Traveling method, traveling program, and traveling system

Abstract

To provide a traveling method capable of allowing a work vehicle to automatically travel in a passage between columns at a work site where a plurality of columns of work objects are arranged while reducing workload on an operator, a traveling program, and a traveling system.SOLUTION: An automatic traveling system 1 automatically travels a work vehicle 10 in a passage between columns in a field where a plurality of work objects are arranged. The automatic traveling system 1 is provided with a registration processing part 212 and a traveling processing part 111. The registration processing part 212 acquires positions of a start point and an end point of the passage between columns on the basis of the operator's operation. The traveling processing part 111 travels the work vehicle 10 on the basis of the start point and the end point.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a traveling method, a traveling program, and a traveling system for automatically traveling a work vehicle on a passage between rows at a work site where a plurality of work objects are arranged in a plurality of rows.

Background Art

[0002] In work sites such as farms and orchards, there are cases where a plurality of crops are planted in rows (linear) to form crop rows. When a plurality of the crop rows are formed at the work site, a passage for a work vehicle to travel and work is formed between the crop rows. Conventionally, there is known a work vehicle that performs a spraying operation on the crops while automatically traveling on the passage between the crop rows at the work site (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to automatically travel a work vehicle on the passage between the crop rows, it is necessary to register in advance the position where the work vehicle travels. For example, an operator performs an operation of installing a positioning device at the position where the crops are planted and registering the position information (positioning data) of the position. Specifically, the operator moves the positioning device in order to a plurality of positions for each crop row to acquire the position information of each position. For example, for each of the adjacent left and right crop rows, by acquiring the position information, the central position (center) of the passage can be calculated based on the left positioning position and the right positioning position. Thereby, it becomes possible to automatically travel the work vehicle at the central position of the passage.

[0005] However, according to the above method, the operator has to move to many locations in each crop row to obtain position information. Therefore, there arises a problem that the workload of the operator increases.

[0006] An object of the present invention relates to a traveling method, a traveling program, and a traveling system capable of automatically traveling a work vehicle on a passage between rows at a work site where a plurality of rows of work objects are arranged while reducing the workload of an operator.

Means for Solving the Problems

[0007] The traveling method according to the present invention is a method for automatically traveling a work vehicle on a passage between rows at a work site where a plurality of rows of work objects are arranged. The traveling method includes obtaining positions of a start point and an end point of the passage between the rows based on an operation of an operator, and causing the work vehicle to travel on the passage based on the start point and the end point.

[0008] The traveling program according to the present invention is a program for automatically traveling a work vehicle on a passage between rows at a work site where a plurality of rows of work objects are arranged. The traveling program is a program for causing one or a plurality of processors to obtain positions of a start point and an end point of the passage between the rows based on an operation of an operator, and cause the work vehicle to travel on the passage based on the start point and the end point.

[0009] The traveling system according to the present invention is a system for automatically traveling a work vehicle on a passage between rows at a work site where a plurality of rows of work objects are arranged. The traveling system includes a registration processing unit and a traveling processing unit. The registration processing unit obtains positions of a start point and an end point of the passage between the rows based on an operation of an operator. The traveling processing unit causes the work vehicle to travel on the passage based on the start point and the end point.

Effects of the Invention

[0010] According to the present invention, it is possible to provide a traveling method, a traveling program, and a traveling system that can automatically drive a work vehicle through a passage between rows at a work site where a plurality of work objects are arranged while reducing the workload of an operator.

Brief Description of the Drawings

[0011]

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Embodiments for Carrying Out the Invention

[0012] The following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0013] [Automatic Driving System 1] As shown in FIG. 1, the automatic driving system 1 according to the embodiment of the present invention includes a work vehicle 10, an operation terminal 20, a positioning device 30, a base station (not shown), and a satellite (not shown). The work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN. Further, the operation terminal 20 and the positioning device 30 can communicate via a communication network N2. For example, the operation terminal 20 and the positioning device 30 can communicate via a mobile phone line network, a packet line network, or a wireless LAN. Note that the operation terminal 20 and the positioning device 30 may be integrally formed. For example, the positioning device 30 may be built in the operation terminal 20. The communication network N1 and the communication network N2 may be the same communication network or different communication networks.

[0014] In this embodiment, a case where the work vehicle 10 is a vehicle that performs a spraying operation of spraying a spraying material on a crop V (see FIG. 4) planted in a field F will be described as an example. The field F is an example of the work area of the present invention, and the field F is, for example, an orchard such as a vineyard or an apple orchard. The crop V is an example of the work object of the present invention, and the crop V is, for example, a grape fruit tree. The spraying operation is an example of a predetermined operation of the present invention, and the spraying operation is, for example, an operation of spraying a spraying material such as a chemical solution or water on the crop V. As another embodiment, the work vehicle 10 may be a vehicle that performs a weeding operation, a pruning operation, or a harvesting operation. The weeding operation and the harvesting operation are examples of a predetermined operation of the present invention.

[0015] The crops V are arranged in a plurality of rows at a predetermined interval in the field F. Specifically, as shown in FIG. 4, the plurality of crops V are planted linearly in a predetermined direction (X direction), and a crop row Vr including the plurality of crops V arranged linearly is formed. FIG. 4 illustrates three rows of crop rows Vr. Each crop row Vr is arranged at a predetermined interval W1 in the row direction (Y direction). The region (space) of the interval W2 between adjacent crop rows Vr serves as a work passage for the work vehicle 10 to perform a spraying operation on the crop V while traveling in the X direction. The intervals W1 and W2 are preset distances (inter-row distance, passage width), and information on the distances is pre-registered in the work vehicle 10 and the operation terminal 20 by a registration operation by the operator.

[0016] FIG. 5 schematically shows the field F in which a plurality of crop rows Vr are arranged. In the example shown in FIG. 5, seven crop rows Vr1 to Vr7 are arranged in the field F. In FIG. 5, the position (crop position) where the crop V is planted is represented by "Vp". A passage, which is a work passage with an inter-row distance W2, is formed between adjacent crop rows Vr. For example, a passage R1 is formed between the crop row Vr1 and the crop row Vr2, a passage R2 is formed between the crop row Vr2 and the crop row Vr3, a passage R3 is formed between the crop row Vr3 and the crop row Vr4, a passage R4 is formed between the crop row Vr4 and the crop row Vr5, a passage R5 is formed between the crop row Vr5 and the crop row Vr6, and a passage R6 is formed between the crop row Vr6 and the crop row Vr7.

