, and the timing of the first switch C1 switching from the energized to the de-energized state, by inputting the energizing signal via the energizing signal input path F.

[0079] The second energizing path K2 branches off from the middle of the first energizing path K1 and merges with it at the middle of the first energizing path K1, thus also serving as a part of the first energizing path K1, and is set up in parallel with the first energizing path K1. A second switch C2 is disposed on the second energizing path K2, and the first switch C1 and the second switch C2 are set up in parallel. The second switch C2 is configured as a normally closed switch that is always in the ON state, and a power holding relay circuit G0 is provided to maintain the ON state. The power holding relay circuit G0 is provided with a relay control output path G2 that outputs a relay control output from the holding processing unit 114 of the vehicle control device 11 to the coil G1. For the power holding relay circuit G0, during the period when the relay control output is output from the holding processing unit 114 to the coil G1 via the relay control output path G2, the second switch C2 is kept in the ON state; if the relay control output from the holding processing unit 114 to the coil G1 is stopped, the second switch C2 is switched to the OFF state.

[0080] The second power path K2 branches off from the upstream side of the first power path K1 from the first switch C1, and merges with the first power path K1 between the second branch connection point E2a and the third branch connection point E3a. Thus, the second power path K2 can supply power from the battery 18 to each of the vehicle control device 11, the positioning unit 16, and the communication module 15 via the second switch C2. A diode D is disposed between the first branch connection point E1a and the second branch connection point E2a in the first power path K1 to restrict the power supply direction to one direction, thereby preventing power supply to each electrical mounting component 20 via the second power path K2.

[0081] The following describes the switching of the first switch C1 and the second switch C2, and the energized state when the work vehicle 1 is automatically driven and performing work.

[0082] When the work vehicle 1 is in automatic driving mode, switch the first switch C1 (key switch) to the ON state. With the first switch C1 in the ON state, as follows: Figure 5 As shown, power is supplied from the battery 18 to the positioning unit 16 via either the first power path K1 or the second power path K2. That is, when the first switch C1 is on, power can be supplied from the battery 18 to the positioning unit 16 via either the first power path K1 or the second power path K2. In this case, for example, by adjusting the potential difference, the first power path K1 can be made to supply power before the second power path K2.

[0083] When the first switch C1 is in the ON state, such as Figure 5 As shown, each of the first branch paths E1 to the third branch path E3 in the first power-on path K1 is energized. Thus, power is supplied from the battery 18 to the positioning unit 16 via the first power-on path K1 and the first branch paths E1 to the third branch paths E3, and power is also supplied from the battery 18 to the various electrical mounting components 20, the vehicle control device 11, and the communication module 15. Furthermore, power is supplied from the battery 18 to the positioning unit 16 via the second power-on path K2 and the second branch paths E2 and the third branch path E3, and power is also supplied from the battery 18 to the vehicle control device 11 and the communication module 15.

[0084] Thus, when the work vehicle 1 is driving automatically, by turning on the first switch C1, power can be supplied from the battery 18 to the vehicle control device 11, the positioning unit 16, the communication module 15, and each electrical mounting component 20 via the first power path K1 and the second power path K2. Therefore, each electrical mounting component 20 becomes usable, and the communication module 15 receives correction information in addition to positioning information. As a result, the positioning unit 16 can accurately determine the current position and orientation of the work vehicle 1 based on the positioning information and correction information. The positioning information is obtained by the positioning antenna 163 on the work vehicle 1 side receiving radio waves from the positioning satellite 50, and the correction information is obtained by the base station antenna 41 on the base station 40 side receiving radio waves from the positioning satellite 50. The aforementioned positioning information and correction information are stored (held) in the positioning unit 16.

[0085] Here, for example, if the operator interrupts the automatic driving of the work vehicle 1 due to a temporary rest, the first switch C1 is switched from the ON state to the OFF state. When the first switch C1 is in the OFF state, as... Figure 6 As shown, power is supplied from the battery 18 to the positioning unit 16 via the second power path K2 through the second power switch C2 in the on state. At this time, power can also be supplied to each of the second branch path E2 and the third branch path E3. Therefore, power is supplied from the battery 18 to the positioning unit 16 via the second power path K2, the second branch path E2, and the third branch path E3, and power is also supplied from the battery 18 to the vehicle control device 11 and the communication module 15.

[0086] like Figure 6 As shown, even when the first switch C1 is in the open state, the second switch C2, which is a normally closed switch, is in the closed state. Therefore, power is supplied from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 via the second power path K2. Thus, since the power supply to the positioning unit 16 and the communication module 15 is maintained, the adjustments already made, such as adjusting the reception of radio waves from the positioning satellite 50, are maintained. That is, the positioning unit 16 can maintain a state where it can accurately determine the current position and orientation of the operating vehicle 1 based on positioning information and correction information.

[0087] Therefore, even if the operation is interrupted midway, the first switch C1 is switched to the open state, such as... Figure 6 As shown, power is also supplied from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 via the second power path K2. This ensures that the positioning unit 16 can accurately determine the current position and orientation of the work vehicle 1 based on positioning and correction information. As a result, the automatic driving of the work vehicle 1 can be restarted without further adjustments, allowing for a smooth restart of the operation. Furthermore, when restarting the automatic driving of the work vehicle 1, the operator switches the first switch C1 from the off state to the on state.

[0088] Not only when the operation is temporarily interrupted during the operation, but also when the operation is completed, the operator will switch the first switch C1 to the off state. In this case, if the power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 is continued via the second power supply path K2, the power of the battery 18 will be wasted.

[0089] Therefore, in this embodiment, when the first switch C1 is in the off state, the timer processing unit 113 starts measuring the time. Furthermore, when a predetermined time (e.g., 2 hours) has elapsed since the start of the time measurement, as... Figure 7 As shown, the holding processing unit 114 keeps the second switch C2 in the open state, thereby stopping the power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 via the second power supply path K2. The aforementioned specified time can be set to a constant time of 2 hours, or it can be changed.

