Control method for work vehicle, control program for work vehicle, control system for work vehicle, and work system

Abstract

The present application provides a work vehicle control method, a work vehicle control program, a work vehicle control system, and a work system that easily perform an operation for executing automatic vehicle speed control that automatically controls the vehicle speed of a work vehicle. The work vehicle control method has, in a case where a first specific operation is accepted (S12: YES), executing automatic steering control (S13) that automatically controls the steering of the work vehicle. The work vehicle control method has executing linked automatic vehicle speed control (S15) that is automatic vehicle speed control that automatically controls the vehicle speed of the work vehicle in linkage with the automatic steering control.

Description

Technical Field

[0001] The present invention relates to a control method for a work vehicle that enables the work vehicle to perform automatic steering, a control program for a work vehicle, a control system for a work vehicle, and a work system. Background Technology

[0002] As a related technology, a control system (automatic driving system) for operating vehicles, such as tractors, is known to automatically drive along a predetermined driving path (see, for example, Patent Document 1). In the control system for operating vehicles disclosed in the related technology, automatic cruise control is initiated by operating an automatic cruise control lever while the rice transplanter (operating vehicle) is in motion, thereby enabling the rice transplanter to drive automatically. Furthermore, the vehicle speed during automatic cruise control is set based on the position of the gear shift pedal at the moment the automatic cruise control lever is operated.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2020-120368

[0004] In the aforementioned related technologies, multiple operations are required to perform automatic cruise control, or in other words, automatic speed control that automatically controls the speed of the work vehicle. Therefore, in these related technologies, automatic speed control cannot be performed without the user (operator) performing multiple operations, resulting in difficulties in performing the operations required for automatic speed control and potential inconvenience for the user. Summary of the Invention

[0005] The purpose of this invention is to provide a control method, a control program, a control system, and a work system for a work vehicle that facilitates automatic speed control of the work vehicle.

[0006] One aspect of the present invention relates to a control method for a work vehicle, comprising: upon receiving a first specific operation, performing automatic steering control to automatically control the steering operation of the work vehicle. The control method further comprises: performing linked automatic speed control, wherein the linked automatic speed control is an automatic speed control that is performed in conjunction with the automatic steering control to automatically control the speed of the work vehicle.

[0007] One aspect of the present invention relates to a control program for a work vehicle that causes one or more processors to execute the aforementioned control method for the work vehicle.

[0008] One aspect of the present invention relates to a control system for a work vehicle, comprising a steering control unit and a speed control unit. Upon receiving a first specific operation, the steering control unit performs automatic steering control, automatically controlling the steering of the work vehicle. The speed control unit performs linked automatic speed control, which is automatic speed control that is performed in conjunction with the automatic steering control to automatically control the speed of the work vehicle.

[0009] One aspect of the present invention relates to an operating system comprising the aforementioned control system for operating vehicles and the body of the aforementioned operating vehicle.

[0010] According to the present invention, a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system are provided that facilitate the automatic speed control of the work vehicle. Attached Figure Description

[0011] Figure 1 This is a schematic side view showing the appearance of the work vehicle involved in Embodiment 1.

[0012] Figure 2 This is a schematic block diagram of the operating system involved in Implementation Method 1.

[0013] Figure 3 This is a schematic diagram illustrating the automatic driving of the operating system according to Embodiment 1.

[0014] Figure 4 This is a flowchart illustrating an example of the first control in the control method for the work vehicle according to Embodiment 1.

[0015] Figure 5 This is a flowchart illustrating an example of the second control in the control method for the work vehicle according to Embodiment 1.

[0016] Figure 6 This is a flowchart illustrating an example of the third control in the control method for the work vehicle according to Embodiment 1.

[0017] Explanation of reference numerals in the attached figures

[0018] 1…Control system for work vehicles; 10…Work vehicle; 11…Body; 100…Work system; 131a…Speed ​​control unit; 131b…Steering control unit. Detailed Implementation

[0019] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. These embodiments are merely examples embodying the present invention and are not intended to limit the scope of the invention.

[0020] (Implementation Method 1)

[0021] [1] Overall structure

[0022] First, refer to Figure 1 and Figure 2 The overall structure of the work system 100 according to this embodiment will be described. The work vehicle control system 1 (hereinafter also simply referred to as "control system 1") according to this embodiment, together with the body 11 of the work vehicle 10, constitutes the work system 100. A work machine 12 is installed on the body 11. That is, the work system 100 includes the work vehicle control system 1 with the work machine 12 installed and the body 11 of the work vehicle 10.

[0023] In this embodiment, the control system 1 includes a control device 13 mounted on the body 11 of the work vehicle 10 (see reference 13). Figure 2 The work vehicle 10 and the terminal device 20 are capable of communicating with each other. "Capable of communicating" as used in this disclosure means being able to send and receive information directly or indirectly via a communication network (network) N1 or a repeater, using appropriate communication methods such as wired or wireless communication (communication using radio waves or light as a medium). The work vehicle 10 and the terminal device 20 can communicate, for example, via a communication network N1 such as the Internet, LAN (Local Area Network), WAN (Wide Area Network), public telephone lines, mobile phone lines, packet lines, or wireless LAN. The communication method between the work vehicle 10 and the terminal device 20 is not limited to the examples described above, but can be implemented through appropriate communication methods. Furthermore, the ability for the work vehicle 10 and the terminal device 20 to communicate with each other is not a necessary feature of the control system 1.

[0024] Work vehicle 10 is at work site F1 (refer to) Figure 3 The vehicle 10 travels while performing certain operations on the work site F1 via the work machine 12. The term "operation" as used in this disclosure refers to the work performed by the work machine 12 on the work site F1, including various agricultural operations such as planting (transplanting), sowing, fertilizing, pesticide application, leveling, or harvesting, as well as various construction operations. In this embodiment, as an example, the operation performed by the work vehicle 10 is planting (transplanting) seedlings in the paddy field that serves as the work site F1.

[0025] When the body 11 of the work vehicle 10 moves at the work site F1, the work machine 12 performs operations within the work site F1. In this embodiment, as an example, the work machine 12 includes a seedling platform for holding seedling mats and a planting arm for taking seedlings from the seedling mats and planting them, etc., to perform seedling planting operations. Here, the work machine 12 is installed on the rear side of the body 11 (the side opposite to the forward direction of the body 11). That is, the work machine 12 is connected to the rear side of the body 11 and performs operations while moving forward with the body 11. In this embodiment, the work machine 12 is included in the components of the work vehicle 10, but the work machine 12 may also not be included in the components of the work vehicle 10.

[0026] The term "operating vehicle" as used in this disclosure refers to machinery that performs various operations on a work site F1, such as a field. Examples include agricultural machinery (farm machinery) such as rice transplanters, tractors, seeders, spreaders, sprayers, transplanters, and harvesters. The operating vehicle 10 may also be, for example, construction machinery. In this embodiment, unless otherwise specified, a rice transplanter will be used as an example for explanation. This operating vehicle 10 moves on the work site F1, such as a field, via its body 11, enabling it to perform planting operations by planting rice seedlings on the work site F1.

[0027] Thus, in this embodiment, the machine body 11 is a type of vehicle that moves by traveling on the work site F1. Here, as... Figure 1 and Figure 3 As shown, the machine body 11 has steering wheels 141 consisting of a pair of left and right front wheels and drive wheels 142 consisting of a pair of left and right rear wheels, and travels on the work site F1 by means of the above four wheels (a pair of steering wheels 141 and a pair of drive wheels 142). In addition, the machine body 11 is not limited to this, for example, it can also be a tracked machine body 11 with the above wheels using tracks.

[0028] In this embodiment, as an example, the work vehicle 10 is an automated machine that can be ridden by a person (operator) and can move automatically (autonomous driving, etc.). However, it is not limited to this; the work vehicle 10 can be an unmanned machine that moves automatically, or it can be moved by a person (operator) (including remote operation).