[0017] The work vehicle 10 is capable of automatically traveling (autonomous driving) according to preset position information. For example, as shown in FIG. 10, the work vehicle 10 automatically travels from the travel start position S to the start point Ds1 of the passage R1, and performs spraying work while automatically traveling from the start point Ds1 to the end point De1 of the passage R1. Subsequently, the work vehicle 10 automatically travels from the end point De1 of the passage R1 to the start point Ds2 of the passage R2, and performs spraying work while automatically traveling from the start point Ds2 to the end point De2 of the passage R2. Subsequently, the work vehicle 10 automatically travels from the end point De2 of the passage R2 to the start point Ds3 of the passage R3, and performs spraying work while automatically traveling from the start point Ds3 to the end point De3 of the passage R3. Subsequently, the work vehicle 10 automatically travels from the end point De3 of the passage R3 to the start point Ds4 of the passage R4, and performs spraying work while automatically traveling from the start point Ds4 to the end point De4 of the passage R4. Subsequently, the work vehicle 10 automatically travels from the end point De4 of the passage R4 to the start point Ds5 of the passage R5, and performs spraying work while automatically traveling from the start point Ds5 to the end point De5 of the passage R5. Subsequently, the work vehicle 10 automatically travels from the end point De5 of the passage R5 to the start point Ds6 of the passage R6, and performs spraying work while automatically traveling from the start point Ds6 to the end point De6 of the passage R6. Then, the work vehicle 10 automatically travels from the end point De6 of the passage R6 to the travel end position G to end the travel and work.

[0018] The travel route along which the work vehicle 10 travels includes a linear work route (the route shown by the solid line in FIG. 10) where the work vehicle 10 performs spraying work on the crop V, and a movement route (the route shown by the dotted line in FIG. 10) where the work vehicle 10 moves between the crop rows Vr without performing spraying work. Each work route connecting the start point and the end point serves as a target route for automatically driving the work vehicle 10.

[0019] Further, the work vehicle 10 performs automatic driving in a predetermined column order. For example, the work vehicle 10 travels on the passage R1, then on the passage R2, and then on the passage R3. In this way, the work vehicle 10 performs automatic driving according to the order of the preset crop rows Vr. Note that the work vehicle 10 may travel one row at a time in the order in which the crop rows Vr are arranged (for example, in the order of crop rows Vr1 to Vr7), or may travel every other multiple rows.

[0020] The satellite is a positioning satellite that constitutes a satellite positioning system such as GNSS (Global Navigation Satellite System), and transmits a GNSS signal (satellite signal). The base station is a reference point (reference station) that constitutes a satellite positioning system. The base station transmits correction information for calculating the current position of the work vehicle 10 to the work vehicle 10.

[0021] The positioning unit 16 mounted on the work vehicle 10 executes positioning processing for calculating the current position (latitude, longitude, altitude) and current orientation of the work vehicle 10 by using the GNSS signal transmitted from the satellite. Specifically, the positioning unit 16 positions the work vehicle 10 by using, for example, the RTK (Real Time Kinematic) method that positions the work vehicle 10 based on the positioning information (such as GNSS signals) received by two receivers (the positioning antenna 164 and the base station) and the correction information generated at the base station. Since the positioning method is a well-known technique, detailed description thereof is omitted.

[0022] Hereinafter, details of each component constituting the automatic driving system 1 will be described.

[0023] [Work vehicle 10] As shown in FIGS. 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a traveling device 13, a working machine 14, a communication unit 15, a positioning unit 16, a sensor 17, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the traveling device 13, the working machine 14, the positioning unit 16, the sensor 17, and the like. Note that the vehicle control device 11 and the positioning unit 16 may be capable of wireless communication.

[0024] The communication unit 15 is a communication interface for connecting the work vehicle 10 to the communication network N1 by wire or wirelessly and performing data communication according to a predetermined communication protocol with external devices such as the operation terminal 20 via the communication network N1. The work vehicle 10 can perform wireless communication with the operation terminal 20 via the communication unit 15.

[0025] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute the automatic driving process (see FIG. 13) described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. Note that the automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. Further, the storage unit 12 may store data of target point information D1 (see FIG. 9) regarding the target points (starting point and ending point) registered in the operation terminal 20. The method of registering the starting point and the ending point will be described later.

[0026] The traveling device 13 is a driving unit that causes the work vehicle 10 to travel. As shown in FIG. 2, the traveling device 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, and the like. Note that the front wheels 132 and the rear wheels 133 are respectively provided on the left and right sides of the work vehicle 10. Further, the traveling device 13 is not limited to a wheel type including the front wheels 132 and the rear wheels 133, and may be a crawler type including crawlers provided on the left and right sides of the work vehicle 10.

[0027] The engine 131 is a driving source such as a diesel engine or a gasoline engine that is driven using fuel supplied from a fuel tank (not shown). The traveling device 13 may include an electric motor as a driving source together with the engine 131 or instead of the engine 131. A generator (not shown) is connected to the engine 131, and electric power is supplied from the generator to electrical components such as a vehicle control device 11 provided in the work vehicle 10 and a battery. The battery is charged by the electric power supplied from the generator. And electrical components such as the vehicle control device 11 and the positioning unit 16 provided in the work vehicle 10 can be driven by the electric power supplied from the battery even after the engine 131 stops.

[0028] The driving force of the engine 131 is transmitted to the front wheels 132 via a transmission 134 and a front axle 135, and is transmitted to the rear wheels 133 via the transmission 134 and a rear axle 136. Also, the driving force of the engine 131 is transmitted to the work implement 14 via a PTO shaft (not shown). When the work vehicle 10 performs automatic traveling, the traveling device 13 performs a traveling operation according to an instruction from the vehicle control device 11.

[0029] The work implement 14 is, for example, a sprayer, a lawn mower, a tiller, a plow, a fertilizer applicator, a seeder, etc., and is detachable from the work vehicle 10. Thereby, the work vehicle 10 can perform various operations using each of the work implements 14. In the present embodiment, a case where the work implement 14 is a sprayer and the work vehicle 10 performs a spraying operation in the field F will be described as an example.

[0030] The steering wheel 137 is an operation unit that is operated by an operator or the vehicle control device 11. For example, in the traveling device 13, according to the operation of the steering wheel 137 by the vehicle control device 11, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like, and the traveling direction of the work vehicle 10 is changed. The operator can manually drive the work vehicle 10 by operating the steering wheel 137.

[0031] In addition to the steering wheel 137, the traveling device 13 includes a shift lever (not shown), an accelerator, a brake, etc. that are operated by the vehicle control device 11. In the traveling device 13, according to the operation of the shift lever by the vehicle control device 11, the gear of the transmission 134 is switched to a forward gear or a reverse gear, etc., and the traveling mode of the work vehicle 10 is switched to forward or reverse, etc. Further, the vehicle control device 11 controls the rotational speed of the engine 131 by operating the accelerator. Also, the vehicle control device 11 operates the brake to brake the rotation of the front wheels 132 and the rear wheels 133 using an electromagnetic brake.