[0090] For the holding processing unit 114, such as Figure 5 As shown, when the first switch C1 is in the ON state, the ON signal is received via the ON signal input path F, therefore, as Figure 6 As shown, the moment when the input of the ON signal disappears can be identified as the moment when the first switch C1 changes from the ON state to the OFF state. Figure 5 and Figure 6 As shown, the holding processing unit 114, upon receiving a power supply, outputs a relay control output to the coil G1 via the relay control output path G2. When the measurement time from when the first switch C1 is in the open state reaches a predetermined time (e.g., 2 hours), as... Figure 7 As shown, the relay control output to coil G1 is stopped, thereby switching the second switch C2 to the open state.

[0091] Furthermore, when the first switch C1 switches from the off state to the on state, the timer processing unit 113 resets the measured time to zero. Therefore, for example, even if the first switch C1 switches from the off state to the on state during the period when the timer processing unit 113 measures the time from when the first switch C1 is in the off state, the timer processing unit 113 will reset the measured time to zero.

[0092] like Figure 7 As shown, when both the first switch C1 and the second switch C2 are in the off state, power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, the communication module 15, and each electrical mounting component 20 is stopped. Therefore, when work is completed, power supply to the positioning unit 16, etc., is stopped after a predetermined time has elapsed since the first switch C1 was switched to the off state, thus conserving battery power and preventing the battery 18 from running out of power.

[0093] Even after the work is completed, there may be a situation where it is desirable to stop energizing the positioning unit 16, etc., without waiting for a predetermined time to elapse after switching the first switch C1 to the off state. Therefore, as... Figure 5 As shown, a power cut-off switch 19 is provided to switch the second switch C2 to the open state even if a predetermined time has elapsed since the first switch C1 was switched to the open state.

[0094] The power cut-off switch 19 is configured as a normally open switch that is always in the off state, and is switched to the on state by operation by an operator or the like. The power cut-off switch 19 can be, for example, located inside the engine hood and in a position not exposed to the outside. This prevents accidental operation of the power cut-off switch 19 and prevents the interruption of power supply to the positioning unit 16 or the like due to accidental operation.

[0095] The device is configured to input a switch-on signal, indicating that the power cut-off switch 19 is in the on state, to the vehicle control unit 11 via the switch-on signal input path H. For example... Figure 7 As shown, if the power cut-off switch 19 is switched to the ON state, the cut-off switch ON signal is input to the vehicle control device 11 via the cut-off switch ON signal input path H. Consequently, the holding processing unit 114 switches the second switch C2 to the OFF state by stopping the relay control output to the coil G1. Thus, if the power cut-off switch 19 is switched to the ON state by operation of the operator, the relay control output from the holding processing unit 114 is stopped, the second switch C2 is switched to the OFF state, and power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 is stopped.

[0096] Operating the power cut-off switch 19 is not only performed after the work has ended. For example, there may be situations where the positioning unit 16 is unable to accurately determine the current position and orientation of the work vehicle 1, and it is desired to redo the determination of the current position and orientation of the work vehicle 1 using the positioning unit 16. In such cases, by operating the power cut-off switch 19, the current position and orientation of the work vehicle 1 can be determined again using the positioning unit 16 by abruptly stopping the power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15.

[0097] As described above, when the power holding function is active, the power supply from battery 18 to vehicle control device 11, positioning unit 16, and communication module 15 is maintained until a predetermined time (e.g., 2 hours) has elapsed since the first switch C1 became open. Once the predetermined time has elapsed, the power supply from battery 18 to vehicle control device 11, positioning unit 16, and communication module 15 is stopped. When the power holding function is inactive, the power supply to each electrical component is stopped before the aforementioned predetermined time has elapsed since the first switch C1 became open (e.g., immediately after the first switch C1 becomes open).

[0098] Here, when the power supply function is kept active, for example, if the first switch C1 (key switch) is repeatedly turned on and off, power supply begins for a predetermined time each time it is turned off. This wastefully consumes the battery 18's power, easily leading to battery depletion. Therefore, the work vehicle 1 according to this embodiment also has a structure that enables the power supply function to be active when predetermined conditions are met. Specifically, when the first switch C1 (key switch) is turned off, the power supply function is active when predetermined conditions for starting automatic driving are met. Furthermore, when the predetermined conditions are met, the vehicle control device 11 stops the power supply from the battery 18 to the vehicle control device 11, positioning unit 16, and communication module 15 after a predetermined time (e.g., 2 hours) has elapsed since the first switch C1 was turned off. Thus, when the predetermined conditions are met, the power supply from the battery 18 to the vehicle control device 11, positioning unit 16, and communication module 15 continues for a predetermined time from the first switch C1 being turned off.

[0099] In contrast, when the first switch C1 is in the off state, the power supply holding function is disabled if the aforementioned conditions are not met. Therefore, even if the first switch C1 is in the off state, the power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 is stopped at the moment the switch becomes off or before the aforementioned predetermined time has elapsed since it became off. The aforementioned conditions include a first condition related to positioning accuracy (first embodiment), a second condition related to the positioning orientation of the work vehicle 1 (second embodiment), and a third condition related to the reading of the target path R (third embodiment). Hereinafter, the first to third embodiments corresponding to the first to third conditions will be described respectively.

[0100] [First Embodiment]

[0101] In the first embodiment, the power holding function is enabled when the positioning state of the work vehicle 1 is consistent with the positioning state of the positioning mode set by the operator during the period from when the first switch C1 is turned on to when it is turned off (first condition). When the positioning state of the work vehicle 1 is inconsistent with the positioning state of the positioning mode set by the operator during the period from when the first switch C1 is turned on to when it is turned off, the power holding function is disabled.