[0029] The term "work site" as used in this disclosure refers to an area where the work vehicle 10 performs various operations such as planting (transplanting rice seedlings), sowing seeds, fertilizing, applying pesticides, leveling, or harvesting while moving. This includes paddy fields, dry fields, orchards, and pastures. For example, if a paddy field or dry field where crops (agricultural products) such as rice, wheat, soybeans, or buckwheat are grown is work site F1, then the crops grown in work site F1 are agricultural products. Furthermore, if flowers and trees are grown in a flower and tree field, then the flower and tree field becomes work site F1; if trees grow in a forest to become timber, as in forestry, then the forest becomes work site F1. In this case, the crops grown in work site F1 are flowers, trees, or the like. In this embodiment, unless otherwise specified, the example of the work vehicle 10 being used for planting seedlings in a field (work site F1), and work site F1 being a paddy field for rice cultivation, will be used for explanation. Furthermore, work site F1 is not limited to a field; for example, if the work vehicle 10 is construction machinery, then the site where the construction machinery performs its operations becomes work site F1.

[0030] Furthermore, the work vehicle 10 can move automatically not only within the work site F1 (here, the field), but also on roads such as paths outside the field outside the work site F1. The work vehicle 10 is configured to be able to move automatically based on the positioning device 15 (see reference). Figure 2 The system locates the current position of the work vehicle 10 and automatically travels (moves) along a pre-defined target path (including paths outside the fields) within and outside the work site F1. Paths outside the fields can be, for example, connecting roads between multiple work sites F1 (fields). These connecting roads can be agricultural roads, forest roads, highways, private roads, or motor vehicle lanes, and can also be roads dedicated to the work vehicle 10 or roads accessible to general vehicles (passenger cars, etc.).

[0031] In addition, the term "autonomous driving" as used in this disclosure includes "autonomous driving" in which the work vehicle 10 drives autonomously without relying on the operation of an operator, and "semi-autonomous driving" in which only steering is automated, such as straight-line assist.

[0032] like Figure 3 As shown on the left, "automatic driving" is, for example, a driving mode in which, in addition to automatic steering of the steering wheel 141, the vehicle speed and other parameters are automatically controlled so that the work vehicle 10 travels along the target path R1. Figure 3As shown on the right, "straight-line assist" is, for example, an automatic steering operation where only the steering wheel 141 is operated, while the vehicle speed and other parameters are controlled by the operator, so that the work vehicle 10 travels along a straight target path R1 parallel to a reference line (baseline). In other words, in "semi-automatic driving," although the work vehicle 10 cannot travel without the operator's intervention, the burden of steering is reduced for the operator, and it can travel along a straight target path, thus contributing to improved work efficiency. Moreover, whether in autonomous or semi-automatic driving, the steering wheel 141 is automatically steered, so it can be considered a form of "automatic steering operation mode."

[0033] In automatic steering mode, the steering wheel 141 is automatically steered by a motor. That is, it replaces the operator in controlling the steering wheel 171 (see reference). Figure 1 Steering control devices 17 (see reference) Figure 2 The vehicle operates by changing the orientation of the steering wheel 141 through the output of the motor, thereby achieving automatic steering control. In summary, the work vehicle 10 according to this embodiment has an automatic steering control mode that uses a motor to automatically steer the steering wheel.

[0034] [2] Structure of the work vehicle

[0035] Next, refer to Figure 1 and Figure 2 The structure of the work vehicle 10 involved in this embodiment will be described in detail.

[0036] In this embodiment, for ease of explanation, the vertical direction of the work vehicle 10 in its usable state is defined as the up-down direction D1. The forward-backward direction D2 and the left-right direction D3 are defined based on the direction observed from the person (operator) sitting in the body 11 (driver's seat 111) of the work vehicle 10 (see reference). Figure 3 The left side of the left-right direction D3 refers to the left side when the machine body 11 is moving forward (advancing), and the right side of the left-right direction D3 refers to the right side when the machine body 11 is moving forward (advancing). However, these directions are not intended to limit the direction of use of the work vehicle 10 (the direction of use).

[0037] like Figure 2 As shown, in addition to the body 11 and the work machine 12, the work vehicle 10 also has a control device 13, a driving device 14, a positioning device 15, and a communication device 16. The control device 13, the driving device 14, the positioning device 15, and the communication device 16 are all mounted on the body 11.

[0038] The machine body 11 has a pilot unit 111 that can be ridden by a person (operator) (see reference). Figure 1 The driver's compartment 111 is equipped with a steering control device 17, a transmission device 18, and an operating device 19, etc. (see reference). Figure 2 The steering control device 17, transmission device 18, and operating device 19 are operating parts operated by an operator or control device 13. Therefore, the work vehicle 10 can perform both manual driving based on operator manual operation and automatic driving based on control device 13. In addition, as described above, the work machine 12 is connected to the rear side of the body 11.

[0039] In this embodiment, as an example, the steering control device 17 includes a steering wheel 171 operated by an operator to change the direction of travel of the vehicle 11. Additionally, in this embodiment, as an example, the transmission device 18 includes a gear lever operated by an operator to switch the vehicle's travel mode between forward and reverse, etc. Furthermore, in this embodiment, as an example, the transmission device 18 includes a gear pedal 181 operated by an operator to change the vehicle speed of the vehicle 11 (see reference). Figure 1 ).

[0040] Specifically, the gear shift pedal 181 can change the speed of the machine body 11 according to the degree to which the operator presses it. In addition, when the operator removes his foot from the gear shift pedal 181, that is, when the amount of pressure on the gear shift pedal 181 is zero, the gear shift device 18 can be made neutral and the machine body 11 can be braked to stop.

[0041] In this embodiment, as an example, the operating device 19 has a mode switching operation unit 19a (see reference 19a). Figure 2 The mode switching operation unit 19a is operated by the operator to switch between an automatic steering mode (automatic steering of the steering wheel 141) and a manual steering mode (manual steering of the steering wheel 141). The mode switching operation unit 19a is implemented, for example, by a dedicated switch or lever for mode switching. For example, if the mode switching operation unit 19a is implemented by a switch, the operator can switch from the current mode to another mode each time the switch is pressed. Specifically, if the current mode is manual steering mode, pressing the switch once switches from manual steering mode to automatic steering mode. Similarly, if the current mode is automatic steering mode, pressing the switch once switches from automatic steering mode to manual steering mode.

[0042] In addition, the operating device 19 has a speed-fixing operating section 19b (see reference). Figure 2The speed-fixing operation unit 19b is operated by an operator to fix the speed of the work vehicle 10 at the speed at the time of operation. The speed-fixing operation unit 19b is implemented, for example, by a dedicated switch or lever for speed fixing. For example, if the speed-fixing operation unit 19b is implemented by a switch, the operator presses the switch to fix the speed of the work vehicle 10 at the speed at the time the switch is operated. Here, fixing the speed of the work vehicle 10 at the speed at the time of operation means controlling the vehicle to approach the target speed. In this way, by controlling the vehicle to approach the target speed, the speed of the work vehicle 10 is maintained approximately at the target speed, that is, the speed is approximately fixed at the target speed.

[0043] In this embodiment, the planting machine 12 is connected to the rear side of the machine body 11, and can perform planting operations on the field, which serves as the work site F1, when the machine body 11 moves forward. Here, the planting machine 12 corresponds to multi-row (for example, 6 rows, 7 rows, or 8 rows, etc.) planting, and has a working width in the width direction (left-right direction D3) corresponding to the number of rows. That is, for example, if the planting machine 12 corresponds to 7-row planting, it can plant 7 rows of seedlings simultaneously in the width direction (left-right direction D3). In this embodiment, as an example, it is assumed that the working vehicle 10 is an 8-row rice transplanter equipped with the planting machine 12 corresponding to 8 rows.

[0044] like Figure 1 As shown, the traveling device 14 includes steering wheels 141, drive wheels 142, and a power source (engine and / or motor, etc.). The engine, as the power source, is, for example, a diesel engine. A pair of steering wheels 141 and a pair of drive wheels 142 are each provided on the left and right. The traveling device 14 drives the drive wheels 142 using the power generated by the power source, thereby enabling the machine body 11 to travel (move). Here, the steering wheels 141 can turn in the left-right direction D3. Therefore, the machine body 11 can travel within the work area F1 in a forward-backward direction D2 and a left-right direction D3.

[0045] At least during autonomous driving, the driving unit 14 operates according to the control unit 13's operation of the steering control device 17 and the transmission device 18, as described above. For example, in the driving unit 14, the angle of the steering wheel 141 is changed by the control unit 13's operation of the steering control device 17, thereby changing the direction of travel of the vehicle body 11. Furthermore, the transmission device 18 is operated by the control unit 13, switching the gearbox to forward or reverse gear, thus changing the vehicle body 11's driving mode to forward or reverse. Additionally, the control unit 13 operates the accelerator or brake of the transmission device 18 to control the speed of the power source, or uses an electromagnetic brake to brake the steering wheel 141 and the drive wheel 142.