[0032] The positioning unit 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, a positioning antenna 164, and the like. For example, as shown in FIG. 2, the positioning unit 16 is provided on the upper part of the cabin 18 where the operator rides. Also, the installation location of the positioning unit 16 is not limited to the cabin 18. Further, the positioning control unit 161, the storage unit 162, the communication unit 163, and the positioning antenna 164 of the positioning unit 16 may be distributed and arranged at different positions in the work vehicle 10. As described above, the battery is connected to the positioning unit 16, and the positioning unit 16 can operate even when the engine 131 is stopped. Also, as the positioning unit 16, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass may be substituted.

[0033] The positioning control unit 161 is a computer system including one or more processors and a storage memory such as a non-volatile memory and a RAM. The storage unit 162 is a non-volatile memory or the like that stores a program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the program may be downloaded from a server (not shown) to the positioning unit 16 via the communication network N1 and stored in the storage unit 162.

[0034] The communication unit 163 is a communication interface for connecting the positioning unit 16 to the communication network N1 by wire or wirelessly and performing data communication according to a predetermined communication protocol with external devices such as a base station (not shown) via the communication network N1.

[0035] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0036] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from the satellites. For example, when the work vehicle 10 automatically travels in the farm field F, when the positioning antenna 164 receives radio waves (transmission time, orbit information, etc.) transmitted from each of the plurality of satellites, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distances. Further, the positioning control unit 161 may perform positioning by the RTK-GNSS positioning method (RTK method) of calculating the current position of the work vehicle 10 using correction information corresponding to the base station close to the work vehicle 10. Thus, the work vehicle 10 performs automatic travel using the positioning information by the RTK method. Note that the current position of the work vehicle 10 may be the same position as the positioning position (for example, the position of the positioning antenna 164), or may be a position deviated from the positioning position.

[0037] Sensor 17 is a distance sensor capable of measuring the distance to an object. Sensor 17 may be an ultrasonic sensor capable of measuring the distance to a detection target using ultrasonic waves, or a lidar sensor capable of measuring the distance to a detection target in three dimensions using a laser. As shown in FIG. 3, Sensor 17 includes a left sensor 17a that irradiates ultrasonic waves to a detection range A1 on the front left side of the work vehicle 10 and measures the distance to an object existing within the detection range A1, and a right sensor 17b that irradiates ultrasonic waves to a detection range B1 on the front right side of the work vehicle 10 and measures the distance to an object existing within the detection range B1. Note that as will be described later (see FIG. 14), Sensor 17 may include two left sensors and two right sensors.

[0038] Sensor 17 is provided at one end of a frame (see FIG. 2), and the other end of the frame is provided in front of the vehicle body of the work vehicle 10. Note that the frame may have a function of being able to move up and down in the vertical direction so that the height of Sensor 17 from the ground can be adjusted. Further, the frame may have a rotatable function so that the lateral inclination of Sensor 17 with respect to the ground can be adjusted.

[0039] For example, as shown in FIG. 10, when the work vehicle 10 travels in a passage, the left sensor 17a detects the crop V existing on the left side in the passage, and the right sensor 17b detects the crop V existing on the right side in the passage. Further, Sensor 17 detects a person who has entered the passage. The left sensor 17a and the right sensor 17b output the detection result (measured distance) to the vehicle control device 11.

[0040] The vehicle control device 11 includes control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as BIOS and OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the vehicle control device 11 controls the work vehicle 10 by causing the CPU to execute various control programs stored in advance in the ROM or the storage unit 12.

[0041] The vehicle control device 11 controls the operation of the work vehicle 10 according to various user operations on the work vehicle 10. Further, the vehicle control device 11 executes an automatic driving process of the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning unit 16 and a target point (starting point and ending point) registered in advance.

[0042] As shown in FIG. 1, the vehicle control device 11 includes various processing units such as a travel processing unit 111. Note that the vehicle control device 11 functions as the various processing units by causing the CPU to execute various processes according to the automatic driving program. Further, some or all of the processing units may be configured by electronic circuits. Note that the automatic driving program may be a program for causing a plurality of processors to function as the processing units.

[0043] The traveling processing unit 111 controls the traveling of the work vehicle 10. Specifically, when the traveling processing unit 111 acquires a work start instruction (travel start instruction) from the operation terminal 20, it starts the automatic traveling of the work vehicle 10. For example, when an operator presses a start button (not shown) on the operation screen of the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the traveling processing unit 111 acquires a work start instruction from the operation terminal 20, it starts the automatic traveling of the work vehicle 10. As a result, the work vehicle 10 starts automatic traveling from, for example, the travel start position S, automatically travels along the passage in the work area where the crop V is planted according to the previously registered start point and end point, performs a predetermined work (spraying work), and stops automatic traveling at the travel end position G when the work in the work area is completed.

[0044] Further, when the traveling processing unit 111 acquires a travel stop instruction from the operation terminal 20, it stops the automatic traveling of the work vehicle 10. For example, when an operator presses a stop button (not shown) on the operation screen of the operation terminal 20, the operation terminal 20 outputs a travel stop instruction to the work vehicle 10.

[0045] Also, the traveling processing unit 111 controls the traveling of the work vehicle 10 based on the detection result (measured distance) of the sensor 17. Specifically, when the work vehicle 10 starts automatic traveling at the travel start position S, the traveling processing unit 111 moves the work vehicle 10 to the start point of the passage based on the position of the crop V detected by the sensor 17. Also, when the work vehicle 10 starts automatic traveling from the start point to the end point of the passage, the traveling processing unit 111 adjusts the lateral position of the work vehicle 10 in the passage based on the position (measured distance) of the left crop V detected by the left sensor 17a and the position (measured distance) of the right crop V detected by the right sensor 17b. Thereby, the traveling processing unit 111 makes the work vehicle 10 travel along the center in the passage.

[0046] Note that when the measured distance of the sensor 17 is less than a predetermined distance, the traveling processing unit 111 determines that the detection target is an obstacle and stops or decelerates the traveling of the work vehicle 10.

[0047] [Operating terminal 20] As shown in FIG. 1, the operating terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, and the like. The operating terminal 20 may be configured by a mobile terminal such as a tablet terminal or a smartphone.

[0048] The communication unit 24 is a communication interface for connecting the operating terminal 20 to the communication network N1 by wire or wirelessly and performing data communication according to a predetermined communication protocol with an external device such as the work vehicle 10 via the communication network N1. Further, the communication unit 24 is a communication interface for connecting the operating terminal 20 to the communication network N2 by wire or wirelessly and performing data communication according to a predetermined communication protocol with the positioning device 30 via the communication network N2.