[0102] For example, the operator in Figure 8In the setup screen D1 shown, select the positioning mode. These positioning modes include, for example, DGNSS (Differential Global Navigation Satellite System) mode, RTK (Accuracy Priority) mode, and RTK (Continuity Priority) mode. Operators can select any positioning mode in the setup screen D1.

[0103] When the operator selects the positioning mode, the positioning unit 16 receives radio waves transmitted from the positioning satellite 50 and begins positioning. Figure 8 This indicates the positioning status in RTK mode (job accuracy priority).

[0104] The holding processing unit 114 determines whether the positioning state of the work vehicle 1 is consistent with the positioning state (high-precision positioning state) of the positioning mode (RTK mode) set by the operator (FIX). If the positioning state of the work vehicle 1 is in the high-precision positioning state during the period from when the first switch C1 is turned on to when it is turned off, the holding processing unit 114 keeps the power supply function active when the first switch C1 is turned off afterwards. That is, the holding processing unit 114 continues to supply power from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 for a predetermined time (e.g., 2 hours) from when the first switch C1 is turned off.

[0105] Therefore, when the positioning state is temporarily set to the positioning mode set by the operator, the power holding function becomes effective. Thus, even if the first switch C1 is turned off, the information related to the target path R stored in the storage unit 115, such as the position of the reference point (point A and point B), the reference line L1, and the target path R, is retained. Therefore, when the first switch C1 is turned on again, automatic driving can be started quickly based on this information.

[0106] Furthermore, the power holding unit 114 can maintain the power holding function even if the positioning state of the work vehicle 1 matches the positioning state of the positioning mode set by the operator only once during the period from when the first switch C1 is turned on to when it is turned off. It can also maintain the power holding function if the positioning state of the work vehicle 1 matches the positioning state of the positioning mode set by the operator during the period from when the first switch C1 is turned on to when it is turned off, and the matching state continues until the first switch C1 is turned off.

[0107] In contrast, if the positioning state of the work vehicle 1 does not reach a high-precision positioning state even once during the period from when the first switch C1 is turned on to when it is turned off, the power holding function is disabled when the first switch C1 is subsequently turned off. That is, the holding processing unit 114 stops the power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 before the predetermined time (e.g., 2 hours) elapses from when the first switch C1 is turned off. For example, the holding processing unit 114 stops the power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 when the first switch C1 is turned off. In this case, for example, information related to autonomous driving stored in the storage unit 115 is deleted.

[0108] [Second Embodiment]

[0109] In the second embodiment, the power holding unit 114 enables the power holding function when the azimuth angle of the IMU (positioning device) is initialized during the period from when the first switch C1 is turned on to when it is turned off, and disables the power holding function when the azimuth angle of the IMU is not initialized during the period from when the first switch C1 is turned on to when it is turned off. Furthermore, the azimuth angle initialization is the initialization after engine startup (azimuth recognition processing), which is included in the start conditions for automatic driving.

[0110] Figure 9A The D1 screen represents the setup screen before the IMU's azimuth initialization is complete. Figure 9B The setup screen D1 indicates that the IMU initialization is complete. The positioning unit 16 identifies the orientation while the work vehicle 1 is traveling at a speed above a specified speed. When the azimuth initialization is complete, automatic driving is allowed to begin. The holding processing unit 114 determines whether the IMU's azimuth initialization is complete.

[0111] If the IMU's azimuth initialization is completed during the period from when the first switch C1 is turned on to when it is turned off, the power supply maintenance function is enabled when the first switch C1 is subsequently turned off. That is, the power supply maintenance unit 114 maintains the power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 for a predetermined time (e.g., 2 hours) from when the first switch C1 is turned off.

[0112] Therefore, when the initialization of the IMU's azimuth angle is temporarily completed, the power holding function becomes effective. Thus, even if the first switch C1 is in the off state, the aforementioned information related to the target path R stored in the storage unit 115 is retained. Therefore, when the first switch C1 is turned on again, automatic driving can be started quickly based on this information.

[0113] Furthermore, the power holding processing unit 114 can maintain the power holding function even if the IMU azimuth initialization is completed only once during the period from when the first switch C1 is turned on to when it is turned off, and can also maintain the power holding function if the IMU azimuth initialization is completed during the period from when the first switch C1 is turned on to when it is turned off, and the initialization completion state continues until the first switch C1 is turned off.

[0114] In contrast, if the IMU's azimuth initialization is not completed even once during the period from when the first switch C1 is turned on to when it is turned off, the power holding function is disabled when the first switch C1 is subsequently turned off. That is, the power holding unit 114 stops the power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 before the specified time (e.g., 2 hours) elapses from when the first switch C1 is turned off (or at the moment when the first switch C1 is turned off).

[0115] [Third Embodiment]

[0116] In the third embodiment, the power holding unit 114 enables the power holding function when the pre-registered path information (baseline L1, target path R, etc.) for automatic driving is read into the work vehicle 1 during the period from when the first switch C1 is turned on to when it is turned off, and disables the power holding function when the path information is not read into the work vehicle 1 during the period from when the first switch C1 is turned on to when it is turned off.

[0117] The processing unit 114 determines whether the aforementioned path information has been read into the work vehicle 1. For example, when the operator is on the setting screen D2 displayed on the operating device 17 (refer to...). Figure 10When a reference line L1 is selected, the vehicle control unit 11 reads the selected reference line L1. If the path information is read during the period from when the first switch C1 is turned on to when it is turned off, the power supply maintenance unit 114 maintains the power supply function when the first switch C1 is subsequently turned off. That is, the power supply maintenance unit 114 continues to supply power from the battery 18 to the vehicle control unit 11, the positioning unit 16, and the communication module 15 for a predetermined time (e.g., 2 hours) from when the first switch C1 is turned off.