[0046] The positioning device 15 determines the current position (latitude, longitude, and altitude, etc.) of the aircraft 11. Specifically, the positioning device 15 uses a satellite positioning system such as GNSS (Global Navigation Satellite System) to calculate the current position (latitude and longitude) of the aircraft 11. That is, the positioning device 15 has a positioning antenna that receives positioning signals from satellites and calculates the current position based on the positioning signals. Furthermore, the positioning device 15 includes an inertial sensor, which can also detect the current orientation and other attitude of the aircraft 11.

[0047] Alternatively, the positioning device 15 can detect the current position with relatively high accuracy, similar to RTK (Real Time Kinematic) positioning, which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (base station) closer to the work vehicle 10. The current position of the vehicle body 11 can be the same as the positioning position (the position of the positioning antenna), or it can be a position offset from the positioning position, such as the center position of the vehicle body 11 when viewed from above. As the positioning device 15, for example, a mobile phone terminal, smartphone, or tablet terminal can also be used instead.

[0048] The communication device 16 is a communication interface used to connect the work vehicle 10 (control device 13 and positioning device 15, etc.) to external devices via wired or wireless means, and to perform data communication with the external devices in accordance with a prescribed communication protocol. In this embodiment, the communication device 16 is capable of communicating with the terminal device 20, which is an external device, via the communication network N1. Furthermore, the communication device 16 is capable of wirelessly connecting to the communication network N1, so that the work vehicle 10 can communicate with the terminal device 20 at any time, even when it is moving (driving) at the work site F1. For example, a mobile phone terminal, smartphone, or tablet terminal can be used instead of the communication device 16.

[0049] The control device 13 is based on a computer system with one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, the control device 13 is based on a computer system with one or more processors, and therefore the control device 13 is implemented by executing the control program for the work vehicle through one or more processors. In this embodiment, the control device 13 is a unified controller that performs overall control of the work vehicle 10, and is, for example, composed of an electronic control unit (ECU). However, the control device 13 may also be set up independently of the unified controller.

[0050] The control device 13 is configured to communicate with devices installed in various parts of the machine body 11. Specifically, the control device 13 is electrically connected to the work machine 12, the travel device 14, the positioning device 15, and the communication device 16, etc. Thus, the control device 13 can control the work machine 12 and the travel device 14, or obtain the detection results from the positioning device 15. Here, the control device 13 can directly transmit and receive various information (data) with each device, or indirectly via repeaters, etc.

[0051] In this embodiment, such as Figure 2 As shown, the control device 13 includes a driving control unit 131, an operation control unit 132, and a storage unit 133.

[0052] The driving control unit 131 controls the driving device 14. At least during autonomous driving, the driving control unit 131, in place of the operator, controls the driving device 14 to bring the vehicle speed and engine speed close to target values. Furthermore, the driving control unit 131 can also control the transmission device 18 and the braking device of the driving device 14, thereby causing the machine body 11 to decelerate or stop. In other words, the driving control unit 131 can be said to have a speed control unit 131a, which performs automatic speed control to automatically control the speed of the working vehicle 10.

[0053] The driving control unit 131 also controls the steering angle of the steering wheel 141. The driving control unit 131 has an automatic steering operation mode and a manual steering operation mode as operating modes, configured to switch between these modes. The manual steering operation mode is the mode in which the operator operates the steering control device 17, such as the steering wheel 171, to perform steering control. At least during autonomous or semi-autonomous driving, the driving control unit 131 operates in automatic steering operation mode, taking over the control from the operator to bring the steering angle of the steering wheel 141 closer to the target steering angle. In other words, the driving control unit 131 can be said to have a steering control unit 131b, which performs automatic steering control of the steering wheel 141 of the working vehicle 10.

[0054] In particular, during autonomous driving, the driving control unit 131 executes control of the work vehicle 10 based on the current position of the body 11, so that the body 11 travels along the target path. The target path for enabling the work vehicle 10 to drive autonomously is generated, for example, in the terminal device 20. That is, the work vehicle 10 obtains path data corresponding to the target path from the terminal device 20 and drives autonomously according to the target path.

[0055] As another example, the work vehicle 10 can also be driven by the operator's manual steering. For example, the operator sits in the work vehicle 10 and drives the work vehicle 10 by manually steering while confirming the target path R1.

[0056] The operation control unit 132 controls the work machine 12. At least during autonomous driving, the operation control unit 132 controls the work machine 12 based on the current position of the machine body 11 on the target path. Specifically, if the work vehicle 10 is traveling on a work path within the target path where the work machine 12 is performing operations, the operation control unit 132 sets the work machine 12 to a working position and performs the work. On the other hand, if the work vehicle 10 is traveling on a non-working path within the target path where the work machine 12 is not performing operations, the operation control unit 132, for example, raises the work machine 12 to a non-working position and stops the work machine 12 from operating.

[0057] The storage unit 133 is a non-volatile memory that stores various data such as the control program for the work vehicle and target path information related to the target path R1. That is, the driving control unit 131 can enable the driving device 14 to perform automatic driving along the target path R1 based on the target path information stored in the storage unit 133.

[0058] In addition to the aforementioned structure, the work vehicle 10 also includes a battery, fuel tank, display device, and various sensors. The battery supplies power to various parts of the work vehicle 10, such as the control device 13, for operation. In particular, electronic devices such as the control device 13, positioning device 15, and communication device 16 operate via power supplied from the battery, thus enabling operation even when the power source (engine) of the travel device 14 is stopped. The display device is a user interface, such as a liquid crystal display or organic EL display, used to provide information to the user (operator).

[0059] In addition, the work vehicle 10 may also be equipped with a detection device, including an obstacle sensor and a detection processing unit, for detecting obstacles in the detection area. The detection area may be defined, for example, as a predetermined range in front of the work vehicle 10. The obstacle sensor may include various sensors such as a camera (image sensor), sonar sensor, human body sensor, radar, or LiDAR (Light Detection and Ranging). The obstacle sensor may also be a three-dimensional sensor that measures the distance to an object (obstacle) using a TOF (Time of Flight) method. TOF measures the distance to a distance point based on the round-trip time of light or sound traveling to and from the measurement point. The detection processing unit detects obstacles based on the measurement information obtained from the obstacle sensor. Here, the detection processing unit may only detect the presence or absence of an obstacle, or it may detect the obstacle's position, shape, quantity, or attributes (including type, etc.).

[0060] The detection results from the detection device are output to the control device 13. The control device 13, at least when the detection device detects an obstacle during the automatic movement of the work vehicle 10, outputs an alarm (including a report via sound and / or light) and performs obstacle avoidance maneuvers (including detours, deceleration, or stopping) via the control of the driving device 14. Furthermore, the control device 13 can also output obstacle location information and the execution history of obstacle avoidance maneuvers to the terminal device 20 and display it there.

[0061] [3] Structure of the terminal device

[0062] Next, refer to Figure 1 and Figure 2 The structure of the terminal device 20 according to this embodiment will be described in detail.

[0063] In this embodiment, the terminal device 20 can communicate with the work vehicle 10 as described above, and together with the control device 13 of the work vehicle 10, constitutes the control system 1. That is, the components of the control system 1 are at least distributed between the work vehicle 10 and the terminal device 20. However, it is not limited to this structure. For example, the function of the control device 13 can also be provided in the terminal device 20. In this case, the components of the control system 1 are implemented only by the terminal device 20.

[0064] In this embodiment, as an example, the terminal device 20 is composed of a general-purpose terminal such as a tablet terminal, smartphone, or laptop computer. Figure 1 As shown, the terminal device 20 is used at a location remote from the machine body 11. Alternatively, the terminal device 20 can also be configured and used within the pilot unit 111 of the machine body 11. The terminal device 20, which is composed of a general-purpose terminal, has dedicated application software (program) installed within it. By activating this application software, the terminal device 20 functions as the terminal device 20 of the control system 1.