[0049] The operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display for displaying various types of information, and an operation unit such as a touch panel, a mouse, or a keyboard for receiving operations. The operator can perform an operation of registering various types of information (work vehicle information, field information, work information, etc., described later) by operating the operation unit on the operation screen displayed on the display unit. Further, the operator can perform an operation of instructing the start of work, a travel stop instruction, etc. for the work vehicle 10 by operating the operation unit. Furthermore, the operator can grasp the travel state, work situation, and surrounding situation of the work vehicle 10 that automatically travels within the field F based on the travel locus and the surrounding image of the work vehicle 10 displayed on the operating terminal 20 at a location away from the work vehicle 10.

[0050] The storage unit 22 is a non-volatile storage unit such as an HDD or an SSD that stores various types of information. The storage unit 22 stores control programs such as a target point registration program for causing the operation control unit 21 to execute the target point registration process (see FIG. 12) described later. For example, the target point registration program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. Note that the target point registration program may be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22.

[0051] The operation control unit 21 includes control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the operation control unit 21 controls the operation terminal 20 by causing the CPU to execute various control programs pre-stored in the ROM or the storage unit 22.

[0052] As shown in FIG. 1, the operation control unit 21 includes various processing units such as a setting processing unit 211, a registration processing unit 212, and an output processing unit 213. Note that the operation control unit 21 functions as the various processing units by causing the CPU to execute various processes according to the control program. Also, some or all of the processing units may be configured by electronic circuits. Note that the control program may be a program for causing a plurality of processors to function as the processing units.

[0053] The setting processing unit 211 sets and registers information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the farm field F (hereinafter referred to as farm field information), and information about the work (here, spraying work) (hereinafter referred to as work information).

[0054] In the setting process of the work vehicle information, the setting processing unit 211 sets these pieces of information by having the operator perform operations of registering on the operation terminal 20 regarding information such as the model of the work vehicle 10, the position where the positioning antenna 164 is attached to the work vehicle 10, the type of the work implement 14 (here, a spraying machine), the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the vehicle speed and engine speed during the operation of the work vehicle 10, and the vehicle speed and engine speed during the turning of the work vehicle 10. In the present embodiment, the setting processing unit 211 sets information regarding the spraying machine as the information of the work implement 14.

[0055] In the setting process of the field information, the setting processing unit 211 sets these pieces of information by having the operator perform operations of registering on the operation terminal 20 regarding information such as the position and shape of the field F, the travel start position S where the automatic travel starts and the travel end position G where the automatic travel ends (see FIG. 10), and the work direction. Note that the work direction means the direction in which the work vehicle 10 travels while performing a spraying operation with the spraying machine in the work area, which is the area excluding non-work areas such as headlands from the field F.

[0056] The setting processing unit 211 can automatically acquire information on the position and shape of the field F, for example, by having the operator manually drive the work vehicle 10 once around along the outer periphery of the field F and recording the transition of the position information of the positioning antenna 164 at that time. Further, the setting processing unit 211 can acquire the position and shape of the field F based on a polygon obtained by having the operator operate the operation terminal 20 to specify a plurality of points on the map while the map is displayed on the operation terminal 20. The area specified by the acquired position and shape of the field F is an area (travel area) where the work vehicle 10 can travel.

[0057] In the setting process of the work information, the setting processing unit 211 sets, as the work information, the skip number, which is the number of work routes to be skipped when the work vehicle 10 turns on the headland, the width of the headland, and the like.

[0058] The registration processing unit 212 registers target points that serve as landmarks (target routes) when the work vehicle 10 is automatically driven. The target points include a start point corresponding to a position where automatic driving starts in the passage and an end point corresponding to a position where automatic driving ends in the passage. The registration processing unit 212 registers one start point and one end point for each passage. Further, the registration processing unit 212 registers the position where the operator installs the positioning device 30 as the target point.

[0059] Here, the conventional method for registering the target points will be described with reference to FIG. 6. FIG. 6 shows two rows of crop rows Vr(n), Vr(n + 1) and a passage R(n) between the crop rows Vr(n) and Vr(n + 1). When registering the target points for the passage R(n), first, the operator holds the positioning device 30 and installs the positioning device 30 at the first position (the position of the crop V or the position of the support member supporting the crop V) at the end of the crop row Vr(n). Thereby, the operation terminal 20 acquires and registers the position information d1 (positioning data such as GPS data) of the first position from the positioning device 30. Subsequently, the operator holds the positioning device 30 and installs the positioning device 30 at the second position at the end of the crop row Vr(n + 1). Thereby, the operation terminal 20 acquires and registers the position information d2 of the second position from the positioning device 30. Subsequently, the operator holds the positioning device 30 and installs the positioning device 30 at the third position at the end of the crop row Vr(n). Thereby, the operation terminal 20 acquires and registers the position information d3 of the third position from the positioning device 30. Subsequently, the operator holds the positioning device 30 and installs the positioning device 30 at the fourth position at the end of the crop row Vr(n + 1). Thereby, the operation terminal 20 acquires and registers the position information d4 of the fourth position from the positioning device 30. In this way, the operation terminal 20 acquires a plurality of position information (positioning data) in each of the crop rows Vr(n) and the crop row Vr(n + 1). Then, the operation terminal 20 registers the intermediate position between the positioning position corresponding to the crop row Vr(n) and the positioning position corresponding to the crop row Vr(n + 1) as the target point. For example, the operation terminal 20 registers the intermediate position calculated based on the position information d1 of the first position and the position information d2 of the second position as the first target point p1, and registers the intermediate position calculated based on the position information d3 of the third position and the position information d4 of the fourth position as the second target point p2, and registers the intermediate position calculated based on the position information d5 of the fifth position and the position information d6 of the sixth position as the third target point p3, and registers the intermediate position calculated based on the position information d(m) of the (m)th position and the position information d(m + 1) of the (m + 1)th position as the (m)th target point p(m). The operation terminal 20 registers the target points p1 to p(m) in association with the passage R(n).

[0060] The operation terminal 20 outputs the information of the registered target points to the work vehicle 10. When the work vehicle 10 acquires the information of the target points, it executes an automatic driving process according to the target points. In the above conventional method, the operator has to move to many locations in each crop row to acquire position information. Therefore, there arises a problem that the work burden on the operator increases. In contrast, the operation terminal 20 according to the present embodiment has a configuration capable of registering the target points while reducing the work burden on the operator as described below.

[0061] Specifically, the registration processing unit 212 of the operation terminal 20 according to the present embodiment registers two target points (start point and end point) for each passage. For example, the registration processing unit 212 acquires and registers the positions of the start point and the end point of the passage based on the operation of the operator. FIG. 7 shows an example of the method for registering the target points according to the present embodiment.