[0118] Therefore, when the aforementioned path information is temporarily read into the work vehicle 1, the power retention function becomes effective. Thus, even if the first switch C1 is in the off state, the aforementioned information related to the target path R stored in the storage unit 115 is retained. Therefore, when the first switch C1 is subsequently turned on again, automatic driving can quickly begin based on this information. Furthermore, since power supply to the positioning unit 16 continues, positioning preparation can be performed even when the first switch C1 is in the off state.

[0119] Furthermore, the power holding processing unit 114 can keep the power holding function active even if the path information is read only once during the period from when the first switch C1 is in the on state to when it is in the off state, and can also keep the power holding function active if the path information is read during the period from when the first switch C1 is in the on state to when it is in the off state, and the read state continues until the first switch C1 is in the off state.

[0120] In contrast, if the path information is not read into the work vehicle 1 even once during the period from when the first switch C1 is turned on to when it is turned off, the power holding function is disabled when the first switch C1 is subsequently turned off. That is, the power holding unit 114 stops the power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 before the specified time (e.g., 2 hours) elapses from when the first switch C1 is turned off (or at the moment when the first switch C1 is turned off).

[0121] As described above, when the first switch C1 is in the open state, the power holding unit 114 activates the power holding function if any one of the first to third conditions for starting automatic driving is met, and deactivates the power holding function if any one of the first to third conditions is not met. Furthermore, for example, when the first switch C1 is in the open state, the power holding unit 114 continues to supply power to the storage unit 115 if any one of the first to third conditions is met, and stops the power supply to the storage unit 115 if any one of the first to third conditions is not met. Thus, if the processing for starting automatic driving is performed before the first switch C1 is in the open state, activating the power holding function allows information related to automatic driving to be maintained.

[0122] Furthermore, the holding processing unit 114 can also combine the first to third conditions to switch the power holding function between active and inactive. For example, the holding processing unit 114 can also enable the power holding function if at least one of the first to third conditions is met. Additionally, the operator can select the condition from the first to third conditions to enable the power holding function.

[0123] Here, for example, if the input voltage of the vehicle control device 11 decreases due to a decline in the performance of the battery 18 or a reduction in its charge, the aforementioned power holding function is enabled, which could easily lead to battery depletion. Therefore, even if the aforementioned conditions are met, if the input voltage of the vehicle control device 11 falls below a threshold, the holding processing unit 114 disables the aforementioned power holding function. For example, if the input voltage falls below a threshold before a predetermined time has elapsed after the first switch C1 is turned off, the holding processing unit 114 disables the aforementioned power holding function at that moment, stopping the power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15.

[0124] As another implementation, if the input voltage is below a threshold while the first switch C1 is in the ON state, the power supply unit 114 will not keep the power supply function effective even if the above-mentioned conditions are met. Instead, when the first switch C1 is in the OFF state, the power supply from the battery 18 to the vehicle control device 11, the positioning unit 16, and the communication module 15 will be stopped.

[0125] [Power control processing]

[0126] The following is for reference Figure 11 An example of the power control process performed on the work vehicle 1 described above will be explained.

[0127] Furthermore, the present invention can also be understood as an invention of a power control method that performs one or more steps included in the above-described power control process. Additionally, one or more steps included in the power control process described herein may be appropriately omitted. Furthermore, the execution order of the steps in the above-described power control process may be different within the scope of producing the same effect. Furthermore, the example described here is of a vehicle control device 11 performing the steps in the above-described power control process; however, as other embodiments, a power control method in which one or more processors separately execute the steps in the power control process may also be considered.

[0128] <Step S1>

[0129] In step S1, the vehicle control device 11 determines that the engine 131 (refer to...) Figure 2 The system checks whether the key switch (first switch C1) is in the ON state. Specifically, when the vehicle control device 11 receives an operation from the operator to set the first switch C1 to the ON state (ON operation), it determines that the first switch C1 is in the ON state. When the vehicle control device 11 receives the ON operation of the first switch C1 (S1: "Yes"), the process moves to step S2. The vehicle control device 11 continues the determination process of step S1 until it receives the ON operation of the first switch C1 (S1: "No").

[0130] <Step S2>

[0131] In step S2, the vehicle control unit 11 supplies power to the various electrical installations. Specifically, the vehicle control unit 11 supplies power from the battery 18 to the vehicle control unit 11, the communication module 15, the positioning unit 16, and the various electrical installations 20 other than those. For example, in Figure 5 In the circuit diagram shown, when the vehicle control device 11 receives the operation of the first switch C1 (S1: "Yes"), it sets the first switch C1 to the on state, thereby supplying power from the battery 18 to the vehicle control device 11, the communication module 15, the positioning unit 16 and each electrical mounting component 20 through the first power path K1 and the second power path K2.

[0132] <Step S3>

[0133] In step S3, the vehicle control device 11 determines whether the first switch C1 is in an open state. Specifically, if the vehicle control device 11 receives an operation from the operator to set the first switch C1 to an open state (a disconnect operation), it determines that the first switch C1 is in an open state. If the vehicle control device 11 receives a disconnect operation on the first switch C1 (S3: "Yes"), the process moves to step S4. If the vehicle control device 11 does not receive a disconnect operation on the first switch C1 (S3: "No"), the process returns to step S2, and the power supply to the vehicle control device 11, communication module 15, positioning unit 16, and each electrical mounting component 20 continues.

[0134] <Step S4>

[0135] In step S4, the vehicle control device 11 determines whether the specified conditions are met. The specified conditions are conditions related to automatic driving (conditions for starting automatic driving), such as: during the period from when the first switch C1 is turned on to when it is turned off, the positioning state of the work vehicle 1 is consistent with the positioning state of the positioning mode set by the operator (first condition); during the period from when the first switch C1 is turned on to when it is turned off, the azimuth angle of the IMU is initialized (second condition); and during the period from when the first switch C1 is turned on to when it is turned off, the path information (baseline L1, target path R, etc.) is read in (third condition), etc.