[0065] The terminal device 20 includes a display unit 201 and an operation unit 202. The display unit 201 may include, for example, a liquid crystal display (LCD) or an organic EL display (OLED). The operation unit 202 may include, for example, a touch panel, a physical switch, a mouse, or a keyboard. In this embodiment, as an example, the display unit 201, which is composed of a liquid crystal display, and the operation unit 202, which is composed of a touch panel, are integrated to form a touch panel display. Therefore, by operating the operation unit 202 while the display screen is displayed on the display unit 201, the terminal device 20 can accept user operations on the display screen.

[0066] The terminal device 20 is used for inputting various settings related to the operation of the work vehicle 10 and outputting control signals related to the control of the work vehicle 10. Specifically, the terminal device 20 has the function of setting (registering) various information related to the control of the work vehicle 10, such as the target path for the automatic driving of the work vehicle 10. That is, the operator can set the target path, etc., by operating the operation unit 202 on the display screen displayed on the display unit 201. The target path and other information set here are sent directly or indirectly to the work vehicle 10 for the automatic driving of the work vehicle 10. Furthermore, according to the operator's operation, the terminal device 20 outputs (sends) at least a control signal to the work vehicle 10 to stop the automatic driving of the work vehicle 10, thereby enabling the operation of the work vehicle 10.

[0067] Furthermore, during the automatic driving of the work vehicle 10, the terminal device 20 can display various information related to the actions of the work vehicle 10, such as its current position, current orientation, and (rice transplanting) operation status, on the display unit 201. As an example, the terminal device 20 can display a monitoring screen on the display unit 201 that shows the target path and the current position of the work vehicle 10 on a map simulating the work site F1, so that the operator can easily visually grasp the status of the work vehicle 10.

[0068] [4] Control methods for work vehicles

[0069] Next, refer to Figures 1-3 This paper mainly describes an example of a control method (hereinafter referred to as "control method") for the work vehicle 10 executed by the control system 1.

[0070] The control method described in this embodiment is executed by a control system 1, which is primarily based on a computer system. In other words, it is specifically implemented through a control program for a work vehicle (hereinafter referred to as the "control program"). That is, the control program described in this embodiment is a computer program used to cause one or more processors to execute the various processes involved in the control method.

[0071] Here, when the control system 1 performs a pre-set specific start operation for executing the control program, it executes the various processes involved in the control method described below. The start operation is, for example, turning on the ignition switch to start the engine (power source), and / or starting the application program (control program for the work vehicle) in the terminal device 20. On the other hand, when the control system 1 performs a pre-set specific end operation, it terminates the various processes involved in the control method described below. The end operation is, for example, turning off the ignition switch, and / or ending the application program (control program for the work vehicle) in the terminal device 20.

[0072] [4.1] Automatic driving method

[0073] First, refer to Figure 3 The method for enabling the work vehicle 10 to drive automatically (including autonomous driving and semi-autonomous driving) through the control system 1 involved in this embodiment will be described. Figure 3 The target path R1 and the work vehicle 10 generated for the work site F1 are schematically shown from a top-down perspective. Figure 3 In the diagram, solid lines represent the paths where the work vehicle 10 performs operations (work path r11), and dashed lines represent the paths where the work vehicle 10 does not perform operations (non-work path r12).

[0074] exist Figure 3The left side shows an example of autonomous driving where the work vehicle 10 moves independently of the operator. In autonomous driving, the control system 1 automatically drives the work vehicle 10 along a target path R1 generated for the work area F1, which consists of fields. Figure 3 In this example, the target path R1 includes multiple straight work paths r11 and non-work paths r12 formed by turning paths that connect adjacent work paths r11. In this case, the control system 1 controls the driving device 14 (including steering wheels 141) via the driving control unit 131, causing the work vehicle 10 to travel along the target path R1. Furthermore, the control system 1 controls the work machine 12 via the work control unit 132, performing work using the work machine 12 only on the work paths r11 within the target path R1.

[0075] exist Figure 3 The right side shows an example of straight-line assist (semi-automatic driving) where only steering is automated. In straight-line assist, the control system 1 drives the work vehicle 10 along a target path R1 consisting of a straight path r13 parallel to the baseline within a work area F1 consisting of fields. In this case, the control system 1 controls the steering angle of the steering wheel 141 via the driving control unit 131 to keep the work vehicle 10 on the straight path r13.

[0076] In this example, at least when the work vehicle 10 has detached from the straight path r13, the driving control unit 131 changes the steering angle of the steering wheel 141 in order to bring the work vehicle 10 back onto the straight path r13.

[0077] However, in the case of autonomous driving as described above, according to the aforementioned related technology, the operator needs to perform the following operations: First, the operator switches the work vehicle 10 from manual steering mode to automatic steering mode. The work vehicle 10 then begins driving based on straight-line assist (semi-automatic driving) where only steering is automated. Then, the operator operates, for example, the shift pedal 181 of the transmission 18 to set the speed of the work vehicle 10 to the desired speed. While maintaining this desired speed, the operator operates, for example, the speed-fixing operation unit 19b of the operating device 19. Specifically, the operator adjusts the amount of pressure applied to the shift pedal 181 to set the speed of the work vehicle 10 to the desired speed. Thus, using the speed of the work vehicle 10 at the moment the speed-fixing operation unit 19b is operated as the target speed, the speed of the work vehicle 10 is automatically controlled to approach this target speed.

[0078] In other words, in addition to the above-mentioned switching operation to automatic steering mode, two other operations are performed: setting the speed of the work vehicle 10 and fixing the speed of the work vehicle 10, so that the work vehicle 10 can start to drive autonomously.

[0079] Thus, according to the aforementioned related technologies, automatic speed control of the work vehicle 10 cannot be performed without multiple operations by the user (operator). Therefore, according to the aforementioned related technologies, there is a problem that the operation for performing automatic speed control is difficult to perform, and the user may find it inconvenient. Specifically, when the operator wants to perform automatic speed control, they must adjust the amount of pressure on the gear shift pedal 181 with their foot, and operate the speed fixing operation unit 19b while maintaining the depressed gear shift pedal 181. Therefore, the operator must concentrate on maintaining the depressed gear shift pedal 181 with their foot and on operating the speed fixing operation unit 19b with their hand, which may be inconvenient for performing multiple operations simultaneously.

[0080] In this embodiment, a control method, a control program for work vehicles, a control system 1 for work vehicles, and a work system 100 are implemented through "linkage control" as described below, which facilitates the operation of automatic vehicle speed control.

[0081] [4.2] Linkage Control

[0082] Next, refer to Figures 4-6 The linkage control in the control method involved in this embodiment will be described. In this embodiment, the linkage control is generally divided into a first control, a second control, and a third control, which will be described below. Hereinafter, the first control, the second control, and the third control will be described in that order.

[0083] <First Control>

[0084] In the first control, if the operator operates the mode switching operation unit 19a of the operating device 19 to switch from manual steering operation mode to automatic steering operation mode, the driving control unit 131 switches to automatic steering operation mode and fixes the speed of the work vehicle 10.

[0085] Specifically, if a switch operation is performed from manual steering mode to automatic steering mode via the mode switching operation unit 19a, the steering control unit 131b of the driving control unit 131 begins to perform automatic steering control, replacing the operator, to bring the steering angle of the steering wheel 141 closer to the target steering angle. At this time, the speed control unit 131a of the driving control unit 131, triggered by the aforementioned switch operation, begins to perform automatic speed control, replacing the operator, to bring the speed of the work vehicle 10 closer to the target speed. In other words, the control system 1, triggered by the aforementioned switch operation, begins both automatic steering control and automatic speed control; in other words, it begins autonomous driving. Hereinafter, the aforementioned switch operation will also be referred to as the "first specific operation".

[0086] As described above, in the first control, when the steering control unit 131b receives a first specific operation (a switching operation from manual steering mode to automatic steering mode), it performs automatic steering control, automatically controlling the steering wheels 141 of the work vehicle 10 (in other words, automatically controlling the steering operation of the work vehicle 10). Additionally, the speed control unit 131a performs linked automatic speed control, which is automatic speed control that is performed in conjunction with the automatic steering control to automatically control the speed of the work vehicle 10. Thus, in the first control, the driving control unit 131 immediately begins automatic speed control after initiating automatic steering control.