[0062] For example, when registering the target point of the passage R(n) between the crop row Vr(n) and the crop row Vr(n + 1), first, the operator places the positioning device 30 at the center of the first position of the passage R(n) (for example, the entrance (starting end) of the passage R(n)). Thereby, the registration processing unit 212 acquires the position information Ds(n) (positioning data) of the first position from the positioning device 30 and registers it as the starting point. Subsequently, the operator places the positioning device 30 at the center of the second position of the passage R(n) (for example, the exit (ending end) of the passage R(n)). Thereby, the registration processing unit 212 acquires the position information De(n) (positioning data) of the second position from the positioning device 30 and registers it as the ending point. The entrance (starting end) of the passage is an example of the first end of the present invention, and the exit (ending end) of the passage is an example of the second end of the present invention.

[0063] In this way, the operator performs the operation of placing the positioning device 30 at each of the entrance and exit of each passage to acquire the position information. The operator acquires the position where the positioning device 30 is placed at the starting end of the passage as the starting point, and the position where the positioning device 30 is placed at the ending end of the passage as the ending point. Thereby, as shown in FIG. 8, for example, the registration processing unit 212 sets the starting point Ds1 and the ending point De1 for the passage R1, sets the starting point Ds2 and the ending point De2 for the passage R2, sets the starting point Ds3 and the ending point De3 for the passage R3, sets the starting point Ds4 and the ending point De4 for the passage R4, sets the starting point Ds5 and the ending point De5 for the passage R5, and sets the starting point Ds6 and the ending point De6 for the passage R6. As shown in FIG. 9, the registration processing unit 212 registers the information of each set starting point and each set ending point in association with the passage. Specifically, the registration processing unit 212 associates and registers the information of the starting point and the ending point of the passage with the identification information (passage ID) of the passage. The registration processing unit 212 stores the target point information D1 shown in FIG. 9 in the storage unit 22.

[0064] In this way, in the present embodiment, the registration processing unit 212 registers only the start points and end points that are the same number as the number of passages. In the examples shown in FIGS. 8 and 9, since six passages are formed (passages R1 to R6), the registration processing unit 212 registers six start points Ds1 to Ds6 and six end points De1 to De6. As a result, compared with the conventional method (see FIG. 6), the number of registered target points can be significantly reduced, so that the work burden on the operator can be reduced.

[0065] The output processing unit 213 outputs the data of the information on the target points (target point information D1 (see FIG. 9)) registered by the registration processing unit 212 to the work vehicle 10. For example, when the operator gives a work start instruction (travel start instruction) on the operation terminal 20, the output processing unit 213 outputs the work start instruction and the data of the target point information D1 to the work vehicle 10.

[0066] When the work vehicle 10 acquires the work start instruction and the target point information D1 from the operation terminal 20 and the work vehicle 10 satisfies the travel start condition, the work vehicle 10 starts automatic travel based on the target point information D1.

[0067] For example, as shown in FIG. 10, the travel processing unit 111 automatically travels the work vehicle 10 from the travel start position S to the start point Ds1 of the passage R1. When the work vehicle 10 reaches the start point Ds1, the travel processing unit 111 executes a spraying operation while automatically traveling the work vehicle 10 toward the end point De1 in the passage R1. Further, while the work vehicle 10 is traveling in the passage R1, the travel processing unit 111 adjusts the position in the left-right direction so that the work vehicle 10 travels in the center of the passage based on the position (measured distance) of the left crop V detected by the left sensor 17a and the position (measured distance) of the right crop V detected by the right sensor 17b.

[0068] When the work vehicle 10 reaches the end point De1 of the passage R1, the travel control unit 111 automatically drives the work vehicle 10 from the end point De1 to the start point Ds2 of the next passage R2. When the work vehicle 10 reaches the start point Ds2, the travel control unit 111 executes a spraying operation while automatically driving the work vehicle 10 toward the end point De2 in the passage R2. Further, while the work vehicle 10 is traveling in the passage R2, the travel control unit 111 adjusts the lateral position so that the work vehicle 10 travels in the center of the passage based on the detection results of the left sensor 17a and the right sensor 17b.

[0069] The travel control unit 111 executes the above-described travel control for each passage. When the work vehicle 10 reaches the end point De6 of the passage R6, the travel control unit 111 automatically drives the work vehicle 10 to the travel end position G, and when the work vehicle 10 reaches the travel end position G, the automatic travel control is terminated.

[0070] Here, when the work vehicle 10 is automatically traveling in the passage, the sensor 17 may not be able to detect the crop V. For example, as shown in FIG. 11, when there is no crop V in a partial section E1 (predetermined section of the present invention) of the crop row Vr4, when the work vehicle 10 travels in the passage R3, the right sensor 17b cannot detect the crop V in the section E1. In this case, if the travel control unit 111 adjusts the position of the work vehicle 10 based only on the detection result (measurement distance) of the left sensor 17a, a problem occurs in that the vehicle deviates from the center of the passage R3.

[0071] Therefore, when the traveling processing unit 111 cannot obtain the detection result from the sensor 17, it uses the information on the preset row interval distance W2 (see FIG. 4). For example, as shown in FIG. 11, when the work vehicle 10 travels beside the section E1 and the right sensor 17b cannot detect the crop V, the traveling processing unit 111 adjusts the position in the left - right direction based on the detection result (measurement distance) of the left sensor 17a and the preset row interval distance W2 so that the work vehicle 10 travels along the center of the passage. As a result, even when there is no crop V in the middle of the crop row Vr, when there is no crop V (crop row Vr) on one side of the passage, or when the detection accuracy of one of the left - right sensors 17 decreases (or malfunctions), the work vehicle 10 can be reliably made to travel near the center of the passage. Note that the traveling processing unit 111 may use the information on the interval W1 (see FIG. 4) instead of the row interval distance W2. The interval W1 is set before the work vehicle 10 starts traveling, and the row interval distance W2 is estimated based on the detection result of the sensor 17. Also, the work vehicle 10 may perform spraying on the crop V while traveling outside the passage (for example, the passage between the crop row Vr1 and the field edge). In this case, the traveling processing unit 111 may adjust the position of the work vehicle 10 in the left - right direction based on, for example, the distance to the crop V measured by the sensor 17. Further, when the work vehicle 10 travels outside the passage, the traveling processing unit 111 may use the information on the row interval distance W2 or the interval W1 to adjust the position of the work vehicle 10 in the left - right direction.

[0072] Note that the operation terminal 20 may be able to access the website (agricultural support site) of the agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal of the server when a browser program is executed by the operation control unit 21. And the server includes the above - mentioned respective processing units and executes each process.