[0136] In the first condition mentioned above, during the period from when the first switch C1 is in the on state to when it is in the off state, the positioning state of the work vehicle 1 is different from the positioning state of the positioning mode set by the operator (refer to the positioning state of the vehicle control device 11 during this period). Figure 8 If the positioning state of the work vehicle 1 is inconsistent with the positioning state of the positioning mode set by the operator during the period from the first switch C1 being turned on to being turned off (if the first condition is not met) (S4: "Yes"), the process moves to step S5. On the other hand, if the positioning state of the work vehicle 1 is inconsistent with the positioning state of the positioning mode set by the operator during the period from the first switch C1 being turned on to being turned off (if the first condition is not met) (S4: "No"), the process moves to step S7.

[0137] In the second condition described above, if the azimuth angle of the IMU is initialized during the period from when the first switch C1 is turned on to when it is turned off (if the second condition is met) (S4: "Yes"), the process moves to step S5. On the other hand, if the azimuth angle of the IMU is not initialized during the period from when the first switch C1 is turned on to when it is turned off (if the second condition is not met) (S4: "No"), the process moves to step S7.

[0138] In the third condition described above, if the path information (baseline L1, target path R, etc.) is read into the work vehicle 1 during the period from when the first switch C1 is turned on to when it is turned off (if the third condition is met) (S4: "Yes"), the process moves to step S5. On the other hand, if the path information is not read into the work vehicle 1 during the period from when the first switch C1 is turned on to when it is turned off (if the third condition is not met) (S4: "No"), the process moves to step S7.

[0139] <Step S5>

[0140] In step S5, the vehicle control device 11 determines whether a predetermined time has elapsed. Specifically, the vehicle control device 11 determines whether the elapsed time (measured time) since the first switch C1 became open has reached the predetermined time. If the predetermined time has elapsed since the first switch C1 became open (S5: "Yes"), the vehicle control device 11 moves the process to step S7. On the other hand, if the predetermined time has not elapsed since the first switch C1 became open (S5: "No"), the vehicle control device 11 moves the process to step S6.

[0141] <Step S6>

[0142] In step S6, the vehicle control device 11 determines whether the input voltage to the vehicle control device 11 is below a threshold. If the input voltage is below the threshold (S6: "Yes"), the vehicle control device 11 moves the process to step S7. On the other hand, if the input voltage is not below the threshold (S6: "No"), the vehicle control device 11 moves the process to step S5.

[0143] Thus, if the input voltage is below a threshold before a predetermined time has elapsed since the first switch C1 became open, the vehicle control device 11 moves the processing to step S7 (S6: "Yes"). If a predetermined time has elapsed since the first switch C1 became open and the input voltage exceeds the threshold, the processing moves to step S7 (S5: "Yes").

[0144] <Step S7>

[0145] In step S7, the vehicle control device 11 stops the power supply from the battery 18 to the vehicle control device 11, the communication module 15, the positioning unit 16, and each electrical installation 20.

[0146] Thus, when the first switch C1 is in the open state and the specified conditions are met, the vehicle control device 11 keeps the power supply function active for a specified time, ensuring continued power supply to each electrical component. When the first switch C1 is in the open state and the specified conditions are not met, the power supply function is deactivated, stopping the power supply to each electrical component. Furthermore, the vehicle control device 11 deactivates the power supply function when the input voltage falls below a threshold value. The vehicle control device 11 performs the power supply maintenance process as described above.

[0147] As explained above, in this embodiment, when the key switch (first switch C1) of the engine 131 of the work vehicle 1 is in the on state, the power supplied from the battery 18 enables the storage unit 115 of the vehicle control device 11 to store information related to automatic driving. When the first switch C1 is in the off state, the power supply function is enabled if the predetermined conditions for starting automatic driving are met, and disabled if the predetermined conditions are not met. Specifically, the vehicle control device 11 continues to supply power to the storage unit 115 when the predetermined conditions are met, and stops supplying power to the storage unit 115 when the predetermined conditions are not met. In addition, the vehicle control device 11 continues to supply power for a predetermined time when the predetermined conditions are met, and stops supplying power before the predetermined time has elapsed when the predetermined conditions are not met.

[0148] According to the above structure, even when the first switch C1 is in the open state, the power supply is maintained, thus ensuring that information related to autonomous driving can be maintained even when the first switch C1 is temporarily open. Furthermore, when the first switch C1 is open, the power supply is maintained only when predetermined conditions are met, and the power supply is stopped when the predetermined conditions are not met. This prevents the power supply from continuing due to repeated on / off operations, thus preventing wasted power consumption and battery depletion.

[0149] [Other Implementation Methods]

[0150] As another embodiment of the present invention, the vehicle control device 11 may also maintain the power supply function when the key switch (first switch C1) is in the off state and the aforementioned conditions (first condition to third condition) are met, so that the power supply to the storage unit 115 continues and the information related to automatic driving is maintained in the storage unit 115. Conversely, the vehicle control device 11 may also disable the power supply function and stop the power supply to the storage unit 115 when the first switch C1 is in the off state and the aforementioned conditions (first condition to third condition) are met, even if the information related to automatic driving is not stored in the storage unit 115. That is, the vehicle control device 11 may also stop the power supply to the storage unit 115 before a predetermined time has elapsed when the first switch C1 is in the off state and the information related to automatic driving is not stored in the storage unit 115.

[0151] Furthermore, in the above embodiment, the specified time is preset to a constant time (e.g., 2 hours). As another embodiment, the vehicle control device 11 may also set the specified time according to the specified conditions. For example, the vehicle control device 11 may set the specified time as a first time T1 under the first condition, a second time T2 under the second condition, and a third time T3 under the third condition. Alternatively, the vehicle control device 11 may set the first time T1, the second time T2, and the third time T3 to different times. For example, the vehicle control device 11 may set conditions included in the automatic driving start conditions to a long time, and conditions not included in the automatic driving start conditions to a short time.