[0087] Therefore, in the first control, if a first specific operation is performed, that is, an operation that triggers the execution of automatic steering control, then not only automatic steering control but also automatic vehicle speed control is executed. Thus, both automatic steering control and automatic vehicle speed control can be performed with a single operation. Therefore, in the first control, the operator can perform automatic vehicle speed control even without performing multiple operations as in the aforementioned related technologies, thus offering the advantage of ease of operation for executing automatic vehicle speed control. Specifically, when the operation of switching from manual steering mode to automatic steering mode is the first specific operation, the operator only needs to concentrate on performing the switching operation with their hands, thus offering the advantage of not finding the operation cumbersome.

[0088] In this embodiment, the first specific operation is the switching operation from manual steering mode to automatic steering mode of the mode switching operation unit 19a of the operation device 19 as described above, but it is not limited to this. For example, the first specific operation could also be the switching operation from manual steering mode to automatic steering mode of the terminal device 20. In this case, the terminal device 20 only needs to have an interface capable of accepting the aforementioned switching operation.

[0089] Here, in the first control, the speed control unit 131a controls the speed of the work vehicle 10 in either of the following two forms when performing linked automatic speed control.

[0090] In the first embodiment, the speed control unit 131a maintains a constant speed for the work vehicle 10 in the linked automatic speed control. This constant speed is, for example, a speed preset during the manufacturing of the work vehicle 10. Specifically, if the operator switches from manual steering mode to automatic steering mode, the speed control unit 131a sets the preset speed as the target speed and controls the speed of the work vehicle 10 to approach the target speed. In this case, regardless of the initial speed of the work vehicle 10 at the start of the linked automatic speed control, the work vehicle 10 travels at the aforementioned constant speed.

[0091] Furthermore, the aforementioned constant speed can also be appropriately set, for example, by an operator operating the operating device 19 or the terminal device 20. In this case, at least one of the operating device 19 and the terminal device 20 needs to have an interface capable of accepting the input operation of the aforementioned constant speed. Thus, in the linkage-type automatic vehicle speed control, the work vehicle 10 can be made to travel at the speed desired by the operator.

[0092] In the second embodiment, the speed control unit 131a can also maintain the speed of the work vehicle 10 at the start of the linked automatic speed control. Specifically, if the operator switches from manual steering mode to automatic steering mode, the speed control unit 131a sets the speed of the work vehicle 10 at the time of the switch as the target speed and controls the speed of the work vehicle 10 to approach the target speed. In this case, the speed of the work vehicle 10 does not change before or after the start of the linked automatic speed control. Therefore, the speed of the work vehicle 10 does not change drastically before or after the start of the linked automatic speed control, so the operator is less likely to experience discomfort.

[0093] Furthermore, the method for controlling the speed of the work vehicle 10, either of the two aforementioned methods, can be preset during the manufacturing of the work vehicle 10. Alternatively, the method for controlling the speed of the work vehicle 10 can be appropriately set by an operator operating the operating device 19 or the terminal device 20. In this case, at least one of the operating device 19 and the terminal device 20 needs to have an interface capable of accepting selection operations of either of the two aforementioned methods.

[0094] Furthermore, if the speed control unit 131a receives a second specific operation before receiving the first specific operation, it can also perform non-linkage automatic speed control. This non-linkage automatic speed control does not perform automatic steering control, but performs automatic speed control. The second specific operation is, for example, operating the speed-fixing operation unit 19b of the operating device 19. That is, when the work vehicle 10 is traveling in manual steering mode, if the operator operates the speed-fixing operation unit 19b without operating the mode-switching operation unit 19a of the operating device 19, the speed control unit 131a can also perform non-linkage automatic speed control. In this case, only the speed of the work vehicle 10 is automatically controlled, so the operator can concentrate on steering the work vehicle 10.

[0095] Furthermore, if the first specific operation is received after the second specific operation, the steering control unit 131b performs automatic steering control. In this case, after receiving the first specific operation, the driving control unit 131 performs both automatic steering control and automatic speed control, that is, linked automatic speed control.

[0096] Furthermore, when the speed control unit 131a controls the speed of the work vehicle 10 in the first manner described above, even if the work vehicle 10 has stopped and a second specific operation is received, it can perform non-linkage automatic speed control instead of automatic steering control. In this case, the work vehicle 10 changes from a stopped state to a state of traveling at a predetermined speed.

[0097] Furthermore, in the first control, when the driving control unit 131 receives a first setting operation, it can also set whether to execute the linked automatic speed control based on the first setting operation. Here, the first setting operation is, for example, an operation to switch the linkage between automatic speed control and automatic steering control on / off, and can be performed by an operator using the operating device 19 or the terminal device 20. In this case, at least one of the operating device 19 and the terminal device 20 needs to have an interface capable of receiving the aforementioned switching operation.

[0098] Specifically, when the operator performs an operation to disable the linkage between automatic speed control and automatic steering control, that is, when the linkage automatic speed control setting is not executed, the driving control unit 131 does not execute automatic speed control when it receives the first specific operation and executes automatic steering control. In this case, the work vehicle 10 travels using straight-line assist (semi-automatic driving) after receiving the first specific operation.

[0099] On the other hand, when the operator performs the operation of activating the linkage between automatic speed control and automatic steering control, that is, when the linkage automatic speed control is set, the driving control unit 131 executes automatic speed control when it receives the first specific operation and starts automatic steering control. In this case, the work vehicle 10 drives autonomously after receiving the first specific operation.

[0100] As described above, the operator can freely set whether to start autonomous driving or straight-line assistance through a first specific operation by performing a first setting operation. Furthermore, if the operator operates the speed fixing operation unit 19b while the work vehicle 10 is driving with straight-line assistance, autonomous driving can begin at the time desired by the operator.

[0101] Next, refer to Figure 4 The overall process flow of the first control is described. The control method described in this embodiment, when employing the first control, for example executes... Figure 4 The control shown below. The following explanation assumes that the work vehicle 10 is being driven in manual steering mode.

[0102] While the work vehicle 10 is in manual steering mode, upon receiving a second specific operation (S11: Yes), the speed control unit 131a of the driving control unit 131 begins automatic speed control (S12). Here, in step S12, the speed control unit 131a controls the speed of the work vehicle 10 in either the first or second form described above. In the first form, the speed of the work vehicle 10 is controlled to a preset speed. In the second form, the speed of the work vehicle 10 is maintained at the speed at the time of the second specific operation.

[0103] On the other hand, when the work vehicle 10 is in manual steering mode and no second specific operation is received (S11: No), the driving control unit 131 maintains driving in manual steering mode.

[0104] When the work vehicle 10 is traveling in manual steering mode and receives a first specific operation (S13: Yes), the steering control unit 131b of the driving control unit 131 starts automatic steering control (S14). On the other hand, when the work vehicle 10 is traveling in manual steering mode and does not receive a first specific operation (S13: No), the driving control unit 131 maintains the driving in manual steering mode.

[0105] Here, when the linkage between automatic speed control and automatic steering control is set to be enabled through the first setting operation (S15: Yes), the speed control unit 131a of the driving control unit 131 starts automatic speed control (S12). That is, in this case, the work vehicle 10 performs both automatic steering control and automatic speed control, thereby driving autonomously.

[0106] On the other hand, if the linkage between automatic speed control and automatic steering control is set to be off through the first setting operation (S15: No), the speed control unit 131a of the driving control unit 131 does not start automatic speed control. That is, in this case, the work vehicle 10 performs automatic steering control, thereby driving with straight-line assistance.

[0107] Subsequently, the work vehicle 10 continues to travel autonomously or with straight-line assistance until the operator stops autonomous driving or straight-line assistance. This operation includes, for example, switching the mode switching operation unit 19a of the operating device 19 from automatic steering mode to manual steering mode while the work vehicle 10 is traveling autonomously or with straight-line assistance. Additionally, this operation includes, for example, depressing the gear shift pedal 181 of the transmission device 18 while the work vehicle 10 is traveling autonomously.

[0108] but, Figure 4 The flowchart shown is just an example; the processes can be added or omitted as appropriate, and the order of processes can also be changed.

[0109] <Second Control>

[0110] In the second control, if the operator performs a switching operation from manual steering mode to automatic steering mode in the mode switching operation unit 19a of the operating device 19, the driving control unit 131 switches to automatic steering mode. Furthermore, the control system 1 queries the operator regarding whether to perform automatic speed control in conjunction with the automatic steering control. In other words, in the second control, when the control system 1 receives a first specific operation (a switching operation from manual steering mode to automatic steering mode) and performs automatic steering control, it queries whether to perform linked automatic speed control.