[0073] [Target point registration process] Hereinafter, an example of the target point registration process executed by the operation control unit 21 of the operation terminal 20 will be described with reference to FIG. 12.

[0074] Note that the present invention may also be an invention of a target point registration method for executing one or more steps included in the target point registration process. Further, one or more steps included in the target point registration process described below may be appropriately omitted. Also, the execution order of each step in the target point registration process may be different within the range that produces the same operational effects. In the following description, the case where the operation control unit 21 executes each step in the target point registration process will be described as an example, but one or more processors may execute each step in the target point registration process in a distributed manner. The target point registration method is included in the traveling method of the present invention.

[0075] When, for example, an operator performs an operation to start a target point registration task on the operation terminal 20, the operation control unit 21 starts the following target point registration process.

[0076] In step S11, the operation control unit 21 acquires the starting point of the first (n = 1) passage R1. For example, when the operator installs the positioning device 30 at the center of the entrance (starting end) of the passage R1 with the positioning device 30, the operation control unit 21 acquires the starting point Ds1 from the positioning device 30 (see FIGS. 7 and 8).

[0077] Next, in step S12, the operation control unit 21 acquires the end point of the first passage R1. For example, when the operator installs the positioning device 30 at the center of the exit (terminal end) of the passage R1 with the positioning device 30, the operation control unit 21 acquires the end point De1 from the positioning device 30 (see FIGS. 7 and 8).

[0078] Next, in step S13, the operation control unit 21 registers the information of the acquired starting point Ds1 and end point De1 of the first passage R1 in the target point information D1 (see FIG. 9) in association with the passage R1.

[0079] Next, in step S14, the operation control unit 21 determines whether to end the target point registration process. For example, when the operator performs an operation to end the target point registration work on the operation terminal 20, the operation control unit 21 ends the target point registration process (S14: Yes). When the operator performs an operation to continue the target point registration work (S14: No), the operation control unit 21 shifts the process to step S11 and acquires the starting point of the second (n = 2) passage R2. For example, when the operator installs the positioning device 30 at the center of the entrance (starting end) of the passage R2 with the positioning device 30, the operation control unit 21 acquires the starting point Ds2 from the positioning device 30 (see FIGS. 7 and 8).

[0080] As described above, the operation control unit 21 registers the starting point and the ending point in order according to the operator's operation for each passage. When the operation control unit 21 completes the registration process of the starting point and the ending point for all the passages in the farm field F, it stores the target point information D1 in the storage unit 22 in association with the farm field F. When the operation terminal 20 manages a plurality of farm fields F, the operation control unit 21 stores the target point information D1 for each farm field F.

[0081] In addition, when the operator performs a modification operation (re-registration operation) on the starting point and the ending point, the operation control unit 21 updates the target point information D1. Further, after the operator performs the work of registering the starting point of each passage (for example, the starting points Ds1 to Ds6 shown in FIG. 8), the operator may perform the work of registering the ending point of each passage (for example, the ending points De1 to De6 shown in FIG. 8).

[0082] [Automatic driving process] Hereinafter, an example of the automatic driving process executed by the vehicle control device 11 of the work vehicle 10 will be described with reference to FIG. 13.

[0083] Note that the present invention may also be an invention of an automatic driving method for executing one or more steps included in the automatic driving process. Further, one or more steps included in the automatic driving process described below may be omitted as appropriate. Also, the execution order of each step in the automatic driving process may be different within the range that produces the same operational effects. In the following description, a case where the vehicle control device 11 executes each step in the automatic driving process will be described as an example, but one or more processors may execute each step in the automatic driving process in a distributed manner. The automatic driving method is included in the driving method of the present invention.

[0084] In step S21, the vehicle control device 11 determines whether it has acquired a work start instruction from the operation terminal 20. For example, when the operator presses the start button on the operation terminal 20, the operation terminal 20 outputs a work start instruction and target point information D1 (see FIG. 9) to the work vehicle 10. When the vehicle control device 11 acquires the work start instruction and the target point information D1 from the operation terminal 20 (S21: Yes), the process proceeds to step S22. The vehicle control device 11 waits until it acquires a work start instruction from the operation terminal 20 (S21: No).

[0085] Next, in step S22, when the vehicle control device 11 acquires the work start instruction and the target point information D1 from the operation terminal 20, it starts automatic driving according to the target point information D1. For example, the vehicle control device 11 starts the automatic driving of the work vehicle 10 from the travel start position S toward the start point Ds1 of the passage R1 (see FIG. 10).

[0086] Next, in step S23, the vehicle control device 11 determines whether a passage has been detected. For example, the vehicle control device 11 determines whether the passage R1 has been detected based on the detection result of the sensor 17. Specifically, the vehicle control device 11 determines whether the passage R1 has been detected based on the distances to the crop V detected by each of the left sensor 17a and the right sensor 17b. When the vehicle control device 11 detects a passage (S23: Yes), the process proceeds to step S24. The vehicle control device 11 continues the automatic driving until a passage is detected (S23: No). For example, the vehicle control device 11 automatically drives the work vehicle 10 based on the positioning information (GPS data) of the positioning unit 16 until a passage is detected.

[0087] In step S24, the vehicle control device 11 acquires the start point and the end point associated with the detected passage. For example, when the vehicle control device 11 detects the passage R1, it acquires the information of the start point Ds1 and the end point De1 associated with the passage R1 from the target point information D1 (see FIG. 9).

[0088] Next, in step S25, the vehicle control device 11 starts the automatic driving of the work vehicle 10 from the start point toward the end point. For example, when the work vehicle 10 reaches the start point Ds1 of the passage R1, the vehicle control device 11 starts the automatic driving of the work vehicle 10 toward the end point De1 of the passage R1.

[0089] Next, in step S26, the vehicle control device 11 acquires the detection result (measured distance) of the sensor 17. For example, while the work vehicle 10 is automatically driving on the passage R1, the vehicle control device 11 acquires the detection result of the left region (detection range A1) of the passage R1 from the left sensor 17a and the detection result of the right region (detection range B1) of the passage R1 from the right sensor 17b.

[0090] Next, in step S27, the vehicle control device 11 adjusts the position of the work vehicle 10 based on the detection result of the sensor 17. Specifically, the vehicle control device 11 adjusts the left - right position of the work vehicle 10 in the passage R1 based on the position (measured distance) of the left - hand crop V detected by the left - hand sensor 17a and the position (measured distance) of the right - hand crop V detected by the right - hand sensor 17b. For example, the vehicle control device 11 adjusts so that the work vehicle 10 is positioned at the center in the left - right direction within the passage R1. Thus, the vehicle control device 11 automatically drives the work vehicle 10 based on the detection result of the sensor 17 within the passage.