[0152] As another implementation method, the operator may also set the aforementioned specified time. For example, the operator may preset the aforementioned specified time in the setting screen. In addition, the operator may also set the aforementioned specified time for each of the first to third conditions separately.

[0153] Alternatively, as another implementation, the vehicle control device 11 can set the aforementioned predetermined time based on the state of the work vehicle 1 when the key switch (first switch C1) is in the off state. For example, when the key switch is in the off state while the work vehicle 1 is in operation, since the possibility of restarting automatic driving is high, the vehicle control device 11 sets the aforementioned predetermined time to a long time, thus maintaining information related to automatic driving for an extended period. Conversely, when the key switch is in the off state when the work vehicle 1 is not in operation, the vehicle control device 11 sets the aforementioned predetermined time to a short time to suppress power consumption.

[0154] Alternatively, the vehicle control device 11 can also set the specified time based on the remaining battery level. For example, the vehicle control device 11 may set the specified time to a longer duration when the remaining battery level is high, and to a shorter duration when the remaining battery level is low.

[0155] Alternatively, as another implementation, the vehicle control device 11 can also enable the power holding function when the key switch is in the off state during the operation of the work vehicle 1, and disable the power holding function when the key switch is in the off state after the work vehicle 1 has finished its operation.

[0156] Alternatively, as another implementation, the vehicle control device 11 may also prompt the operator whether to keep the power on when the key switch is in the off state (a selection operation of "keep" or "do not keep"). The vehicle control device 11 enables the power-keeping function if the operator selects "keep" in response to the inquiry, and disables the power-keeping function if the operator selects "do not keep".

[0157] Alternatively, as another embodiment, the work vehicle 1 may also be equipped with an operation switch 21, which accepts the operation of enabling or disabling the power supply function. Figure 12 A specific example of the operation switch 21 is shown. For example, the operation switch 21 is located near the steering wheel 137 within the driver's seat 138. Alternatively, the operation switch 21 may be included in the operating device 17, or it may be an image object displayed on the operating screen of the operating device 17 and subject to touch operation.

[0158] When the operator sets the operation switch 21 to "on", the vehicle control device 11 keeps the power supply functioning when the first switch C1 (key switch) is in the off state and the above-mentioned conditions for starting automatic driving are met.

[0159] Conversely, when the operator sets the operating switch 21 to "off," the vehicle control device 11 forcibly disables the aforementioned power retention function. That is, when the operating switch 21 is set to "off," even if the first switch C1 is in the off state and the aforementioned conditions are met, the vehicle control device 11 will stop the power supply from the battery 18 at the moment the first switch C1 becomes off or before the aforementioned predetermined time has elapsed since it became off. For example, if the operator sets the operating switch 21 to "off" when using the work vehicle 1 for purposes other than automatic driving (e.g., manual driving), the aforementioned power retention function will be disabled.

[0160] As another implementation, the vehicle control device 11 can also enable the power supply function when the operator sets the operation switch 21 to "on", and disable the power supply function when the operator sets the operation switch 21 to "off". That is, when the vehicle control device 11 receives an operation to enable the power supply function, it will forcibly enable the power supply function regardless of whether the above-mentioned conditions are met. Conversely, when the vehicle control device 11 receives an operation to disable the power supply function, it will forcibly disable the power supply function regardless of whether the above-mentioned conditions are met. Specifically, when the vehicle control device 11 receives an operation to enable the power supply function, it continues to supply power from the battery 18 when the first switch C1 is in the off state, and stops supplying power from the battery 18 when it receives an operation to disable the power supply function, it keeps the first switch C1 in the off state.

[0161] In another implementation, the operating device 17 may also query whether to continue the power supply from the battery 18 for a predetermined time when the first switch C1 is in the off state and the power holding function is set to be active. For example, Figure 13 As shown, the operating device 17 displays a message on the driving screen D3, which shows the automatic driving status, asking whether to continue the power supply from the battery 18 for 2 hours. If the operator presses the "Yes" button in response to the message, the vehicle control device 11 continues the power supply from the battery 18 for 2 hours. If the operator presses the "No" button in response to the message, the vehicle control device 11 stops the power supply from the battery 18 at that moment. Furthermore, if the operator does not respond to the message within a specified time, the vehicle control device 11 may also continue the power supply from the battery 18 for 2 hours.

[0162] As another implementation, the operating device 17 may also perform processing (reporting processing) to report specified information when the power-holding function is active. As a specific example of the report processing, the operating device 17 may report information indicating that the power-holding function is active via sound (audio broadcast, buzzer, etc.), or it may display a screen (see reference...) Figure 14 The information is displayed on the driving screen (D3) shown, and the indicator lights installed on the work vehicle 1 can also be turned on or flashed. In addition, the operating device 17 can also perform the above-mentioned report processing when the first switch C1 is in the off state while the power supply is in good working order.

[0163] In another implementation, the operating device 17 may also display the remaining time (remaining power supply time) of the time during which power supply continues (e.g., 2 hours) from the moment the first switch C1 is turned off. For example, as... Figure 15 As shown, the operating device 17 displays the remaining time on the driving screen D3 in a countdown manner. Additionally, the operating device 17 can also announce the remaining time audibly, and can illuminate or flash the indicator light based on the remaining time. For example, the operating device 17 can illuminate the indicator light when the remaining time is long, and flash the indicator light when the remaining time is short. Furthermore, the operating device 17 can shorten the flashing period as the remaining time decreases. Additionally, the operating device 17 can shorten the beeping period or increase the volume of the beeping sound as the remaining time decreases. Therefore, the operator can easily grasp the remaining time. Furthermore, by grasping the remaining time, the operator can easily take measures such as extending the power supply duration (power hold-up time).