[0111] For example, the control system 1 displays a message such as "We are about to execute linked automatic speed control, is that alright?" on the display device of the work vehicle 10 or the display section 201 of the terminal device 20, thus performing an inquiry. At this time, the control system 1 displays an icon indicating a "no" response to the message along with the message on the display device of the work vehicle 10 or the display section 201 of the terminal device 20. Furthermore, when the control system 1 receives a response from the operator in response to the inquiry, it determines whether to execute linked automatic speed control based on the response.

[0112] For example, if the operator presses the "No" icon, the control system 1 accepts a negative response indicating a rejection of the automatic speed control. In this case, the driving control unit 131 does not perform automatic speed control at the start of automatic steering control. In this case, the work vehicle 10 travels with straight-line assist (semi-automatic driving) after receiving the first specific operation.

[0113] On the other hand, if the operator does not activate the "No" icon during the period from the execution of the inquiry until the specified time has elapsed, the control system 1 determines that the user affirms the execution of the linkage automatic speed control. In this case, the speed control unit 131a of the driving control unit 131 starts automatic speed control after the specified time has elapsed. In this case, the work vehicle 10 travels in straight-line assist (semi-automatic driving) until the specified time has elapsed after receiving the first specific operation, and then travels in autonomous driving after the specified time has elapsed.

[0114] As described above, in the second control, the system determines whether to execute the linkage automatic speed control based on the operator's response to the above inquiry. Therefore, it has the advantage of easily controlling the driving of the work vehicle 10 in a way that reflects the operator's intentions.

[0115] Furthermore, the aforementioned inquiry can also be performed by outputting a message such as "I am about to execute linked automatic speed control, is that alright?" through the speaker equipped on the terminal device 20. In this case, the operator can also, for example, input a sound such as "No" into the microphone equipped on the terminal device 20 during a predetermined period elapsed from the time of the inquiry, thereby giving a negative response to the execution of linked automatic speed control.

[0116] Next, refer to Figure 5 The overall process flow of the second control is described. The control method described in this embodiment, when employing the second control, for example, executes... Figure 5The control shown below. The following description assumes that the work vehicle 10 is traveling in manual steering mode. Furthermore, in the second control, if a second specific operation is received before the first specific operation is received, similar to the first control, the speed control unit 131a of the driving control unit 131 initiates automatic vehicle speed control (see reference). Figure 4 Step S11: Yes, and step S12).

[0117] When the work vehicle 10 is traveling in manual steering mode and receives a first specific operation (S21: Yes), the steering control unit 131b of the driving control unit 131 starts automatic steering control (S22). Furthermore, the control system 1 queries the operator whether to perform linked automatic speed control (S23). On the other hand, when the work vehicle 10 is traveling in manual steering mode and does not receive a first specific operation (S21: No), the driving control unit 131 maintains the driving in manual steering mode.

[0118] If the operator receives a negative response (S24: Yes) within the period from the execution of the above inquiry until the elapsed specified time, the driving control unit 131 does not initiate automatic speed control. That is, in this case, the work vehicle 10 performs automatic steering control, thereby driving with straight-line assistance.

[0119] On the other hand, if no negative response is received from the operator within the period from the execution of the above inquiry until the elapsed time (S24: No), the speed control unit 131a of the driving control unit 131 starts automatic speed control after the elapsed time (S25). That is to say, in this case, the work vehicle 10 performs both automatic steering control and automatic speed control, thereby driving autonomously.

[0120] Here, in step S25, the speed control unit 131a controls the speed of the work vehicle 10 in either the first or second form of the first control. In the first form, the speed of the work vehicle 10 is controlled to a preset speed. In the second form, the speed of the work vehicle 10 is maintained at the speed after a predetermined time.

[0121] Subsequently, similar to the first control, the work vehicle 10 maintains autonomous driving or straight-line assist driving until the operator stops autonomous driving or straight-line assist driving.

[0122] but, Figure 5 The flowchart shown is just an example; the processes can be added or omitted as appropriate, and the order of processes can also be changed.

[0123] <Third Control>

[0124] In the third control, if the operator performs a switching operation from manual steering mode to automatic steering mode in the mode switching operation unit 19a of the operating device 19, the driving control unit 131 switches to automatic steering mode. Furthermore, if the driving control unit 131 meets the conditions shown below, it begins automatic vehicle speed control from the moment those conditions are met. Here, these conditions, that is, the conditions for executing the linked automatic steering control, include at least one of the first and second conditions shown below.

[0125] The first condition is that a specific time has elapsed since the start of automatic steering control (that is, the moment the first specific operation is received). This specific time is, for example, a time preset during the manufacturing of the work vehicle 10. In this case, if the driving control unit 131 starts automatic steering control, it starts timing the specific time using a counter.

[0126] During the period from the start of automatic steering control until a specific time has elapsed, the driving control unit 131 performs automatic steering control. In this case, the work vehicle 10 travels with straight-line assist (semi-automatic driving) during the period before the specific time has elapsed. Furthermore, after the specific time has elapsed from the start of automatic steering control, the speed control unit 131a of the driving control unit 131 begins automatic speed control. In this case, the work vehicle 10 travels autonomously after the specific time has elapsed.

[0127] The second condition is that the work vehicle 10 has traveled a specific distance from the starting point of the automatic steering control (that is, the location of the work vehicle 10 at the moment the first specific operation is received). The specific distance is, for example, a distance preset during the manufacturing of the work vehicle 10. In this case, if the travel control unit 131 starts the automatic steering control, it starts measuring the distance traveled by the work vehicle 10 from its current position based on the positioning result of the positioning device 15.

[0128] During the period from the initiation of automatic steering control until the work vehicle 10 has traveled a specific distance, the driving control unit 131 performs automatic steering control. In this case, the work vehicle 10 travels with straight-line assistance (semi-automatic driving) during the period before traveling the specific distance. Furthermore, once the work vehicle 10 has traveled a specific distance from the initiation of automatic steering control, the speed control unit 131a of the driving control unit 131 begins automatic speed control. In this case, after traveling the specific distance, the work vehicle 10 travels autonomously.

[0129] As mentioned above, in the third control, automatic speed control is not executed from the start of automatic steering control until the conditions are met. Therefore, it has the advantage of providing the operator with a buffer time to determine whether to engage autonomous driving from the start of straight-line assist (semi-automatic driving) to the start of autonomous driving.

[0130] Furthermore, in the third control, the driving control unit 131 can determine the timing of automatic speed control based solely on the first condition, or solely on the second condition. Additionally, in the third control, the driving control unit 131 can also execute automatic speed control when both the first and second conditions are met.

[0131] However, in the third control, when the driving control unit 131 receives a second setting operation, it can also set at least one of the specific time in the first condition and the specific distance in the second condition based on the second setting operation. Here, the second setting operation is, for example, setting a specific time or a specific distance, and can be performed by an operator operating the operating device 19 or the terminal device 20. In this case, at least one of the operating device 19 and the terminal device 20 only needs to have an interface capable of accepting the above-mentioned operation.

[0132] Specifically, the operator can freely increase or decrease the value of a preset specific time (default specific time) in the operating device 19 or terminal device 20 to set a specific time. Additionally, the operator can freely increase or decrease the value of a preset specific distance (default specific distance) in the operating device 19 or terminal device 20 to set a specific distance. Thus, the operator can freely set the timing of automatic speed control.

[0133] Next, refer to Figure 6 The overall process flow of the third control is described. The control method described in this embodiment, when employing a third control, for example, executes... Figure 6 The control shown below. The following description assumes the work vehicle 10 is traveling in manual steering mode. Furthermore, in the third control, if a second specific operation is received before the first specific operation is received, similar to the first control, the speed control unit 131a of the automatic speed control unit 131 initiates automatic speed control (see reference). Figure 4 Step S11: Yes, and step S12).

[0134] When the work vehicle 10 is traveling in manual steering mode and receives a first specific operation (S31: Yes), the steering control unit 131b of the driving control unit 131 starts automatic steering control (S32). On the other hand, when the work vehicle 10 is traveling in manual steering mode and does not receive a first specific operation (S31: No), the driving control unit 131 maintains the driving in manual steering mode.

[0135] After receiving the aforementioned first specific operation, during the period when neither the first nor the second condition is met (S33: No), the driving control unit 131 does not initiate automatic speed control. That is, in this situation, the work vehicle 10 performs automatic steering control to drive with straight-line assistance.