[0091] Next, in step S28, the vehicle control device 11 determines whether the work vehicle 10 has reached the end point of the passage. For example, when the current position of the work vehicle 10 substantially coincides with the end point De1 of the passage R1 (or is less than a predetermined distance from the end point De1), the vehicle control device 11 determines that the work vehicle 10 has reached the end point De1 of the passage R1. When the vehicle control device 11 determines that the work vehicle 10 has reached the end point of the passage (S28: Yes), the process proceeds to step S29. On the other hand, when the vehicle control device 11 determines that the work vehicle 10 has not reached the end point of the passage (S28: No), the process returns to step S26 and the above - described process is repeated.

[0092] In step S29, the vehicle control device 11 determines whether the work vehicle 10 has completed the work. The vehicle control device 11 determines that the work has been completed when the current position of the work vehicle 10 substantially coincides with the travel end position G. When the vehicle control device 11 determines that the work vehicle 10 has completed the work (S29: Yes), the automatic driving process ends. The vehicle control device 11 repeats the processes of steps S23 - S28 until the work vehicle 10 completes the work and continues the automatic driving (S29: No).

[0093] As described above, the automatic driving system 1 according to the present embodiment is a system that automatically drives a work vehicle 10 on a passage between rows (between crop rows Vr) in a field F (work area) where a plurality of rows (crop rows Vr) of crops V (work objects) are arranged. Further, based on the operation of the operator, the automatic driving system 1 acquires the positions of the start point and the end point of the passage between the rows, and based on the start point and the end point, causes the work vehicle 10 to travel on the passage.

[0094] According to the above configuration, the operator can cause the work vehicle 10 to automatically travel on the passage by performing an operation of acquiring only the position information of two points, the start point and the end point, for each passage. That is, it is possible to cause the work vehicle 10 to automatically travel on the passage between the rows in the field F where a plurality of work objects are arranged while reducing the work load of the operator.

[0095] Further, in the above configuration, the automatic driving system 1 may acquire, as the start point, the position where the operator installs the positioning device 30 at the start end (first end) of the passage, and acquire, as the end point, the position where the operator installs the positioning device 30 at the end end (second end) of the passage.

[0096] Further, in the above configuration, the automatic driving system 1 may register the start point and the end point in association with the passage. For example, the automatic driving system 1 registers the information of the start point and the end point of the passage in association with each other in the target point information D1 (see FIG. 9). Thereby, the automatic driving system 1 can acquire the start point and the end point associated with the passage with reference to the target point information D1, and can automatically drive the work vehicle 10 based on the start point and the end point.

[0097] Further, in the above configuration, when the field F includes a plurality of the passages, the automatic driving system 1 may register the start point and the end point in association with each passage. Thereby, the work vehicle 10 can be automatically driven on a plurality of passages.

[0098] In the above configuration, after the work vehicle 10 starts traveling at the starting point of the passage, the automatic driving system 1 may adjust the lateral position of the work vehicle 10 in the passage based on a first distance to the crop V arranged on the left side of the passage and a second distance to the crop V arranged on the right side of the passage, which are measured by the sensor 17 provided on the work vehicle 10.

[0099] In the above configuration, the automatic driving system 1 may also drive the work vehicle 10 to the end point while adjusting the lateral position of the work vehicle 10 based on the first distance and the second distance in the passage. Thereby, the work vehicle 10 can travel along the center in the lateral direction within the passage.

[0100] In the above configuration, when one of the first distance and the second distance is not measured by the sensor 17 in a predetermined section E1 of the passage, the automatic driving system 1 may adjust the lateral position of the work vehicle 10 in the passage based on the other of the first distance and the second distance and preset row spacings W1, W2 (see FIG. 4). Thereby, even when there is no crop V in the middle of the crop row Vr, when there is no crop V (crop row Vr) on one side of the passage, or when the detection accuracy of one of the left and right sensors 17 decreases (or malfunctions), the work vehicle 10 can surely travel near the center of the passage.

[0101] In the above configuration, the automatic driving system 1 may also cause the work vehicle 10 to perform a predetermined operation (for example, spraying operation) on the work object while the work vehicle 10 is traveling in the passage. Thereby, a predetermined operation can be performed while the work vehicle 10 is automatically traveling in the passage.

[0102] In the above configuration, the automatic driving system 1 may also include a configuration for controlling the vehicle speed of the work vehicle 10. For example, the automatic driving system 1 may correct the error in the position of the work vehicle 10 in the passage and decelerate the vehicle speed to maintain the position of the work vehicle 10 at the center in the passage.

[0103] Also, in the above configuration, when the automatic driving system 1 causes the work vehicle 10 to travel outside the passage, it activates (turns ON) the GPS-guided navigation, and based on the GPS position information (survey data), automatically drives the work vehicle 10 to the start point of the passage. When the work vehicle 10 detects the crop V, it activates (turns ON) the sensor-guided navigation, and based on the detection result of the sensor 17, may automatically drive the work vehicle 10 to the end point of the passage. In this way, the automatic driving system 1 may automatically drive the work vehicle 10 within the field F while switching between the GPS-guided navigation and the sensor-guided navigation. For example, when the work vehicle 10 reaches the start point of each passage, the automatic driving system 1 automatically drives the work vehicle 10 by the sensor-guided navigation, and when the work vehicle 10 reaches the end point of each passage, the automatic driving system 1 automatically drives the work vehicle 10 by the GPS-guided navigation. Note that the automatic driving system 1 may switch between the sensor-guided navigation and the GPS-guided navigation when the work vehicle 10 reaches a range less than 1 m from the target point (start point, end point).

[0104] As another embodiment of the present invention, as shown in FIG. 14, the sensor 17 may include two left sensors 171a and 172a and two right sensors 171b and 172b. The left sensor 171a irradiates ultrasonic waves to the detection range A11 on the front left side of the work vehicle 10 to measure the distance to an object existing within the detection range A11, and the left sensor 172a irradiates ultrasonic waves to the detection range A12 on the front left side of the work vehicle 10 to measure the distance to an object existing within the detection range A12. The right sensor 171b irradiates ultrasonic waves to the detection range B11 on the front right side of the work vehicle 10 to measure the distance to an object existing within the detection range B11, and the right sensor 172b irradiates ultrasonic waves to the detection range B12 on the front right side of the work vehicle 10 to measure the distance to an object existing within the detection range B12. Note that the number of sensors 17 is not limited to two (see FIG. 3) or four (see FIG. 14). The sensor 17 may be composed of, for example, one sensor with a wide detection range, or may be composed of three sensors including a left sensor, a central sensor, and a right sensor.