[0164] In the above embodiment, a structure is illustrated in which the power supply to the storage unit 115 storing information related to autonomous driving is continued (power maintained) or stopped. However, the "information related to autonomous driving" may also be positioning information (e.g., positioning mode) stored in the positioning unit 16, or communication information (e.g., correction information) stored in the communication module 15. That is, the "information related to autonomous driving" of the present invention includes path information, positioning information, and communication information. In addition, the "storage unit storing (maintaining) information related to autonomous driving" may also be included in the positioning unit 16, or it may be included in the communication module 15. In addition, the "storage unit storing (maintaining) information related to autonomous driving" may also be the storage unit 12 storing control programs such as power control programs and autonomous driving programs (see reference 12). Figure 1 ).

[0165] As another implementation, the work vehicle 1 may also be configured such that, when the first switch C1 is in the on state, the positioning unit 16 stores (holds) positioning information (including correction information) using power supplied from the battery 18; when the first switch C1 is in the off state, the power supply to the positioning unit 16 continues (making the power supply holding function effective) if the predetermined conditions for starting automatic driving are met; and the power supply to the positioning unit 16 stops (making the power supply holding function ineffective) if the predetermined conditions are not met.

[0166] Furthermore, the vehicle control device 11 is an example of the power control system of the present invention. The power control system of the present invention can be configured to include the vehicle control device 11 and the positioning unit 16, or it can be configured to include the vehicle control device 11, the positioning unit 16, and the communication module 15, or it can be configured to include the battery 18, the vehicle control device 11, the positioning unit 16, and the communication module 15. Additionally, the power control system of the present invention can also be configured to include the vehicle control device 11 and the operating device 17. Furthermore, the power control system can also be configured to include a storage processing unit 112, a timer processing unit 113, and a holding processing unit 114.

[0167] Furthermore, when the key switch (first switch C1) of the working vehicle 1 is in the on state, the vehicle control device 11 can utilize the power supplied from the battery 18 to perform at least one of the following processes: storing information related to automatic driving in the storage unit 115 of the vehicle control device 11, and storing (holding) positioning information in the positioning unit 16. Additionally, when the key switch is in the off state, the vehicle control device 11 can continue supplying power to at least one of the storage unit 115 and the positioning unit 16 if the aforementioned conditions for starting automatic driving are met, and stop supplying power to at least one of the storage unit 115 and the positioning unit 16 if the aforementioned conditions are not met.

[0168] [Notes on the Invention]

[0169] The following is a summary of the invention extracted from the embodiments. Furthermore, the structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0170] <Postscript 1>

[0171] A power control method, which executes:

[0172] With the vehicle's switch on, power supplied from the battery is used to store information related to autonomous driving in the storage unit; and

[0173] When the aforementioned switch is in the off state, the supply of power to the aforementioned storage unit continues if the prescribed conditions for starting automatic operation are met, and the supply of power to the aforementioned storage unit is stopped if the prescribed conditions are not met.

[0174] <Appendix 2>

[0175] According to the power control method described in Appendix 1,

[0176] When the switch is in the off state and the above-mentioned conditions are met, the power supply to the storage unit continues, and the information related to the above-mentioned automatic driving is kept in the storage unit.

[0177] <Appendix 3>

[0178] According to the power control method described in Appendix 1 or 2,

[0179] Under the aforementioned conditions, the supply of electricity to the aforementioned storage unit shall continue for a specified period.

[0180] If the above-mentioned conditions are not met, the supply of the above-mentioned power to the above-mentioned storage unit shall be stopped before the above-mentioned time has elapsed.

[0181] <Appendix 4>

[0182] According to the power control method described in Appendix 3,

[0183] If the switch is in the off state when the information related to the aforementioned automatic driving is not stored in the aforementioned storage unit, the supply of power to the aforementioned storage unit shall be stopped before the aforementioned predetermined time has elapsed.

[0184] <Appendix 5>

[0185] According to the power control method described in any of the appendices 1 to 4,

[0186] During the period from when the switch is turned on to when it is turned off, if the positioning status of the work vehicle matches the positioning status of the user-set positioning mode, the supply of power to the storage unit continues.

[0187] During the period from when the switch is turned on to when it is turned off, if the positioning status of the work vehicle is inconsistent with the positioning status of the user-set positioning mode, the power supply to the storage unit shall be stopped.

[0188] <Appendix 6>

[0189] According to the power control method described in any of the appendices 1 to 5,

[0190] During the period from when the switch is turned on to when it is turned off, while the azimuth angle of the positioning device is initialized, the supply of power to the storage unit continues.

[0191] During the period from when the switch is turned on to when it is turned off, if the azimuth angle of the positioning device has not been initialized, the power supply to the storage unit is stopped.

[0192] <Appendix 7>

[0193] According to the power control method described in any of the appendices 1 to 6,

[0194] During the period from when the switch is turned on to when it is turned off, if the pre-registered path information for autonomous driving is read into the work vehicle, the supply of power to the storage unit continues.

[0195] During the period from when the switch is turned on to when it is turned off, if the path information is not read into the work vehicle, the power supply to the storage unit is stopped.

[0196] <Postscript 8>

[0197] According to the power control method described in Appendix 3,

[0198] Even if the above-mentioned conditions are met, if the power supplied to the storage unit is below a threshold, the power supply to the storage unit shall be stopped before the above-mentioned time has elapsed.

[0199] <Postscript 9>

[0200] According to the power control method described in Appendix 3,

[0201] If the above-mentioned conditions are met, the power supply to the storage unit shall be stopped after the specified time has elapsed since the switch was turned off.

[0202] <Postscript 10>

[0203] According to the power control method described in Appendix 3,

[0204] Based on the aforementioned conditions, the aforementioned time period is set.