[0136] On the other hand, after receiving the aforementioned first specific operation, if either the first condition or the second condition is met (S33: Yes), the speed control unit 131a of the driving control unit 131 starts automatic speed control from the moment the condition is met (S34). That is, in this case, the work vehicle 10 performs both automatic steering control and automatic speed control, thereby driving autonomously.

[0137] Here, in step S34, the speed control unit 131a controls the speed of the work vehicle 10 in either the first or second form of the first control. In the first form, the speed of the work vehicle 10 is controlled to a preset speed. In the second form, the speed of the work vehicle 10 is maintained at the speed required to satisfy the conditions at that moment.

[0138] Subsequently, similar to the first control, the work vehicle 10 maintains autonomous driving or straight-line assist driving until the operator stops autonomous driving or straight-line assist driving.

[0139] but, Figure 6 The flowchart shown is just an example; the processes can be added or omitted as appropriate, and the order of processes can also be changed.

[0140] However, in any of the first to third controls, control system 1 can also notify the execution of linked automatic speed control when performing linked automatic speed control. This provides the advantage that operators can easily monitor when automatic speed control is being implemented.

[0141] Specifically, the control system 1 may, for example, display a message such as "Linked automatic speed control is about to begin" on the display device of the work vehicle 10 or the display section 201 of the terminal device 20, thereby notifying the operator of the execution of linked automatic speed control. Alternatively, the control system 1 may output the aforementioned message audibly from a speaker equipped on the work vehicle 10 or the terminal device 20, or output a warning sound from the speaker, thereby notifying the operator of the execution of linked automatic speed control. Furthermore, the control system 1 may, for example, cause the light source equipped on the work vehicle 10 or the terminal device 20 to flash in a specific pattern, thereby notifying the operator of the execution of linked automatic speed control.

[0142] Furthermore, the aforementioned notification can be made at the moment the linked automatic speed control begins or immediately after it begins, or during the period from the start of automatic steering control to the start of linked automatic speed control. Additionally, the aforementioned notification can be made at any time during the execution of linked automatic speed control. Furthermore, the aforementioned notification can also be made periodically during the execution of linked automatic speed control.

[0143] Furthermore, in any of the first to third controls, the speed control unit 131a of the driving control unit 131 can also change the speed of the work vehicle 10 while continuing to perform the linked automatic speed control if a change operation is received during the execution of the linked automatic speed control. Here, the change operation is, for example, changing the speed of the work vehicle 10, and can be performed by an operator operating the operating device 19 or the terminal device 20. In this case, at least one of the operating device 19 and the terminal device 20 needs to have an interface capable of receiving the aforementioned change operation. Thus, the operator can freely adjust the speed of the work vehicle 10 during the execution of the linked automatic speed control, for example, according to the progress of the work.

[0144] For example, during the execution of autonomous driving or straight-line assist (semi-autonomous driving), if the operator performs a change operation, the speed control unit 131a of the driving control unit 131, while continuing to perform linked automatic speed control, will change the vehicle speed according to the change operation. In this case, the operator can also change the speed of the work vehicle 10 by operating the gear shift pedal 181. Furthermore, if operating the gear shift pedal 181 during the execution of linked automatic speed control is equivalent to ending the linked automatic speed control, the change operation can also be an operation different from operating the gear shift pedal 181.

[0145] Furthermore, in either the second or third control, if the driving control unit 131 is performing linked automatic speed control, it may not perform linked automatic speed control if an invalid condition is met. An invalid condition includes the change in the speed of the operating vehicle 10 at the position where automatic speed control is initiated reaching a predetermined value.

[0146] Here, the change in the speed of the work vehicle 10 exceeding a predetermined value includes, for example, the difference between the maximum and minimum speeds of the work vehicle 10 exceeding a predetermined value. Furthermore, the change in the speed of the work vehicle 10 exceeding a predetermined value includes, for example, the speed of the work vehicle 10 at the start of automatic steering control being a reference speed, and the speed of the work vehicle 10 being either lower or higher than a predetermined value compared to the reference speed. Thus, a situation where the change in the speed of the work vehicle 10 exceeds a predetermined value may occur even when the speed of the work vehicle 10 is unstable.

[0147] Specifically, for example, if the change in the speed of the work vehicle 10 exceeds a predetermined value during the period from the start of automatic steering control until a specific time has elapsed—that is, during the period until the first condition is met—the invalid condition is satisfied. In this case, even if the first condition is subsequently met, the driving control unit 131 will not perform automatic speed control because the invalid condition is satisfied. Furthermore, for example, if the change in the speed of the work vehicle 10 exceeds a predetermined value during the period from the start of automatic steering control until the work vehicle 10 has traveled a specific distance—that is, during the period until the second condition is met—the invalid condition is satisfied. In this case, even if the second condition is subsequently met, the driving control unit 131 will not perform automatic speed control because the invalid condition is satisfied. Therefore, automatic speed control is performed when the speed of the work vehicle 10 is stable, thus providing the advantage of easily stabilizing the speed of the work vehicle 10 during automatic speed control.

[0148] Furthermore, when the driving control unit 131 receives a third setting operation, it can also set the aforementioned predetermined value based on the third setting operation. Here, the third setting operation is, for example, setting the aforementioned predetermined value, and can be performed by an operator operating the operating device 19 or the terminal device 20. In this case, at least one of the operating device 19 and the terminal device 20 needs to have an interface capable of receiving the aforementioned operation.

[0149] Specifically, the operator can freely increase or decrease the value of a preset predetermined value (default predetermined value) through the operating device 19 or the terminal device 20 to set the predetermined value. Thus, the operator can freely set the degree to which the change in the speed of the work vehicle 10 is considered stable.

[0150] [5] Variations

[0151] Hereinafter, variations of Embodiment 1 are listed. The variations described below can be applied in appropriate combinations.

[0152] In this embodiment, automatic speed control is a constant speed control that maintains the speed of the work vehicle 10 at a constant speed, but it is not limited to this. For example, if the work vehicle 10 is automatically steering controlled not only when traveling straight but also when turning, the automatic speed control may control the work vehicle 10 at a first speed when traveling straight and at a second speed lower than the first speed when turning. Furthermore, for example, if the work vehicle 10 is automatically steering controlled only when traveling straight and is manually steering by the operator when turning, the automatic speed control may decelerate the work vehicle 10 compared to its speed when traveling straight as it approaches the turning point. Additionally, in this case, the automatic speed control may also accelerate the work vehicle 10 to return to its speed when turning and approaching a straight path.

[0153] In this embodiment, the control method and control system 1 for the work vehicle 10 can also independently execute the control described below, regardless of the control that performs automatic speed control in conjunction with automatic steering control upon receiving a first specific operation. That is, the control method for the work vehicle 10 includes: if a change operation is received during the execution of automatic speed control that automatically controls the speed of the work vehicle 10, the speed of the work vehicle 10 is changed according to the change operation while automatic speed control continues. In other words, the control system 1 includes a speed control unit 131a, which, upon receiving a change operation during the execution of automatic speed control that automatically controls the speed of the work vehicle 10, changes the speed of the work vehicle 10 according to the change operation while automatic speed control continues.

[0154] The control system 1 of this disclosure includes a computer system. The computer system is primarily structured with one or more processors and one or more memories as hardware. The functions of the control system 1 are realized by the processor executing a program (control program for the work vehicle) recorded in the computer system's memory. The program can be pre-recorded in the computer system's memory, provided via electrical communication lines, or recorded on a non-temporary recording medium such as a memory card, optical disc, or hard disk drive that can be read by the computer system. Furthermore, some or all of the functional units included in the control system 1 can also be constructed using electronic circuits.

[0155] Furthermore, integrating at least a portion of the functions of the control system 1 into a single housing is not a necessary structural requirement for the control system 1; the components of the control system 1 can also be distributed across multiple devices (e.g., control device 13 and terminal device 20). Conversely, in Embodiment 1, functions distributed across multiple devices can also be integrated into a single housing. Moreover, at least a portion of the functions of the control system 1 can also be implemented via the cloud (cloud computing) or similar technologies.