[0105] The automatic driving system 1 according to the present embodiment may have a configuration in which the above-described respective configurations are appropriately combined.

[0106] In the above-described embodiment, the work vehicle 10 and the operation terminal 20 correspond to the driving system according to the present invention, but the driving system according to the present invention may be configured by the work vehicle 10 alone or the operation terminal 20 alone. Further, the driving system according to the present invention may be configured by a server capable of communicating with the work vehicle 10 and the operation terminal 20. For example, the server may manage a plurality of work vehicles 10 and manage the target point information D1 for each work vehicle 10. Further, the server may manage a plurality of farms and manage the target point information D1 for each farm.

[0107] [Supplementary Note of the Invention] Hereinafter, the outline of the invention extracted from each of the above-described embodiments will be appended. Note that each configuration and each processing function described in the following supplementary note can be arbitrarily selected and combined.

[0108] [Supplementary Note 1] A traveling method for automatically driving a work vehicle (10) on a work site (F) where a plurality of rows (Vr) of work objects (V) are arranged, along a passage (R(n)) between the rows, comprising: acquiring, based on an operator's operation, the positions of a start point (Ds(n)) and an end point (De(n)) of the passage (R(n)) between the rows; causing the work vehicle (10) to travel along the passage (R(n)) based on the start point (Ds(n)) and the end point (De(n)); and executing the traveling method.

[0109] <Appendix 2> acquiring, as the start point (Ds(n)), the position where the operator installs a positioning device (30) at a first end of the passage (R(n)); acquiring, as the end point (De(n)), the position where the operator installs the positioning device (30) at a second end of the passage (R(n)); The traveling method according to Appendix 1.

[0110] <Appendix 3> registering the start point (Ds(n)) and the end point (De(n)) in association with the passage (R(n)); The traveling method according to Appendix 1 or 2.

[0111] <Appendix 4> when the work site (F) includes a plurality of the passages (R(n)), registering the start point (Ds(n)) and the end point (De(n)) in association with each of the passages (R(n)); The traveling method according to Appendix 3.

[0112] <Appendix 5> After the work vehicle (10) starts running at the start point (Ds(n)) of the passage (R(n)), based on the first distance to the work object (V) arranged on the left side of the passage (R(n)) and the second distance to the work object (V) arranged on the right side of the passage (R(n)), which are measured by the sensor provided on the work vehicle (10), the lateral position of the work vehicle (10) within the passage (R(n)) is adjusted. The traveling method according to any one of Appendices 1 to 4.

[0113] <Appendix 6> While adjusting the lateral position of the work vehicle (10) based on the first distance and the second distance within the passage (R(n)), the work vehicle (10) is run to the end point (De(n)). The traveling method according to Appendix 5.

[0114] <Appendix 7> When one of the first distance and the second distance is not measured by the sensor in a predetermined section (E1) of the passage (R(n)), based on the other distance of the first distance and the second distance and a preset row interval distance (W2), the lateral position of the work vehicle (10) within the passage (R(n)) is adjusted. The traveling method according to Appendix 5.

[0115] <Appendix 8> While the work vehicle (10) is running on the passage (R(n)), the work vehicle (10) is made to perform a predetermined work on the work object (V). The traveling method according to any one of Appendices 1 to 7.

[0116] <Appendix 9> A travel program for automatically running the work vehicle (10) on the passage (R(n)) between the rows at a work site (F) where multiple rows (Vr) of work objects (V) are arranged, Based on the operation of the operator, obtaining the positions of the start point (Ds(n)) and the end point (De(n)) of the passage (R(n)) between the rows. Based on the starting point (Ds(n)) and the ending point (De(n)), causing the work vehicle (10) to travel on the passageway (R(n)); A travel program for causing one or more processors to execute.

[0117] <Appendix 10> A travel system (1) for automatically traveling a work vehicle (10) on a passageway (R(n)) between rows at a work site (F) where a plurality of rows (Vr) of work objects (V) are arranged, A registration processing unit (211) that acquires the positions of a starting point (Ds(n)) and an ending point (De(n)) of the passageway (R(n)) between the rows based on an operator's operation; A travel processing unit (111) that causes the work vehicle (10) to travel on the passageway (R(n)) based on the starting point (Ds(n)) and the ending point (De(n)); The travel system (1) comprising the above.

Explanation of Signs

[0118] 1: Automatic travel system 10: Work vehicle 11: Vehicle control device 20: Operation terminal 30: Positioning device 111: Travel processing unit 211: Setting processing unit 212: Registration processing unit 213: Output processing unit Ds1~Ds6: Starting point De1~De6: Ending point F: Field R: Passageway V: Crop Vr: Crop row

Claims

1. A method for automatically driving a work vehicle along an aisle between a plurality of rows of work objects in a work site, the method comprising: acquiring positions of start and end points of the passage between the rows based on an operation by an operator; causing the work vehicle to travel along the passage based on the start point and the end point; A driving method to perform the above.

2. A position where the operator places a positioning device at a first end of the passage is acquired as the starting point; acquiring a position where the operator places the positioning device at the second end of the passage as the end point; A method of traveling according to claim 1.

3. registering the start point and the end point in association with the path; A method of traveling according to claim 1.

4. When the work site includes a plurality of paths, the start point and the end point are associated with each path and registered. A traveling method according to claim 3.

5. after the work vehicle starts traveling at the starting point of the passage, a lateral position of the work vehicle within the passage is adjusted based on a first distance to the work object located on the left side of the passage and a second distance to the work object located on the right side of the passage, both measured by a sensor provided on the work vehicle; A method of traveling according to claim 1.

6. while adjusting a lateral position of the work vehicle in the passage based on the first distance and the second distance, the work vehicle is caused to travel to the end point. A traveling method according to claim 5.

7. when one of the first distance and the second distance is not measured by the sensor in a predetermined section of the passage, a lateral position of the work vehicle in the passage is adjusted based on the other of the first distance and the second distance and a preset inter-row distance. A traveling method according to claim 5.

8. causing the work vehicle to perform a predetermined operation on the work object while the work vehicle is traveling along the passage; A traveling method according to any one of claims 1 to 7.

9. A travel program for automatically driving a work vehicle through an aisle between a plurality of rows of work objects in a work site, the program comprising: acquiring positions of start and end points of the passage between the rows based on an operation by an operator; causing the work vehicle to travel along the passage based on the start point and the end point; A running program for causing one or more processors to execute the above.

10. A traveling system for automatically traveling a work vehicle through an aisle between a plurality of rows of work objects in a work site, the system comprising: a registration processing unit that acquires the positions of the start and end points of the passage between the rows based on an operation by an operator; a travel processing unit that causes the work vehicle to travel along the passage based on the start point and the end point; A driving system comprising:

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