[0205] <Postscript 11>

[0206] According to the power control method described in Appendix 3,

[0207] Based on the state of the work vehicle when the aforementioned switch is in the off state, the aforementioned specified time is set.

[0208] <Postscript 12>

[0209] A power control method, which executes:

[0210] With the work vehicle's switch on, the positioning device stores positioning information using power supplied from the battery; and

[0211] When the aforementioned switch is in the off state, the supply of power to the positioning device continues if the prescribed conditions for starting automatic driving are met, and stops if the prescribed conditions are not met.

[0212] <Postscript 13>

[0213] A power control method, which executes:

[0214] When the switch of the working vehicle is turned on, the power supplied from the battery is used to store information related to autonomous driving in the storage unit.

[0215] When the aforementioned switch is in the open state, the operation of enabling or disabling the function that continues the supply of power to the aforementioned storage unit is performed; and

[0216] When the operation of enabling the above function is received, the power supply to the storage unit continues when the switch is in the open state; when the operation of disabling the above function is received, the power supply to the storage unit stops when the switch is in the open state.

[0217] <Postscript 14>

[0218] A power control program for causing one or more processors to execute:

[0219] With the vehicle's switch on, power supplied from the battery is used to store information related to autonomous driving in the storage unit; and

[0220] When the aforementioned switch is in the off state, the supply of power to the aforementioned storage unit continues if the prescribed conditions for starting automatic operation are met, and the supply of power to the aforementioned storage unit is stopped if the prescribed conditions are not met.

[0221] <Postscript 15>

[0222] A power control system, comprising:

[0223] The storage and processing unit, when the vehicle's switch is on, uses power supplied from the battery to store information related to autonomous driving; and

[0224] The processing unit, when the switch is in the off state, continues to supply power to the storage unit if the prescribed conditions for starting automatic operation are met, and stops supplying power to the storage unit if the prescribed conditions are not met.

Claims

1. A power supply control method characterized by comprising: implement: When the switch of the working vehicle is turned on, the power supplied from the battery is used to store information related to autonomous driving in the storage unit. and When the switch is in the off state, the power supply to the storage unit continues if the specified conditions for starting automatic driving are met, and stops if the specified conditions are not met.

2. The power control method according to claim 1, characterized in that, When the switch is in the off state while information related to the autonomous driving is stored in the storage unit and the specified conditions are met, the power supply to the storage unit continues, and the information related to the autonomous driving is maintained in the storage unit.

3. The power control method according to claim 1, characterized in that, Under the condition that the specified conditions are met, the supply of power to the storage unit continues for a specified time. If the specified conditions are not met, the power supply to the storage unit shall be stopped before the specified time has elapsed.

4. The power control method according to claim 3, characterized in that, If the switch is in the off state when information related to the autonomous driving is not stored in the storage unit, the power supply to the storage unit shall be stopped before the predetermined time has elapsed.

5. The power control method according to claim 1, characterized in that, During the period from when the switch is turned on to when it is turned off, if the positioning state of the work vehicle matches the positioning state of the user-set positioning mode, the power supply to the storage unit continues. If the positioning status of the work vehicle is inconsistent with the positioning status of the user-set positioning mode during the period from when the switch is turned on to when it is turned off, the power supply to the storage unit shall be stopped.

6. The power control method according to claim 1, characterized in that, During the period from when the switch is in the ON state to when it is in the OFF state, while the azimuth angle of the positioning device is initialized, the power supply to the storage unit continues. During the period from when the switch is turned on to when it is turned off, if the azimuth angle of the positioning device has not been initialized, the power supply to the storage unit is stopped.

7. The power control method according to claim 1, characterized in that, During the period from when the switch is turned on to when it is turned off, if the pre-registered path information for autonomous driving is read into the work vehicle, the power supply to the storage unit continues. During the period from when the switch is turned on to when it is turned off, if the path information is not read into the work vehicle, the power supply to the storage unit is stopped.

8. The power control method according to claim 3, characterized in that, Even if the specified conditions are met, if the power supplied to the storage unit is below a threshold, the power supply to the storage unit will be stopped before the specified time has elapsed.

9. The power control method according to claim 3, characterized in that, If the specified conditions are met, the power supply to the storage unit is stopped after the specified time has elapsed since the switch became open.

10. The power control method according to claim 3, characterized in that, The specified time is set according to the specified conditions.

11. The power control method according to claim 3, characterized in that, The specified time is set based on the state of the work vehicle when the switch is in the off state.

12. A power supply control method, characterized in that, implement: With the work vehicle's switch on, the positioning device stores positioning information using power supplied from the battery; and When the switch is in the off state, the power supply to the positioning device continues if the specified conditions for starting automatic driving are met, and the power supply to the positioning device stops if the specified conditions are not met.

13. A power supply control method, characterized in that, implement: When the switch of the working vehicle is turned on, the power supplied from the battery is used to store information related to autonomous driving in the storage unit. When the switch is in the off state, the operation of enabling or disabling the function that allows the power supply to the storage unit to continue is accepted. as well as If the operation of enabling the function is received, the power supply to the storage unit continues when the switch is in the off state; if the operation of disabling the function is received, the power supply to the storage unit stops when the switch is in the off state.

14. A power control program, characterized in that, Used to cause one or more processors to execute: When the switch of the working vehicle is turned on, the power supplied from the battery is used to store information related to autonomous driving in the storage unit. and When the switch is in the off state, the power supply to the storage unit continues if the specified conditions for starting automatic driving are met, and stops if the specified conditions are not met.

15. A power supply control system, characterized in that, have: The storage and processing unit, when the switch of the work vehicle is turned on, uses power supplied from the battery to store information related to autonomous driving. and The holding processing unit, when the switch is in the off state, continues to supply power to the storage unit if the predetermined conditions for starting automatic driving are met, and stops supplying power to the storage unit if the predetermined conditions are not met.

Images