[0156] Furthermore, the terminal device 20 is not limited to general-purpose terminals such as tablets, smartphones, or laptops; it can also be a dedicated terminal. Moreover, multiple terminal devices 20 can be associated with one work vehicle 10, in which case one work vehicle 10 can be controlled through multiple terminal devices 20. Conversely, one terminal device 20 can be associated with multiple work vehicles 10, in which case multiple work vehicles 10 can be controlled through one terminal device 20.

[0157] Furthermore, in Embodiment 1, the steering wheels 141 are a pair of left and right front wheels, but are not limited to this. For example, a pair of left and right rear wheels may also form a steering wheel together with a pair of left and right front wheels, or may form a steering wheel in place of a pair of left and right front wheels. In this case, the rear wheels, which serve as steering wheels, are also steered. Additionally, the drive wheels 142 are not limited to a pair of left and right rear wheels; for example, a pair of left and right front wheels may also form a drive wheel together with a pair of left and right rear wheels, or may form a drive wheel in place of a pair of left and right rear wheels. Moreover, the steering wheel 141 may be a single wheel or three or more wheels. Similarly, the drive wheel 142 may be a single wheel or three or more wheels. The same wheel may also serve as both a steering wheel 141 and a drive wheel 142.

[0158] [Notes on the Invention]

[0159] The following is a summary of the invention extracted from the above embodiments. Furthermore, the structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0160] <Postscript 1>

[0161] A control method for a work vehicle, characterized by having:

[0162] Upon receiving a first specific operation, automatic steering control is performed to automatically control the steering of the work vehicle; and

[0163] The aforementioned automatic speed control is a linkage-type automatic speed control that is executed in conjunction with the aforementioned automatic steering control to automatically control the speed of the aforementioned work vehicle.

[0164] <Appendix 2>

[0165] The control method for the operating vehicle described in Appendix 1 is characterized by,

[0166] The aforementioned linked automatic speed control includes controlling the speed of the aforementioned work vehicles to a constant speed.

[0167] <Appendix 3>

[0168] The control method for the operating vehicle described in Appendix 1 or 2 is characterized by,

[0169] The aforementioned linked automatic speed control includes maintaining the speed of the aforementioned operating vehicle at the start of the aforementioned linked automatic speed control.

[0170] <Appendix 4>

[0171] The control method for the operating vehicle described in any one of Appendices 1 to 3 is characterized by further comprising:

[0172] Upon receiving a second specific operation, non-linkage automatic speed control is executed. In this non-linkage automatic speed control, the automatic steering control is not executed, but the automatic speed control is executed instead.

[0173] <Appendix 5>

[0174] The control method for the operating vehicle described in any one of Appendices 1 to 4 is characterized by further comprising:

[0175] Upon receiving a first setting operation, the system determines whether to execute the aforementioned linked automatic vehicle speed control based on that first setting operation.

[0176] <Appendix 6>

[0177] The control method for the operating vehicle described in any one of Appendices 1 to 5 is characterized by further comprising:

[0178] When the above-mentioned automatic steering control is executed, an inquiry is made as to whether the above-mentioned linked automatic speed control should be executed.

[0179] <Appendix 7>

[0180] The control method for the operating vehicle described in any one of Appendices 1 to 6 is characterized in that,

[0181] The conditions for implementing the above-mentioned linked automatic speed control include at least one of the following: a specific time has elapsed since the start of the above-mentioned automatic steering control, and the above-mentioned work vehicle has traveled a specific distance since the start point of the above-mentioned automatic steering control.

[0182] <Postscript 8>

[0183] The control method for the work vehicle described in Appendix 7 is characterized by further comprising:

[0184] Upon receiving a second setting operation, at least one of the aforementioned specific time and the aforementioned specific distance is set according to the second setting operation.

[0185] <Postscript 9>

[0186] The control method for the operating vehicle according to any one of the appendices 1 to 8 is characterized by further comprising:

[0187] When performing the above-mentioned linked automatic speed control, notify the execution of the above-mentioned linked automatic speed control.

[0188] <Postscript 10>

[0189] The control method for the operating vehicle according to any one of the appendices 1 to 9 is characterized by further comprising:

[0190] If a change operation is received during the execution of the aforementioned linked automatic speed control, the speed of the work vehicle is changed according to the change operation while the aforementioned linked automatic speed control continues.

[0191] <Postscript 11>

[0192] The control method for the operating vehicle described in any one of Appendices 1 to 10 is characterized by further comprising:

[0193] If the change in the speed of the work vehicle exceeds a predetermined value before the timing for starting the automatic speed control is reached, the automatic speed control will not be executed.

[0194] <Postscript 12>

[0195] The control method for the work vehicle described in Appendix 11 is characterized by further comprising:

[0196] Upon receiving a third setting operation, the aforementioned specified value is set according to that third setting operation.

[0197] <Postscript 13>

[0198] A control program for a work vehicle, characterized in that,

[0199] This is used to enable one or more processors to execute the control method for the work vehicle described in any of the appendices 1 to 12.

[0200] <Postscript 14>

[0201] A control system for a work vehicle, characterized in that it comprises:

[0202] The steering control unit, upon receiving a first specific operation, performs automatic steering control, automatically controlling the steering of the work vehicle; and

[0203] The speed control unit performs linked automatic speed control, which is an automatic speed control that is performed in conjunction with the automatic steering control to automatically control the speed of the work vehicle.

[0204] <Postscript 15>

[0205] An operating system, characterized in that it comprises:

[0206] The control system for the work vehicle described in Appendix 14, and

[0207] The body of the aforementioned work vehicle.

Claims

1. A control method for a work vehicle, characterized in that, have: Upon receiving a first specific operation, automatic steering control is performed to automatically control the steering of the work vehicle; and The system performs linked automatic speed control, which is an automatic speed control that is executed in conjunction with the automatic steering control to automatically control the speed of the work vehicle.

2. The control method for the operating vehicle according to claim 1, characterized in that, The linked automatic speed control includes controlling the speed of the operating vehicle to a constant speed.

3. The control method for the operating vehicle according to claim 1 or 2, characterized in that, The linked automatic speed control includes maintaining the speed of the operating vehicle at the start of the linked automatic speed control.

4. The control method for the operating vehicle according to claim 1 or 2, characterized in that, It also has: Upon receiving a second specific operation, non-linkage automatic speed control is executed, wherein the automatic steering control is not executed, but the automatic speed control is executed.

5. The control method for the operating vehicle according to claim 1 or 2, characterized in that, It also has: Upon receiving a first setting operation, the system determines whether to execute the linked automatic vehicle speed control based on that first setting operation.

6. The control method for the operating vehicle according to claim 1 or 2, characterized in that, It also has: When the automatic steering control is executed, an inquiry is made as to whether the linked automatic speed control should be executed.

7. The control method for the operating vehicle according to claim 1 or 2, characterized in that, The conditions for executing the linked automatic speed control include at least one of the following: a specific time has elapsed since the start of the automatic steering control, and the work vehicle has traveled a specific distance from the start point of the automatic steering control.

8. The control method for the operating vehicle according to claim 7, characterized in that, It also has: Upon receiving a second setting operation, at least one of the specific time and the specific distance is set according to the second setting operation.

9. The control method for the operating vehicle according to claim 1 or 2, characterized in that, It also has: When the linked automatic speed control is executed, the execution of the linked automatic speed control is notified.

10. The control method for the operating vehicle according to claim 1 or 2, characterized in that, It also has: If a change operation is received during the execution of the linked automatic speed control, the speed of the work vehicle is changed according to the change operation while the linked automatic speed control continues.

11. The control method for the operating vehicle according to claim 1 or 2, characterized in that, It also has: If, during the execution of the linked automatic speed control, the change in the speed of the operating vehicle exceeds a predetermined value before the timing for initiating the automatic speed control is reached, then the linked automatic speed control will not be executed.

12. The control method for the operating vehicle according to claim 11, characterized in that, It also has: Upon receiving a third setting operation, the specified value is set according to the third setting operation.

13. A control program for a work vehicle, characterized in that, For causing one or more processors to execute the control method for the work vehicle as described in claim 1 or 2.

14. A control system for a work vehicle, characterized in that, have: The steering control unit, upon receiving a first specific operation, performs automatic steering control, automatically controlling the steering of the work vehicle; and The speed control unit performs linked automatic speed control, which is an automatic speed control that is performed in conjunction with the automatic steering control to automatically control the speed of the work vehicle.

15. An operating system, characterized in that, have: The control system for the work vehicle as described in claim 14, and The body of the work vehicle.

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